人間心理を考慮した機械のインピーダンス特性

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  • Impedance Characteristics of Machines Considering Human Emotions.
  • ニンゲン シンリ オ コウリョシタ キカイ ノ インピーダンス トクセイ

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Desirable values of the impedance parameters of machines are investigated in this work by a rating scale method for coexisting with humans. In the experiment, 11 subjects come into physical contact with an impedance-controlled machine and evaluate this contact subjectively. The evaluations are performed on 48 combinations of mass, viscous coefficient, and stiffness. In terms of the results, the emotions felt by the subjects with regard to the machines being soft, pleasant, and human-like are explained by a linear regression model of the impedance values, and the emotions of being reassuring are classified into four groups.

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