In this paper, our purpose is to verify the human behavior with the change of dynamics of the controlled subject, and to identify the human characteristics model at inching operation.
At the result of our experiments, we observed how the subject predicts the change of the controlled quantity, and how he decides the reference of the deviation to judge whether to manipulate the switch or not. Combining these facts, the decision making model of inching operation was constructed. From the conflicting results of the simulation studies by this model, it was found that the model is quite suitable for the human behavior at inching operation.

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A human arm is mechanically redundant because its elbow can rotate without moving a grasped object. However, human upper extremities usually have regular postures when they perform various motions and works in daily life. Revealing rules behind this phenomenon is important for human-like motions of artificial arms and for design of convenient man-machine systems.
The authors measured and analyzed 9 types of upper extremity motions of 5 subjects. Relationship between the wrist position and one shoulder angle is elucidated into an equation. The angle calculated by this equation agree with the shoulder angle for an arbitrary wrist position. Using this kinematic relationship, the shoulder angles are estimated and human-like postures of upper extremities are determined. This equation kinematically expresses a rule which prescribes the postures of human upper extremities.

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