Impedance Characteristics of Robots Considering Human Emotions
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概要
- 論文の詳細を見る
It is expected that in the future, robots will play important roles in coexisting with humans. Whenever humans come into contact with these robots unexpectedly, the robots must not only be safe for the humans but also be able to adjust their physical softness parameters, which will help humans remain calm and which will be favorable for human emotions. Therefore, it is desirable for robots to control their impedance characteristics in such cases. From these points of view, desirable values of the impedance parameters of robots are investigated in this work by a rating scale method. In the experiment, 11 subjects come into physical contact with an impedance-controlled robot and evaluate this contact subjectively. The evaluations are performed on 48 combinations of virtual mass, viscosity coefficient, and stiffness. In terms of the results, the emotions felt by the subjects with regard to the robots being soft, pleasant, and human-like are explained by a linear regression model of the impedance values, and the emotions of being reassuring are classified into four groups.
- 一般社団法人日本機械学会の論文
- 1997-06-15
著者
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SHIMIZU Akira
Department of Electrical and Electronic Engineering, Tokyo Institute of Technology
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Tanaka Kanya
Department Of Information And Design Engineering Faculty Of Engineering Yamaguchi University
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Tanaka Kanya
Department Of Mechanical Engineering Ehime University
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Tanaka Kanya
Department Of Electrical And Electronic Engineering Faculty Of Engineering Yamaguchi University
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SHIBATA Satoru
Department of Mechanical Engineering, Ehime University
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Shibata Satoru
Department Of Engineering For Production And Environments Ehime University
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BEN-LAMINE Mohamed
Department of Mechanical Engineering, Ehime University
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Ben-lamine Mohamed
Department Of Mechanical Engineering Ehime University
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Shimizu Akira
Department Of Dermatology Gunma University Graduate School Of Medicine
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Shimizu Akira
Department Of Basic Science The University Of Tokyo
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Shimizu Akira
Deparment Of Physics Rikkyo University
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