精密工学会誌
Online ISSN : 1882-675X
Print ISSN : 0912-0289
ISSN-L : 0912-0289
論文
上肢作業姿勢生成のための評価関数推定
—コネクタ差し込み姿勢の評価関数—
金指 央樹宮田 なつき新井 民夫千葉 龍介太田 順
著者情報
ジャーナル フリー

2008 年 74 巻 12 号 p. 1335-1340

詳細
抄録

Generating the upper limb posture of a human arm is important when executing tasks involving position and force control. In this article, we derive the evaluation function to generate the upper limb posture of a human arm when connecting an RCA plug. We measure the upper limb posture of one subject, while connecting the plug, to determine factors in the evaluation function and of eight more subjects on different positional plugs, to estimate the factor values. Based from the experimental results, the evaluation function can be expressed as a weighted linear sum of nine factors such as power transmissibility of joints, torque, and manipulability measure of joints. It was shown that the generated upper limb posture is close enough to the measured posture. The most important constituent factors of the evaluation function are found to be manipulability measure of both elbow and wrist, and the wrist torque.

著者関連情報
© 2008 公益社団法人 精密工学会
前の記事 次の記事
feedback
Top