教示情報を提示する方法の違いによる新奇環境における逆モデル学習

摘要

森らは回転粘性力場中での腕の到達運動におけるヒトの逆ダイナミクス学習の実験を行ない，体性感覚に教示を行なった場合は学習が困難であるのに対し，視覚に教示を行なった場合は学習が容易であると結論付けた.しかし，この実験では視覚，体性感覚の教示を行なう感覚器の違いの他に教示情報が連動中に与えられるか，運動終了後に与えられるかの違いがあった.そこで本研究では運動終了後に視覚へ教示を与えた場合の逆モデル学習について調査した.その結果，森らの実験と同程度の試行回数では逆モデルが十分に学習されなかったが，試行回数を増やしたところ視覚へ教示を与えた場合の方が体性感覚へ教示を与えた場合よりも逆モデルの学習が容易である傾向にあった.次に運動中に関節角度の誤差情報を視覚に与えた実験では，被験者は逆モデルを学習できた．これより運動中に教示を与えれば作業空間上の手先位置情報以外の情報でも逆モデル学習が進むと考えられる．%In the previous research, Mori et al. conducted motor learning experiments of an inverse dynamics model(IDM) instructed with only somatic sense or visual sense in a rotational force field. As a result, they concluded that it was difficult to acquire IDM when the instruction was only by somatic sense. However, there were differences not only in the sensor information but also in the teaching timing between these instruction methods. In this study, we investigate the IDM learning when the subjects were instructed the hand path error on visual after the reaching movement in the rotational force field. As a result, subjects were more difficult to learn IDM comparing the learning by the visual online instruction, but easier than by the somatic offline instruction. Next, the experiment that subjects were given the information about joint angular error as the online visual information was conducted to research the effectiveness of the online instruction. As a result, the subjects learned IDM. These results suggest that the effective instruction for learning of IDM is the online instruction.