Affiliations: [a] Department of Mechanical Engineering, Faculty of
Engineering, Mie University, Tsu, Japan | [b] RIKEN-TRI Collaboration Center for Human Interactive
Robot Research, Nagoya, Japan
Correspondence:
[*]
Corresponding author. Department of Mechanical Engineering,
Faculty of Engineering, Mie University, 1577 Kurimam\- achiya-cho, Tsu, Mie,
514-8507, Japan. Tel./Fax: +81 59 231 9668; E-mail: [email protected]
Abstract: Human characteristics are supposed to be applied to the control
systems of the human-friendly robots. Therefore, it is important to know the
human characteristics in human-robot cooperative tasks. In this study, we
considered a single rotational degree of freedom experimental system as well as
a mass-spring-damper-friction dynamic model for the human arm, measured the
torque acting on the armload from subject's forearm and the angular
displacement of subject's forearm using the force sensor and the eddy current
sensor, analyzed their mutual relation, and attained the characteristics of the
human arm with the effect of the gravity load. We compared this cooperative
motion to that studied without the gravity load and found that the damping and
friction characteristics remained unchanged and the spring characteristics
disappeared. In this case, the characteristics of the follower's arm had no
relationship with the weight of the load.
Keywords: Mass-spring-friction dynamic model, human-robot cooperative task, effect of the gravity load
