接触環境位置変化に対応する直動動作の再現制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/05/01

タイトル(英語): Reproduction of Linear Motion with Adaptation for Change in Environmental Position

著者名: 綱島　昇（慶應義塾大学理工学部システムデザイン工学科），桂　誠一郎（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Noboru Tsunashima (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: 実世界ハプティクス，人間支援システム，モーションコピーシステム，スキルアキジション，バイラテラル制御，加速度制御　　real-world haptics，human support system，motion copying system，skill acquisition，bilateral control，acceleration control

要約(英語): In recent years, a technology for the preservation and reproduction of human motion has been in demand in the fields of manufacturing and human support. An efficient method for this purpose is the use of a motion-copying system. This system deals not only with the trajectory but also with the strength of human motion. However, there are several problems associated with this system. One of them is that the saved motion is not reproduced completely when the environmental location in the motion-loading system is different from that in the motion-saving system. For real-world haptics, a reproduction method that considers the relationship between human motion and the environment is necessary. In this paper, a motion-copying system based on acceleration information is proposed. In the proposed method, human motion is treated as the acceleration information. As a result, motion reproduction is realized even when the environmental location is different, because the acceleration information does not depend on the initial position. The validity of the proposed method is confirmed by experiments.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.5 （2012）

本誌掲載ページ: 526-533 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/5/132_5_526/_article/-char/ja/