著者

綿谷 卓真 友國 伸保 黄 健

出版者

近畿大学工学部

雑誌

近畿大学工学部研究報告 = Research reports of the Faculty of Engineering, Kinki University (ISSN:0386491X)

巻号頁・発行日

vol.46, pp.81-84, 2012-12-01

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[Abstract] Mechanism of motion generation of human upper limb has puzzled scientists for a long time because of its high redundancy on mechanical structure and various factors from the environment. It was reported that illusion exerts a strong effect on the human upper limb motion based on the planning-control model of Glover hypothesis. In this study, we investigated the influence of Müller-Lyer visual illusion on the upper limb movement by changing the fingertip contact conditions.

著者

黄 健

出版者

近畿大学工学部

雑誌

近畿大学工学部研究報告 = Research reports of the Faculty of Engineering, Kinki University (ISSN:0386491X)

巻号頁・発行日

no.43, pp.91-96, 2009-12-01

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This paper presents a method for measuring the spatial cognitive ability of the moving distance of the human hand by using motion capture (MoCap). To improve the measurement accuracy of MoCap, a method involving the use of an upper limb model is proposed in this paper. The proposed method has many advantages such as the use of a small number of markers,and better alternatives for marker sticking positions that can reduce inaccuracies due to small muscular deformation. To investigate the cognitive ability of the moving distance of a human hand, both horizontal and vertical hand movements are measured using the proposed protocol for six subjects. The results demonstrate that the average moving distances obtained in both directions become coloser to the standard length compared with the results obtained in the previous study. The experimental results also demonstrate a strong relationship between error of the hand moving distance and manipulability of the upper limb. Moreover, the maximum velocity observed during horizontal and vertical movements are compared; and the result implies that the gravitational force exerted on the arm evidently atlects the hand movement in the blindfolded state during vertical movement.

著者

芦高 直哉 原 正之 反保 紀昭 黄 健 藪田 哲郎

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.752, pp.1000-1008, 2009-04-25

被引用文献数

2

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Multimedia services such as an audio and visual media have been advanced rapidly. And now we can employ several multimedia services via the Internet in which audio and visual information is exchanged. In addition to them, physical force information is expected as the next multimedia service. However, there are several fundamental issues for interactive force telecommunication, which do not appear in the conventional teleportation. We study on basic issues of force telecommunication from human sensory aspect by using two haptic interfaces with 3' DOF that have an orthodox parallel linkage, and propose a hybrid control of Master/Slave system for force telecommunication between Human beings, which has position/force feedback loop directly. Results show that both hybrid and compliance control of Master/Slave System are suitable candidates for the force telecommunication system because both force and position serve functions are essential for the system. Moreover, recognition of an operator coordinate system is clarified to be important because of force communication strong interaction, which is discussed from human sensory aspect.