Factors affecting the sensitivity to small interaction forces in humans
Factors affecting the sensitivity to small interaction forces in humans
复制标题
影响人类对小相互作用力敏感性的因素
DOI：
10.1109/embc46164.2021.9629751
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Song, Yun Seong
中科院分区：
文献类型：
--
作者：
Rashid, Fazlur;Burns, Devin;Song, Yun Seong
有效的物理人机交互（pHRI）取决于人类如何与他人交流他们的运动意图。虽然据推测，小的相互作用力包含重要的信息来传达物理人-人交互（pHHI）的特定运动意图，但人类从这种小作用力推断意图的潜在机制在很大程度上是未知的。在这项工作中的假设是，施加在手上的小的相互作用力的灵敏度是由手臂的运动，这是由手臂刚度的影响。为此，触觉机器人被用来提供端点的相互作用力坐在人类参与者的手臂。他们被要求在没有视觉反馈的情况下确定所施加的机器人相互作用力的四个方向之一。施加不同水平的相互作用力以及手臂肌肉收缩。结果表明，人类的能力，以识别和响应的正确方向的小相互作用力时，人体手臂运动的对齐力方向较高。此外，当臂刚度较低时，对小相互作用力的方向的灵敏度较高。也有人推测，人类降低他们的手臂刚度是更敏感的较小的相互作用力。这些结果将有助于开发用于各种应用的类人pHRI系统。
Effective physical human-robot interaction (pHRI) depends on how humans can communicate their intentions for movement with others. While it is speculated that small interaction forces contain significant information to convey the specific movement intention of physical human-human interaction (pHHI), the underlying mechanism for humans to infer intention from such small forces is largely unknown. The hypothesis in this work is that the sensitivity to a small interaction force applied at the hand is affected by the movement of the arm that is affected by the arm stiffness. For this, a haptic robot was used to provide the endpoint interaction forces to the arm of seated human participants. They were asked to determine one of the four directions of the applied robot interaction force without visual feedback. Variations of levels of interaction force as well as arm muscle contraction were applied. The results imply that human’s ability to identify and respond to the correct direction of small interaction forces was lower when the alignment of human arm movement with respect to the force direction was higher. In addition, the sensitivity to the direction of the small interaction force was high when the arm stiffness was low. It is also speculated that humans lower their arm stiffness to be more sensitive to smaller interaction forces. These results will help develop human-like pHRI systems for various applications.