w120 - 日本機械学会
Contents
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4. 2 P Q R 5 T R Heartrate E Fig 3 R R s aniy oz Trajectory RRI reporting Dante HRV mental stress index o Fig 1 Scheme of this research R R Interval 3L ac a Ie r S ae i gy el pP 2 0 P cf Van i J ae Na See a al wal Need s i A 05 1 1 5 time s Fig 3 ECG and R R interval RRI 0 1Hz 0 3Hz LF Low Frequency HF High Frequency LF HF Fig 1 Q Fig 2 RRI LF HF RRVD R R variability 2 0 RRV HF RRV3 D LF RRV9 RRV3 RRV9 RRV3 RRV9
5. method Fig 14 Searched path from 2b to 5f without a time limit Fig 12Q A B 3 A BQ 2 3 A BQ 3 71 00000 Fig 13 14 8 Fig 15 16 mRRV MSI Fig 15 Searched path from 7b to 5f with a time limit of 8 2 4 seconds Fig 14 Pig 14 Fig 16 Searched path from 2b to 5f with a time limit of 8 Fig 16 seconds 8 0000 0000 1 ou 1996 2 CO Vol 66 No 643 2000 3 4 xI 5 I1 RM 501
6. 0000000 N01 59 000000000 0 CDROMg 0 00 2001 8 7 0 0 0 Motion Elements Fig 2 The image of motion elements
7. RRB S 1 2 A2 _ RRI k4 9 RRI3S k 3 RRV3 k 2j RRI k 3 2 4 ny _ RRI k von RRIQ k e 3 a 8 ne a _ RRIB k 3 RRIO k 5 RRV3 k ore sea ee al RRI k D RRI Fig 4 The tip path of robot manipulator presented to sub RRV93 jects RRV9 RRV9 mRRV ae T RRV Dir ae RRV9 k gt mRRV k mean aRRV9 HUMANI ROBOT ARM aRRV9 RRV9 4 7000 CONTROLLER Fig 5 Top view of the experiment environment Zz 5 2 0000 eg eh Oh eee ie oh 2 220 23 8 0 30 60 deg 330 T 1 15 i kim i Fig 6 200 mm 9 1 370 mm T 2 4 s 0 2 2 TQ 2 132 5 Fig 4 r 700 mm J 8 30 deg 10 9 12 1 1 1 18 5 00000000000 18 20 51 0000000 10 Fig 5 RM 501 PC AT NEC j 4124 A 3 4 5 8 1 18 2 1 kHz 0 AD AD DA PCI 9112 PC AT A B Timetable of a set of measurement Timetable between motion elements Time min Stage Time sec Preparation 15 0 Demonstration Motion presentation 10 2or4 Rest 10 0 Measurement start R t 2 Motion start Spon ion start 2 18 motion elements were prese
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9. Xi RRI k i
10. 2 MSI 2 T 4 adea Vo SBS node B Fig 13 Searched path from 7b to 5f without a time limit MSI 7 T 2 MSI Mental Stress Index T Time s Fig 12 A simple illustrative problem for the proposed
11. A B 10 E os n MSI AW khafa LA pond a i gt 60 120 180 240 300 ani 480 540 600 660 720 780 840 900 960 1020108011401200 tn 15 RRV93 mRRV Time sec Fig 7 RRV3 and RRV9 time series data of subject A for a presented motion Meee MSI RRV93 f RRV93 t dt 6 t RRV3 ue RRVO MSI mRRV mRRV t dt 7 t RRV9 63 QDTOOUOUUUO0UUUUU0UUUUD MSI Table 1 62 00000000 MSI RRV93 9 MSI mRRV Fig 7 RRV 1 RRV n RRV J RRV 0 lt t lt 60 N Table 1 correlation coefficients between MSIs and subject reporting din RRVa t 5 Subject MSI RRV93 MSI mRRV x Fa 00s 0 0009 ADB D RRV RRV e f oes owa J Fig 80 90 100 11 A RRV9 10 50 RRV3 RRV9 7 eee HOUUOUODUUUUO B RRV3 A
12. nted every I minute 50 Notice 20 Motion end 60 Next motion Mesurement end Fig 6 Timetable of a set of experiment 10 20 30 40 50 60 Time sec Fig 8 Average time series of RRV3 over whole mo tions of subject A 6 DOUUUUN 6 1 RRVOOOG RRV3 RRV9 Fig 7 O Mestasta hus AA MTA Rebels Mle LAMA aaa i tA oid iil Abba lA Ul 0 60 120 180 240 300 360 420 480 540 600 660 720 780 840 900 960 1020108011 Time sec bare 401200 te 10 20 30 40 50 60 Time sec Fig 9 Average time series of RRV9 over whole mo tions of subject A 5 1 8 18 1 6 1 6 1 4 1 4 D Q a gt Z 12 y x c i C12 ui 0 87 1 ost 0 8 94449 50 60 10 50 60 20 30 40 Time sec Fig 10 Average time se ries of RRV3 over whole motions of subject B 20 30 40 Time sec Fig 11 Average time se ries of RRV3 over whole motions of subject B
13. w120 0 00000O0OOOOOOOOOOOOOOOOOOOOOOOOOOUUU Trajectory planning of robot manipulators taking account of mental stress via motion element approach C 0 OO 00000000 0 00 00000000 0 OO 00000000 Naohiko HANAJIMA Muroran Inst of Tech 27 1 Mizumoto cho Muroran Mitsuhisa YAMASHITA Muroran Inst of Tech Hiromitsu HIKITA Muroran Inst of Tech This paper deals with the trajectory planning problem of robot manipulators taking account of mental stress of the users via motion element approach In motion element approach a motion of the robot manipulator is divided into fundamental elements and each element is given the mental stress index then the elements combined into a motion trajectory such that the sum of the mental stress indices are minimized The mental stress indices are obtained from the heart rate variability analysis in the time domain In experiments we prepare over 100 motion elements present them to subjects and analyze the ECG data of the subjects Examples of the trajectory planning problem are shown Key Words Motion element HRV RRV robot manipulators trajectory planning mental stress A1 0000 A3 O00000 RRV
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