ロボットインピーダンスに対する人間の知覚能力の解析 Analysis of Human Perception Ability for Robot Impedance

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著者

    • 辻 敏夫 TSUJI Toshio
    • 広島大学大学院工学研究科 Department of Artificial Complex Systems Engineering, Graduate school of Engineering, Hiroshima University
    • 島崎 知之 SHIMAZAKI Tomoyuki
    • 広島大学大学院工学研究科 Department of Artificial Complex Systems Engineering, Graduate school of Engineering, Hiroshima University
    • 金子 真 KANEKO Makoto
    • 広島大学大学院工学研究科 Department of Artificial Complex Systems Engineering, Graduate school of Engineering, Hiroshima University

抄録

In this paper, human perception ability for robot impedance is analyzed. First, a human-robot system is con-structed using impedance control, where a subject can move the robot freely by his end-point, and two kinds of experiments are performed: single impedance perception and single impedance discrimination. Then, from the experimental results, the accuracy and the differential limen are discussed. Also, it is shown that the human perception ability decreases dramatically under some situations such as multiple impeadace perception and large robot viscosity. The results of the present paper could be effective as basic data in presenting the robot impedance to human operators in the rehabilitation system and human-robot systems.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(2), 58-64, 2002-03-15

    The Robotics Society of Japan

参考文献:  20件中 1-20件 を表示

被引用文献:  4件中 1-4件 を表示

各種コード

  • NII論文ID(NAID)
    10008213083
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6107735
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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