A study on young and elderly people's working area of each arm on a table for dual manipulator with human arm motion characteristics

Abstract

The purpose of this study is to obtain the age characteristics of the human arm motion area for constructing a manipulator system, which having the same characteristics. In order to explore the basic data for constructing the manipulator, a human arm motion experiment was conducted. In this experiment, the motion of transferring an object on a table was employed as a farget motion; especially the data about the characteristics of the area of using the right arm were collected.Bejore the experiment, dual manipulator system based on human arm size was constructed in order to introduce the characteristics of' human arm motion. The analysis of human arm motion revealed that the area where the 50% using of right arm. The subjects of this experiment were elderly people and young people. Comparing the data of young and elderly people, we clarified the age characteristics ojthe human arm motion area.

Subjective Evaluations of Motion Area and Velocity Characteristics of Dual Manipulator in Young and Elderly People

“…In a previously reported study (9) , an experimenter and a subject sat on chairs and faced each other on opposite sides of the table. Subjects were 18 elderly people (average age: 61.7 years) and 20 young people (average age: 22.4 years).…”

“…We analyzed the angular velocity of an elbow and a shoulder and the movement velocity of a human trunk, which affected an object transfer motion (10) . To clarify age-related characteristics, the obtained data were compared between the elderly and young people.…”

“…As a result of examining approximations using some functions on the basis of these conditions, the most suitable approximation was obtained using an exponential expression (10) . Equations (1) - (6) are the examples of the approximations in the (x,y) = (0,240) measurement area.…”

“…The size of this manipulator is determined on the basis according to the size of the human arm. The manipulator can produce the characteristics of the joint angle velocity obtained from the results of an object transfer experiment (9), (10) . Figure 5 shows the block diagram of the manipulator.…”

“…We have already obtained and reported some data on the characteristics of a human arm motion area, and constructed a dual manipulator system based on these data (8) - (10) . Previously obtained agerelated characteristics were used in this study.…”