1A1-E24 機械的インピーダンスを考慮した遠隔腕相撲システムに関する一考察

概要

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We studied an arm-type "Remote Arm-Wrestling System" in which two persons at different locations arm-wrestle by exchanging such physical information as position and force. The aim of this study is to negate the device's mechanical impedance and to install the mechanical impedance of a human arm in the device. We did three experiments. First, we identified the mechanical impedance parameters of the device. Next, we designed and evaluated the controls that considered mechanical impedance. Finally, to presume the mechanical impedance parameters of a human arm, we analyzed the correlation of detected torque, angle, angular velocity, and angular acceleration. As a result, human operation improved more than past control by considering the device's mechanical impedance. Moreover, it was analyzed quantitatively that the torque detected from the human arm nonlinearly influenced the angle and angular velocity.
一般社団法人日本機械学会の論文