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

Tanaka, Yoshiyuki; Yamada, Naoki; Nishikawa, Kazuo; Masamori, Ichiro; Tsuji, Tokuo

doi:10.1109/iros.2005.1545519

Cited by 26 publications

(14 citation statements)

References 14 publications

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“…[24]) and can be represented with an ellipse, which suggests a connection with our perception data. The shape and orientation of these ellipses depend on many factors, among which arm position is very important [25], [26].…”

Section: Force Magnitudesupporting

confidence: 66%

Anisotropy in the Haptic Perception of Force Direction and Magnitude

Beek

Tiest

Kappers

2013

IEEE Trans. Haptics

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Abstract-Although force-feedback devices are already being used, the human ability to perceive forces has not been documented thoroughly. The haptic perception of force direction and magnitude has mostly been studied in discrimination tasks in the direction of gravity. In our study, the influence of physical force direction on haptic perception of force magnitude and direction was studied in the horizontal plane. Subjects estimated the direction and magnitude of a force exerted on their stationary hand. A significant anisotropy in perception of force magnitude and direction was found. Force direction data showed significant subject-dependent distortions at various physical directions. Normalized force magnitude data showed a consistent elliptical pattern, with its minor axis pointing roughly from the subject's hand to his/her shoulder. This pattern could be related to arm stiffness or manipulability patterns, which are also ellipse-shaped. These ellipses have an orientation consistent with the distortion measured in our study. So, forces in the direction of highest stiffness and lowest manipulability are perceived as being smaller. It therefore seems that humans possess a 'sense of effort' rather than a 'sense of force', which may be more useful in everyday life. These results could be useful in the design of haptic devices.

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Section: Force Magnitudesupporting

confidence: 66%

Anisotropy in the Haptic Perception of Force Direction and Magnitude

Beek

Tiest

Kappers

2013

IEEE Trans. Haptics

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“…Assuming that X v (t) and g x (θ(t)) are constant for the applied external disturbance with short displacement, the following dynamic equation of the lower limb at the endpoint can be derived from (2):…”

Section: A a Methodsmentioning

confidence: 99%

“…Their method can evaluate and visualize the spatial characteristics of human force capability of the limbs for the measured limb's posture. Then, they have applied to the layout design of driving interfaces of an automobile [2]. However, their method cannot deal with dynamic properties of human movements, such as compliance and stiffness of motions.…”

Section: Introductionmentioning

confidence: 99%

Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Tanaka

Onishi

Tsuji

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Abstract-A human can control dynamic properties of his/her own body naturally and effectively according to tasks by utilizing the perceived information of environmental characteristics. If dynamic properties of human movements depending on environmental characteristics can be described quantitatively, there would be expected to design and develop a novel humanmachine system in which an operator can manipulate more comfortably. This paper discusses a design methodology of human-machine systems integrating human motor characteristics. A vehicle interface system manipulated by the foot is focused on, and mechanical impedance properties of human lower extremities during maintained leg posture are investigated according to the leg posture and the foot force.

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“…For example, Tanaka and Tsuji et al [1], [2] developed human force manipulability by combining robotic manipulability with human joint-torque characteristics. Their method can evaluate and visualize the spatial characteristics of human force capability at an end-point for the specified posture of the limb.…”

Section: Introductionmentioning

confidence: 99%

Mechanical and perceptual analyses of human foot movements in pedal operation

Tanaka

Kaneyuki

Tsuji

et al. 2009

2009 IEEE International Conference on Systems, Man and Cybernetics

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Abstract-A human can maneuver mechanical systems by adjusting his/her own body naturally and effectively according to a target task by utilizing the kinematical and dynamic characteristics of operating systems acquired through sensory organs. If such human sensory and motor characteristics changing in the task can be quantitatively described, it would be useful to design and develop a novel human-machine system so that humans can manipulate a machine more instinctively and comfortably. This paper investigates the interaction between human sensory and motor properties at the foot during the operation of an automobile pedal, as an example of human-machine systems, and demonstrates the close relationship between the perceptual properties of force resistance at the foot and the loads for foot joints much depending on the pedal layout. Finally, based on biomechanical and perceptual analyses, a human-inspired design method of pedal dynamic properties is discussed.

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

Cited by 26 publications

References 14 publications

Anisotropy in the Haptic Perception of Force Direction and Magnitude

Anisotropy in the Haptic Perception of Force Direction and Magnitude

Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System

Mechanical and perceptual analyses of human foot movements in pedal operation

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