A Fundamental Study of Human Motion Control for Perception-Assist with Vibration Stimulation

Abstract

In order to assist the daily life motion of physically weak parson, such as elderly parsons, many kinds of power-assist robot has been developed. Because not only physical ability but also perception ability to surrounding environment is sometimes deteriorated in the case of elderly persons, the power-assist robot which has perception-assist function has been proposed. This robot can automatically modify the user's motion when the robot detects a possibility of accident such as collision between the user and some obstacles. In this study, a new perception-assist method is investigated. It is known that kinesthetic illusion is generated and subject feel as if his antagonist muscle is elongated when a vibration stimulation is added to tendon of the antagonist muscle. This feeling makes a misinterpretation of subject's vibrated body parts. Therefore, there is a possibility to change the user's motion by using this misinterpretation. In this study, vibration stimulation is added to biceps brachii with various vibration stimulation. The experimental results of these experiments suggest that it is possible to control human motion by using vibration stimulation.