Human Impedance Perception through Sensory-Motor Integration
Toshio Tsuji*, Yoshiyuki Tanaka*, Tatsuya Abe*, and Hideki Miyaguchi**
*Graduate School of Engineering, Hiroshima University, 4-1, Kagamiyama 1-chome, Higashihimshima, Hiroshima, Japan
**Hiroshima Prefectural College of Health Sciences Gakuenchou, Mihara, Hiroshima, Japan
We studied human impedance perception during manipulation of an impedance-controlled robot. Through a series of experiments with healthy subjects and a patient with cerebellar ataxia to compare their perception ability, focusing on visual and somatosensory information and motor control. Our results showed that motor control and somatosensory information play an important role in impedance perception.
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