書誌事項
- タイトル別名
-
- Estimation of Evaluation Function for Generating Upper Limb Posture during Task Execution
- ジョウシ サギョウ シセイ セイセイ ノ タメノ ヒョウカ カンスウ スイテイ コネクタ サシコミ シセイ ノ ヒョウカ カンスウ
- —Upper Limb Posture Evaluation Function for Connecting Plug—
- —コネクタ差し込み姿勢の評価関数—
この論文をさがす
抄録
Generating the upper limb posture of a human arm is important when executing tasks involving position and force control. In this article, we derive the evaluation function to generate the upper limb posture of a human arm when connecting an RCA plug. We measure the upper limb posture of one subject, while connecting the plug, to determine factors in the evaluation function and of eight more subjects on different positional plugs, to estimate the factor values. Based from the experimental results, the evaluation function can be expressed as a weighted linear sum of nine factors such as power transmissibility of joints, torque, and manipulability measure of joints. It was shown that the generated upper limb posture is close enough to the measured posture. The most important constituent factors of the evaluation function are found to be manipulability measure of both elbow and wrist, and the wrist torque.
収録刊行物
-
- 精密工学会誌
-
精密工学会誌 74 (12), 1335-1340, 2008
公益社団法人 精密工学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679772722432
-
- NII論文ID
- 110007007592
-
- NII書誌ID
- AN1003250X
-
- ISSN
- 1882675X
- 09120289
-
- NDL書誌ID
- 9742911
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
-
- 抄録ライセンスフラグ
- 使用不可