A Study of the Relationship between the Timing of Intervention Movement in the Anterior-Posterior Direction and Human Postural Response for Motion Guidance by Robots

Abstract

In robots that involve physical contact with humans, it is thought that the task can be accomplished efficiently if the movement is induced by using the reaction and nature peculiar to the human. However, the timing of the intervention is not clear. Therefore, we investigated the effect of the robot's pulling motion on the human's standing posture response under different conditions. In detail, conditions are different from with or without periodic disturbance in the anterior-posterior direction, or with or without temporal prediction. The results showed that forward stepping occurred at a higher rate when there was no temporal prediction and when the timing was after a periodic anterior-posterior disturbance.