In this paper, characteristics of subjective force perception are investigated based on the estimation of muscle force activity. Experimental analysis of human force perception characteristics relating to steering operation has revealed that the force perception depends on the angle of the steering wheel and the direction of the load added to the wheel. Our investigation suggests that the muscle activity the subject exerts to conduct a task influences the subjective force perception. Taking this into consideration, we develop a force perception model based on the estimation of the muscle activity by using a 3D musculoskeletal model. The experimental results show that the developed model can generate the angle- and load direction-depending characteristics of the force perception.
2013 一般社団法人 日本機械学会