W120 行動素アプローチによる心的負担を考慮したロボットマニピュレータの動作計画(動作解析)(シンポジウム : 福祉工学)

概要

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This paper deals with the trajectory planning problem of robot manipulators taking account of mental stress of the users via motion element approach. In motion element approach, a motion of the robot manipulator is divided into fundamental elements, and each element is given the mental stress index, then the elements combined into a motion trajectory such that the sum of the mental stress indices are minimized. The mental stress indices are obtained from the heart rate variability analysis in the time domain. In experiments, we prepare over 100 motion elements, present them to subjects, and analyze the ECG data of the subjects. Examples of the trajectory planning problem are shown.
社団法人日本機械学会の論文
2001-08-03