Abstract
This paper presents a methodology for observing human skill by using a virtual task space constructed by the haptic virtual reality technology. First a haptic simulator developed for a 2-dimensional peg-in-hole assembly operation in the virtual environment is presented. To examine the validity of the simulator, a comparison study between the peg-in-hole task using the simulator and that in the real world is performed. It is hoped that this simulator will help in gathering data of human skill in assembly tasks and analyzing the human skill. Secondly, a method for improving the stability of this kind of haptic simulator by using an analog electric circuit for driving the motors of the haptic interface device is presented. It is analytically shown that the stability is improved by this method using the passivity theory. Preliminary experimental results are given to demonstrate the validity of this analog circuit.
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© 2003 Springer-Verlag Berlin Heidelberg
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Yoshikawa, T., Kawai, M., Yoshimoto, K. (2003). Toward Observation of Human Assembly Skill Using Virtual Task Space. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_49
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DOI: https://doi.org/10.1007/3-540-36268-1_49
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