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Study on Periosteal-Reflex-Induced Motion Device
Abstract
It is necessary for the motion devices of "parasitic humanoid" to present motion timing and which joint and direction to move exactly. To satisfy these conditions, it is necessary that the presented stimulus connects directly with the corresponding motion. In this paper, we propose "periosteal-reflex-induced motion device" as a new motion device for parasitic humanoid. Utilizing periosteal-reflex, this device presents which joint and direction to move more directly than any other previous motion devices. We also report an experimental result, which implies availability of our new device.
Research on wearable non-grounded force display is carrying out recently. We propose a small and lightweight wearable force display to present motion timing and which joint and direction to move directly. This display outputs a torque using rotational moment and mechanical breaks.
Motor skills are difficult to be transferred from an expert to a novice. It is not easy for an expert to describe his skill linguistically. Videotaping is also insufficient since motor skills involve invisible elements, such as force and impedance. VR techniques have a potential to make training more efficient and let a novice to acquire motor skills much easier. In this paper, we propose an efficient training method for motor skills, such as sport swing motions, by using vibration cue and teacher's sight. We constructed a one-dimensional system and evaluated the proposed training method. The experimental result shows that the teacher's sight is effective. The vibration cue is effective only when the teacher's sight is withdrawn.
We developed a motor-driven joint exerciser for the hip and knee incorporating three-dimensional load sensors in the thigh and calf supports of the machine. The machine can memorize and replay exactly the same exercise as therapists teach with three degrees of freedom of motion in the median plane. The previous investigation focuses on the virtual mechanical impedance control which enables soft movement like the exercise for the spastic joints by the human therapists. In this study we proposed the new controls adding the integral term to the equation for the impedance control so that the machine could stretch the stiff joint overcoming resistive joint force. Numerical calculation could show the new controls worked well both for the stiff and spastic joints. We installed the new controls in the machine, and demonstrated stretching effects of the controls on the stiff hamstrings muscles.