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Identification of Human Bimanual Operation Using XY-Stages

机译:使用XY阶段识别人类的双手操作

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Our bimanual operation experiments have shown that the movement of one hand affects that of the other at higher frequencies - a coupling that weakens for a skilled operator. To determine the bimanual operational properties, we designed a bimanual operation system with two XY-stages for studying Human Adaptive Mechatronics (HAM). Each XY-stage has two DC motors, a six-dimension force sensor, and two encoders. An operator moves the XY-stage through a grip on the force sensor. We first studied dynamic human properties, based on which we determined XY-stage specifications. The PID controller with a Virtual Internal Model (VIM) of the XY-stage, we designed enables XY-stages to follow the trajectory given by the operator, including locations and force commands. Using the XY-stages, we conducted bimanual operation experiments in which operators manipulate the XY-stages bimanually to track two orthogonal trajectories. To investigate bimanual operation properties, we analyzed variation, correlation, and the power spectrum density (PSD) of experimental input and output data and identified the transfer functions. This paper presents the design of the bimanual operation system and shows the experimental results and the analysis results of bimanual operations.
机译:我们的双手操作实验表明,在较高的频率下,一只手的运动会影响另一只手的运动-这种耦合对于熟练的操作员来说会减弱。为了确定双手操作属性,我们设计了带有两个XY阶段的双手操作系统,用于研究人类自适应机电一体化(HAM)。每个XY工作台都有两个直流电动机,一个六维力传感器和两个编码器。操作员通过力传感器上的手柄移动XY工作台。我们首先研究了动态人体特性,并以此为基础确定了XY阶段规格。我们设计的具有XY工作台虚拟内部模型(VIM)的PID控制器使XY工作台能够遵循操作员给定的轨迹,包括位置和力指令。使用XY工作台,我们进行了双向操作实验,其中操作员可以手动操作XY工作台以跟踪两个正交轨迹。为了研究双手操作属性,我们分析了实验输入和输出数据的变化,相关性和功率谱密度(PSD),并确定了传递函数。本文介绍了双向操作系统的设计,并给出了双向操作系统的实验结果和分析结果。

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