拘束作業における手・腕協調動作の分析(3部運動の調整)

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A large part of the work performed daily by humans is so-called constraint work, in which the object of work is under some external constraint. Under constraint conditions, it is difficult to mechanically regulate the force of the hands and arms so as not to apply undue force to the object of work, but humans perform this with ease. This study aims to clarify the human hand and arm mechanism of force control by analyzing constraint work performed by humans from the standpoint of biomechanism, and to study a manipulator control strategy on the basis of it. This paper presents the results of an experiment and analysis of human motions in handling a bead on a guide shaft as an example of constraint work with 1 degree of freedom (d. o. f.), and observations of the roles that the hand and arm play in manual work. It also deals with applications to manipulator control. In the experiment conducted on the working the handling bead on a shaft by a seated human being, the change in translational force and rotational force applied to the shaft during the work and the shaft position and hand position were detected, combining the following four conditions in various ways: (1) Upper body d. o. f. (2) Hand d. o. f. (3) Forced displacement (4) Direction of motion The results of the experiments are summarized below. (1) Humans do not use the d. o. f. of the upper body to absorb the translational and rotational forces generated on a constraint surface. (2) Humans absorb the rotational force generated by constraint using the d. o. f. of the hand. (3) Humans absorb the translational force generated from the translational displacement of the shaft by the d. o. f. of the arm, and absorb translational forces by the arm regardless of the direction of motion. (4) There is a direction of motion or a posture in which translational force can be better absorbed because the degree of absorption of translational force varies depending on the direction of motion. As regards the application to robots of compliance control using finger-arm coordination, compliance control of the arm is discussed. Thus, the rotational component of compliance is disregarded, while only the relationship of translational force with translational displacement in the hand is dealt with. Simplifying the relational expression of force and displacement, the end-point compliance matrix can be expressed as a symmetrical matrix with 6 elements. A desired translational compliance can be set in the end-point of a manipulator having an arm with 6 d. o. f or more.
バイオメカニズム学会の論文
1992-05-20

拘束作業における手・腕協調動作の分析(3部運動の調整)

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拘束作業における手・腕協調動作の分析(3部 運動の調整)

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拘束作業における手・腕協調動作の分析(3部運動の調整)