Manipulability analysis of human arm movements during the operation of a variable-impedance controlled robot

This paper focuses on a shift operation system of an automobile as an example of human-machine systems, and develops a virtual shift system using a variable-impedance controlled robot that can provide various types of shift dynamics. A series of operational experiments is carried out with different viscoelastic patterns installed in the virtual shift system by changing the relative position between the shift lever and the operator. Then, the relationship between operational feeling and human arm movements is investigated by using the force manipulability considering human joint-torque characteristics.