Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 06, 2023 - March 07, 2023
In physical Human – Human Interaction (pHHI) research, actuators are used to construct physical interactions. Various types of actuator control methods have been adopted by researchers, such as Position – Position (PP) control, Admittance control, and Bilateral control. However, how different control methods affect human operation and interaction characteristics has not been clarified. This study aimed to clarify whether pHHI depends on the control method. In the experiment, a Leader – Follower system was constructed using four control methods: PP control, Admittance control (by PD controller), Admittance control (by Acceleration Based Controller), and Bilateral control, and subjects executed the cooperative task. The objective evaluation showed that the admittance control resulted in a more significant angular error between interfaces than the PP and Bilateral control. Also, the subjective evaluation results showed that the admittance control decreased both the naturalness and quality of the interface perceived by the user. Admittance control has been unstable depending on virtual dynamics, which may have induced the drop observed in the subjective evaluation scores.
