上肢の可操作性によるネジ回し作業の作業性評価(機械力学,計測,自動制御)

概要

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We conducted one experiment for evaluating usability of screwdriver by use of force manipulability and torque manipulability in arm manipulability. As evaluation index, we used maximum torque and subjective easiness of manipulation to compare results of force and torque manipulability. Ten healthy male subjects participated in the experiment. They were asked to turn a screwdriver in the following conditions: two operational heights (shoulder and elbow heights), and four operational directions (0, 45, 90 and 135 degrees) in three operational planes (sagittal, horizontal and frontal planes). The results showed that good operational direction of torque manipulability accorded with that of maximum torque and subjective easiness of manipulation. From this study, it was found that we are capable of applying to use torque manipulability as one of evaluation index for screwdriver operation.
社団法人日本機械学会の論文
2009-06-25