装着型ロボットの操作感と制御系設計への応用(<特集>実空間とサイバースペースの融合 : 感性, データベース, ロボティクスおよび一般)

概要

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This paper addresses subjective evaluation for operating feeling in a wearable robot. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three pattern classification is also investigated by the semantic differential method and factor analysis.
社団法人情報処理学会の論文
2002-01-21