Development and innovations in manufacturing techniques have changed the nature of manufacturing activities from manual to automatic. However, tactile inspection has still not been automated. Tactile inspection requires upper limb work involving repetitively touching the surface of objects. It is important to clarify the factors influencing workload because repetitive upper limb work causes damage to the hands, arms and shoulders. Nevertheless, there are few studies about workload during tactile inspection. In this paper, we investigate the effect of object orientation and scanning direction on upper limb load during tactile inspection. Eleven healthy male subjects participated in this experiment. They were asked to inspect objects using a combination of six object orientations and two scanning directions. The six object orientations were the frontal plane, the sagittal plane, the horizontal plane, the middle orientation between the frontal and sagittal planes, the middle orientation between the sagittal and horizontal planes, and the middle orientation between the horizontal and frontal planes. The scanning directions were the horizontal and vertical directions. The upper limb activities were measured by performing electromyography. We also measured the control force using a load cell. Furthermore, subjective indices for burden, difficulty of the task and inspection were investigated. Electromyography was performed at the upper part of the trapezius muscle, at the clavicular part of the pectoralis major muscle, at the middle part of the deltoid muscle, at the biceps brachii muscle, at the triceps brachii muscle and at the extensor carpi ulnaris muscle. The results showed that tactile inspections in the frontal plane condition and in the middle orientation between the horizontal and frontal plane condition are undesirable because these conditions cause excessive load on the extensor carpi ulnaris muscle due to extension of the wrist. Furthermore, the load on the shoulder and elbow decreases in the horizontal plane condition and in the middle orientation between the horizontal and frontal plane condition, and increases in the sagittal plane condition.
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