ウェーブレット変換による手動作系の解析

Abstract

The purpose of this study is to investigate the behavior of joint impedance change of the human arm. We carried out some tracking experiments in a constant speed motion of the human wrist joint with an elastic load. The analysis was looking at the oscillation frequency change then we made plans time-frequency analysis by the wavelet transform. As a result of the experiments, we found that the oscillation frequency of the tracking motion of the human wrist joint shifts continuously to a higher region that corresponds with loaded torque increase. In the tracking experiment, the accuracy of tracking has made progress in case of the load estimated on 10%MVC.