インピーダンス・トレーニング:人間は手先でインピーダンスを訓練かにより調節できるのか? Impedance Training:Can We Regulate Our Hand Impedance Through Training?
The present paper argues that appropriate regulation of mechanical impedance is a key of dexterity of human movements, and proposes a new training method, which is called <i>Impedance Training</i>, to improve trainee's impedance regulation ability. During the training, the desired value of the hand impedance is given, and the trainee is instructed to regulate his or her own hand impedance to the desired one as close as possible based on biofeedback information such as EMG signals of muscles, joint angles of the upper limb, and the realized hand impedance. In order to evaluate the proposed method, the training experiments were carried out, and it is shown that the trainees can regulate their hand impedance through training.
計測自動制御学会論文集 35(10), 1300-1306, 1999-10-30
The Society of Instrument and Control Engineers