著者

田中 良幸 神田 龍馬 武田 雄策 山田 直樹 福庭 一志 正守 一郎 辻 敏夫

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.42, no.12, pp.1353-1359, 2006-12-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

5 7

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The present paper investigates human mechanical impedance during the operation of a virtual steering system according to dual-arm configurations. The developed steering system using an impedance-controlled robot can accurately estimate mechanical impedance properties around the rotational axis. Experimental results demonstrate that a human changes his/her impedance properties in both the grip position on a steering wheel and the magnitude of steering torque. Overall stability of a human-steering system is then discussed by means of the measured human impedance parameters.