Study on muscle kinesthetic sense mechanism in limbs' operations with applications to driving interface control systems

2015 Fiscal Year Final Research Report

• Project/Area Number: 25330321
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Kansei informatics
• Research Institution: Nagasaki University
• Principal Investigator: TANAKA Yoshiyuki 長崎大学, 工学研究科, 准教授 (40336920)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 筋運動感覚特性 / 筋運動インピーダンス特性 / 多肢協調制御 / 自動車操縦シミュレータ

Outline of Final Research Achievements

The new 4-DOF driving simulator using robotic technology was developed, and the properties of human force perception in driving operations were measured in considerations of human motor properties. The experimental results demonstrated that the force magnitude in steering by the arms was 30 % smaller than one in pedaling by the leg even where the perceived values in both operations were same. Furthermore, a multi-input-typed computational model for human force perception in pedaling was proposed, which can successfully estimate a perceiving force magnitude for the reaction force and leg posture, and the effect of the modification of reaction force using the perception model was confirmed in the force tracking control test by the leg.

Free Research Field

ロボティクス，生体工学