手先による落下物体制動動作の解析

• 山本 智規

• 柴田 論

• 神代 充

• 清水 顯

書誌事項

タイトル別名

• Analysis of Braking the Fall of an Object with Human Hand.
• テサキ ニ ヨル ラッカ ブッタイ セイドウ ドウサ ノ カイセキ

抄録

We experimentally analyzed the motion that human try to stop an object accelerated by gravity with his or her hand as smooth as possible. The trajectories of human hand motion observed in the experiments were reproducible and showed smooth profiles after the sufficient attempts. Changes in softness of human hand in the attempt were approximated by variable impedance model. The approximated changes of impedance parameters were divided into three phases, in which human changes his or her control modes. Moreover, human control performance was investigated from the view point of passivity. The results showed that the system was passive throughout the motion, and that the profiles of the passivity showed bell-shaped, which is peculiar to human smooth control performances.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 66 (641), 188-194, 2000

  一般社団法人 日本機械学会

キーワード

• Biomotion
• Human Engineering
• Human Interface
• Impedance Model
• Bell-Shaped Passivity

詳細情報

• CRID: 1390001206329061632
• NII論文ID: 110002382899
• NII論文ID: 130004084070
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.66.188
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 4971175
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4971175
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/66/641/66_641_188/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可