1 0 0 0 OA ステアリング操作における人間の手先インピーダンス特性の解析
- 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
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.
1 0 0 0 OA 時間軸変換を組み込んだ人工ポテンシャル法による冗長マニピュレータのブィードバック制御
- 著者
- 田中 良幸 辻 敏夫 金子 真
- 出版者
- The Institute of Electrical Engineers of Japan
- 雑誌
- 電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)
- 巻号頁・発行日
- vol.119, no.4, pp.425-431, 1999-04-01 (Released:2008-12-19)
- 参考文献数
- 13
This paper proposes a new method for dynamic control of redundant manipulators via artificial potential field approach (APFA). The proposed method is based on the APFA with a combination of a time scale transformation and a time base generator which works as a time scale compressor. The dynamic behavior of the manipulator can be controlled by using the proposed method without any change of the form of the designed controller itself. The effectiveness of the proposed method is verified by computer simulations for redundant manipulators.