A study on evaluation of the manipulation ability of the upper limb using convex polyhedron (1st report, new vertex search algorithm)
A study on evaluation of the manipulation ability of the upper limb using convex polyhedron (1st report, new vertex search algorithm)
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利用凸多面体评估上肢操纵能力的研究（第一次报告，新的顶点搜索算法）
DOI：
10.1299/kikaic.73.1514
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
K. Kiguchi
中科院分区：
文献类型：
--
作者：
M. Sasaki;T. Iwami;K. Miyawaki;G. Obinata;Ikuro Sato;Y. Shimada;K. Kiguchi
本文将机器人操作手的分析方法应用于评价人类上肢的操作能力。基于个体肌肉力量特征的最大手力集合表示为六维凸多面体(操作力多面体)。通过使用一种新的顶点搜索算法对六维凸多面体进行可视化，阐明了上肢操作能力在三维空间中的空间特征。为了验证该方法的有效性，我们将操纵力多面体与实际测量的最大手力进行了比较。根据测得的上肢关节最大扭矩与关节角度和旋转方向的关系，计算出操作力多面体。该评价方法不仅适用于上肢操作能力的评价，而且对基于个体肌肉力量特征的器械研制也具有一定的参考价值。
In this paper, we have applied the analysis method for the robot manipulators to the evaluation of the manipulation ability of the human upper limb. The set of maximum hand force based on individual's muscular power characteristics were expressed in the six-dimensional convex polyhedron (Manipulating Force Polyhedron). The spatial characteristic of the manipulation ability of the upper limb in three-dimensional space was clarified by the visualization of the six-dimensional convex polyhedron using a new vertex search algorithm. In order to show the effectiveness of the proposed method, we compared manipulating force polyhedron with measured maximum hand force. The manipulating force polyhedron was calculated from measured maximum joint torque of the upper limb depending on joint angle and rotation direction. Our evaluation method will be useful not only for the evaluation of the manipulation ability of the upper limb but also for the development of equipment based on individual's muscular power characteristics.