Abstract
Our motions generally consist of cooperative movements of the various joints and muscles. However, it is difficult to evaluate the learning characteristics of the cooperative motions because of their complexities: it is needed to finely evaluate the learning characteristics of the joint and muscle movements. This research focuses on the learning characteristics of elbow joint movements based on only haptic stimuli. The haptic stimuli has interference with learner's movements, and the interference depends on the strength of the haptic stimuli. In this research, the strength of the haptic stimuli is defined as the utilization ratio, and the learning schemes are classified into several types according to the utilization ratio: (1) the fully active learning, (2) the active/passive hybrid learning, and (3) the fully passive learning. In this research, the active/passive hybrid and the fully passive learning were compared. Psychophysical experiments suggested that (1) the passive learning was superior to the active/passive hybrid learning from a viewpoint of velocity errors in learner-reproduced motions, (2) for both learning frameworks, it was difficult for learners to memorize fast motions in a short time span, (3) how the fineness and precision in learner's reproduction change according to the motions with haptic stimuli.
