Psychological evaluations of fusion motions emulating exercises of human's arm extension with shoulder movements

This work deals with psychological evaluations of fusion motions for a robot manipulator emulating exercise of human's arm extension with shoulder movements. In cases where the goal position is put in a further place than the length of the extended arm, not only the velocity profile of the hand by extension exercise but also that of the shoulder by anteflexion exercise are bell-shaped. These two exercise are simultaneously performed, but the hand velocity becomes a peak earlier in comparison with the shoulder one. Reproducing the measured human data, the exercises of a three-link arm with shoulder or body movements are simulated and the characteristics of a human-likeness fusion are examined by shifting the start time of the shoulder movement. Evaluation result says that the relation between the velocity peak positions of the hand and shoulder remarkably influences on the human-likeness.