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  [in Japanese] Analysis of Human Perception Ability for Robot Impedance  [in Japanese]

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Author(s)

    • 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

Abstract

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.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(2), 58-64, 2002-03-15

    The Robotics Society of Japan

References:  20

Cited by:  4

Codes

  • NII Article ID (NAID)
    10008213083
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    6107735
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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