| 研究課題/領域番号 |
18K18130
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| 研究機関 | 日本電信電話株式会社NTTコミュニケーション科学基礎研究所 |
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研究代表者 |
高木 敦士 日本電信電話株式会社NTTコミュニケーション科学基礎研究所, 人間情報研究部, 特別研究員 (70802362)
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| 研究期間 (年度) |
2018-04-01 – 2021-03-31
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| キーワード | grasp force / endpoint stiffness / precision control |
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| 研究実績の概要 |
In FY2018, we reported the development of a new grasp force metholodogy that measured what appeared to be adaptations in endpoint stiffness. This year in FY2019, we validated the grasp force methodology by measuring its relationship with the endpoint stiffness magnitude. We found a linear correlation between these two quantities, and have published the results in an international journal. Furthermore, to demonstrate that the grasp force correlates with the control of movement precision, we examined how the grasp changed in two separate experiments where precision is known to be controlled. In both experiments, we found an adaptation in the grasp force similar to what was reported in the literature (concerning stiffness adaptation). This has also been published in an international journal.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
The research in FY2019 is progressing smoothly. We were able to validate the grasp force methodology to gain a deeper understanding of how movement precision is controlled during interaction and during movement. This resulted in two international journal publications.
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| 今後の研究の推進方策 |
We have now gathered sufficient data from multiple motor tasks to model the control of movement precision. We aim to understand on a deep level the control mechanism utilized by the brain to control the interaction force exerted by the arm. We also want to understand the adaptation process of precision control to gain an insight into how humans learn an insertion (tooling) task.
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| 次年度使用額が生じた理由 |
Expenses were somewhat lower than expected in FY2019. The amount remaining will be used to purchase a three-axis force sensor in FY2020.
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