Analysis of Human Perception Ability for Robot Impedance.

• Tsuji Toshio

  Deparment of Artificial Complex Systems Engineering, Graduate school of Engineering, Hiroshima University

• Shimazaki Tomoyuki

  Deparment of Artificial Complex Systems Engineering, Graduate school of Engineering, Hiroshima University

• Kaneko Makoto

  Deparment of Artificial Complex Systems Engineering, Graduate school of Engineering, Hiroshima University

Bibliographic Information

Other Title

• 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
• ロボットインピーダンス ニ タイスル ニンゲン ノ チカク ノウリョク ノ カイセキ

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), 180-186, 2002

  The Robotics Society of Japan

Keywords

• Impedance
• Perception
• Human Movements
• Training

Details

• CRID: 1390282679703769472
• NII Article ID: 10008213083
• NII Article ID: 10018008943
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.20.180
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• NDL BIB ID: 6107735
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6107735
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed