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首页> 外文期刊>Artificial life and robotics >An exoskeletal motion instruction with active/passive hybrid movement: effect of stiffness of haptic-device force-feedback system
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An exoskeletal motion instruction with active/passive hybrid movement: effect of stiffness of haptic-device force-feedback system

机译：主动/被动混合运动的骨骼外运动指令：触觉设备力反馈系统的刚度影响

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Haptic devices have been studied as a useful tool for motion instruction. In this paper, we take up the method in which the device momentarily instructs the learners to reduce errors of their reproduced movements by giving force. Subjects trained two-stroke hand motions on a horizontal plane. The subjects learned lengths, angles, and velocities of each of the two strokes. The device-exerted force was calculated by multiplying a stiffness to the momentary joint angular errors. The servomotor stiffness with respect to a geared-motor rotation was chosen from 0.5, 1.5, 4.5, 13.5, and 40.5 N cm/deg. The experiment constituted of the training stage and the short-term recall stage. In the instruction trials, subjects were asked to "actively" conduct their recognized movement and to modify their momentary movements, perceiving the device-forced passive movement and/or device-exerted force. The experimental results showed that the reproduction errors in the short-term recall stage under the larger stiffness conditions were approximately smaller. However, the error reduction of the length tended to converge for 4.5 N cm/deg or more condition, and the error reductions of the angle and average velocity tended to converge for 13.5 N cm/deg or more condition. In addition, maximum device forces given in the instruction trials tended to increase as the stiffness increased.
机译：触觉设备已被研究为运动指令的有用工具。在本文中，我们采用了一种方法，该设备可立即指示学习者通过施加力来减少其复制动作的错误。受试者在水平面上训练了两冲程手势。受试者学习了两个笔画中每个笔画的长度，角度和速度。通过将刚度乘以瞬时关节角度误差来计算设备施加的力。相对于齿轮电动机旋转的伺服电动机刚度选自0.5、1.5、4.5、13.5和40.5 N cm / deg。实验由训练阶段和短期记忆阶段组成。在指导试验中，要求受试者“主动”进行他们认可的运动并改变其瞬时运动，以感知设备施加的被动运动和/或设备施加的力量。实验结果表明，在较大硬度条件下，短期召回阶段的再现误差较小。但是，在4.5N·cm / deg以上的条件下，长度的误差降低趋于收敛，在13.5N·cm / deg以上的条件下，角度和平均速度的误差趋于收敛。另外，指导试验中给出的最大装置力倾向于随着刚度的增加而增加。

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