Experimental Investigation of Operability in Six-DOF Gesture-Based Operation Using a Lower Limb and Comparison With That in an Upper Limb
Experimental Investigation of Operability in Six-DOF Gesture-Based Operation Using a Lower Limb and Comparison With That in an Upper Limb
复制标题
下肢六自由度手势操作的可操作性实验研究及与上肢的比较
DOI：
10.1109/access.2020.3002954
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发表时间：
2020
期刊：
影响因子：
3.9
通讯作者：
Yasuda Ikko
中科院分区：
文献类型：
--
作者：
Komori Masaharu;Terakawa Tatsuro;Yasuda Ikko
为了直观地操作机器人和机器，最近研究了使用身体运动的界面。然而，与上肢相比，下肢手术尚未得到充分的探索。在本文中，我们使用基于虚拟空间的评估系统进行了一个涉及具有下肢或上肢手势的虚拟物体的六自由度操作的实验。我们分析了手术中上肢和下肢的运动，并讨论了它们特征的区别。实验结果表明，下肢的可操作性在时间上比上肢低约79%，准确度低约109%，主观评价低约39%，ON/OFF开关频率低约82%。在模糊估计的基础上定义了操作理想度和粗糙度，对结果进行了详细分析。结果表明，下肢手术的理想度比上肢手术低约20-25%，体位手术的理想度比体位手术低约7-13%。利用粗糙度指数对宏观逼近运动进行评价，下肢手术的运动距离、旋转角度和单个运动的旋转速度分别比上肢手术小约18%、44%和33%。因此，在姿势操作中，上肢和下肢之间存在主要差异。
To operate robots and machines intuitively, interfaces using body motion have recently been investigated. However, compared to the upper limbs, the lower limb operation has not been fully explored. In the present paper, we conducted an experiment involving the six-degree-of-freedom operation of an imaginary object with a lower or upper limb gesture using a virtual-space-based evaluation system. We analyzed the motions of the upper and lower limbs in the operation and discussed the difference between their characteristics. The experimental results showed that the operability of the lower limb was lower than that of the upper limb in terms of time by approximately 79%, accuracy by approximately 109%, subjective evaluation by approximately 39%, and frequency of ON/OFF switching by approximately 82%. We analyzed the results in detail by defining the operational ideality and roughness based on fuzzy estimation. The results clarified that the ideality of the lower limb operation was lower than that of the upper limb by approximately 20–25% and that the ideality was lower in the posture operation than in the position operation by approximately 7–13%. Evaluation of the macro-approaching motions using the roughness index showed that the moving distance, rotating angle, and rotating velocity for a single motion were all smaller in the lower limb operation than in the upper limb operation by approximately 18%, 44%, and 33%, respectively. Consequently, there was the main difference between the upper and lower limbs in the posture operation.