PROBLEM TO BE SOLVED: To provide an upper limb movement model which permits response performance to be improved, good reproducibility to be obtained even for a comparatively quick movement, and the movement characteristics of the upper limbs to be sufficiently expressed.;SOLUTION: The upper limb movement model is modeled on the movements of the upper limbs of a human being which are entailed by a positioning operation to make a link rotating coaxially with a target guide track the target guide rotating around a prescribed axis of rotation, and has a portion 13 modeled on the eye and the brain, a portion 14 modeled on the upper limbs, and a portion 12 modeled on an interface. By having a feed forward term to be adjusted by an error compensation sensitivity coefficient β in the portion 13 modeled on the eye and the brain and a feedback term by a force sense feedback combination characteristic α(s) in the portion 14 modeled on the upper limbs, the upper limb movement model is structured as a mixed visual sense and force sense feedback model.;COPYRIGHT: (C)2012,JPO&INPIT
展开▼
