Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

This paper focuses on a shift operation system of an automobile as an example of human-machine systems, and develops a virtual shift system using a variable-impedance controlled robot that can provide various types of shift dynamics. A series of operational experiments is carried out with different...

Full description

Saved in:
Bibliographic Details
Published in2005 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1893 - 1898
Main Authors Tanaka, Y., Yamada, N., Nishikawa, K., Masamori, I., Tsuji, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Automobiles
Control systems
Elasticity
Force control
force manipulability
Human-machine systems
Humans
Impedance
Man machine systems
operational feeling
Robot control
variable-impedance control
Vehicle dynamics
Viscosity
Online AccessGet full text

Cover

More Information
Summary:This paper focuses on a shift operation system of an automobile as an example of human-machine systems, and develops a virtual shift system using a variable-impedance controlled robot that can provide various types of shift dynamics. A series of operational experiments is carried out with different viscoelastic patterns installed in the virtual shift system by changing the relative position between the shift lever and the operator. Then, the relationship between operational feeling and human arm movements is investigated by using the force manipulability considering human joint-torque characteristics.
ISBN:0780389123
9780780389120
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545519