JRM Vol.20 No.4 pp. 585-594
doi: 10.20965/jrm.2008.p0585


Identification of Human Bimanual Operation Using XY-Stages

Yukihito Suzuki*, Yaodong Pan**, Hiroki Takase***,
and Katsuhisa Furuta*

*Department of Computers and Systems Engineering, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394, Japan

**Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B2K3, Canada

***21st Century COE Project Office, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394, Japan

February 25, 2008
June 5, 2008
August 20, 2008
human adaptive mechatronics (HAM), bimanual operation, identification, human dynamic characteristics

Our bimanual operation experiments have shown that the movement of one hand affects that of the other at higher frequencies – a coupling that weakens for a skilled operator. To determine the bimanual operational properties, we designed a bimanual operation system with two XY-stages for studying Human Adaptive Mechatronics (HAM). Each XY-stage has two DC motors, a six-dimension force sensor, and two encoders. An operator moves the XY-stage through a grip on the force sensor. We first studied dynamic human properties, based on which we determined XY-stage specifications. The PID controller with a Virtual Internal Model (VIM) of the XY-stage, we designed enables XY-stages to follow the trajectory given by the operator, including locations and force commands. Using the XY-stages, we conducted bimanual operation experiments in which operators manipulate the XY-stages bimanually to track two orthogonal trajectories. To investigate bimanual operation properties, we analyzed variation, correlation, and the power spectrum density (PSD) of experimental input and output data and identified the transfer functions. This paper presents the design of the bimanual operation system and shows the experimental results and the analysis results of bimanual operations.

Cite this article as:
Yukihito Suzuki, Yaodong Pan, Hiroki Takase, and
and Katsuhisa Furuta, “Identification of Human Bimanual Operation Using XY-Stages,” J. Robot. Mechatron., Vol.20, No.4, pp. 585-594, 2008.
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Last updated on Feb. 25, 2021