デジタルヒューマンのための前腕ひねり作業のモデリング(第1報)

－上肢の姿勢によって異なる作業対象回転可動域の計測と推定－

抄録

The purpose of the study is to propose a model for the forearm torsion operations, such as screw driving and knob turning. In this paper, the rotational ranges of the object twisted by the upper limb are measured at various working positions during the forearm torsion operations. As a result, it is shown that the rotational ranges of the object vary depending on the working positions. A degree of coincidence is defined among the direction vectors of the segments in the link model representing the upper limb and the object. Formulas are derived to estimate the rotational ranges of the objects based on the degree of coincidence among the directions vectors.