Analysis of human perception ability for robot impedance
| Authors: | Tanaka Yoshiyuki, Graduate School of Engineering, Hiroshima University, Japan
Tsuji Toshio, Graduate School of Engineering, Hiroshima University, Japan
Miyaguchi Hideki, Graduate School of Health Sciences, Japan |
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| Topic: | 4.5 Human Machine Systems |
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| Session: | Applications for Human-Machine Systems |
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| Keywords: | Mechanical impedance, human impedance perception, sensory-motor integration |
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Abstract
This paper examines human impedance perception ability during manipulation of an impedance-controlled robot, especially as regards perception accuracy and differential limen. In the experiments, a subject is instructed to move the handle of an impedance-controlled robot and to perceive the presented value of the robot impedance. Experimental results show that both motor control ability and somatosensory information play important roles in impedance perception.
