腰ハンガー反射を用いた歩行ナビゲーションにおける教示の影響

抄録

The Hanger Reflex is a phenomenon in which the head rotates unintentionally when force is applied via a wire hanger placed on the head. It has been confirmed that this phenomenon is caused by pressure, and the direction of the Hanger Reflex contributes to the direction of skin deformation. In addition to the head, similar phenomena have been found in the wrist, waist, and ankle. Until now, we aimed for walking navigation without interpretation of navigation information using the Hanger Reflex, investigated the influence on the head-type, waist-type, and ankle-type Hanger Reflex on walking, it was confirmed that the waist-type Hanger Reflex most efficiently affects walking. However, assuming a scene to actually use as walking navigation, the current waist-type Hanger Reflex device is difficult to say that it is easy to use because the user oneself needs to shift the device. Moreover, in addition to scenes without interpretation of navigation information, it can be assumed that scenes with interpretation of navigation information, such as "Follow" or "Resist". In this paper, in order to use the waist-type Hanger Reflex for actual walking navigation, developed a controlled device of the waist-type Hanger Reflex using four pneumatic actuators, and investigated the effect of the waist-type Hanger Reflex on walking caused by difference in interpretation of navigation information. As a result, we confirmed that the developed waist-type Hanger Reflex device can control the walking path and body direction, depend on user's interpretation difference.