ヒトの上肢姿勢維持における手先反力知覚の方向性(<特集>ハプティクスとVR)

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This paper discusses the directional properties of human hand force perception during maintained arm posture. A series of perception experiments is carried out for normal volunteers depending on the magnitude and direction of force stimuli provided from an impedance-controlled robot under the different arm postures, in which a subject manipulates the handle of the robot according to the visual feedback display and perceives a force stimulus for the specified direction. Experimental results demonstrate that human hand force perception is much affected by the stimulus direction and can be expressed with an ellipse in all arm postures. Focusing on the directional property of human hand force perception, the relationship between hand force perception and hand force manipulability is then analyzed by means of human force manipulability ellipse.
2011-09-30