Kobayashi H, Ikeura R, Inooka H
Department of System Information Sciences, Graduate School of Information Sciences, Tohoku University, Sendai, Japan.
Biol Cybern. 1996 Jul;75(1):11-8. doi: 10.1007/BF00238735.
This paper proposes maneuverability indexes for a control stick that are based on considerations of muscle characteristics. The indexes are defined on the basis of muscle forces: stiffness of the musculoskeletal system and torque for accelerating the stick. Measuring muscle forces with electromyography, we examine the effectiveness of the proposed indexes experimentally. In a slow tracking operation, the index based on stiffness conforms to the subjective evaluation, but the index based on the torque is inadequate as an index of maneuverability; we therefore use the index based on stiffness as the maneuverability index. In experiments on a step operation, we divided the operation into two phases: moving and holding. The index in the holding operation is in good agreement with the subjective evaluation. In both tracking and step operations the characteristics of the index are appropriate whether or not the controlled object has a first-order lag element. As a result, it is shown that the index can indicate the maneuverability in the low-frequency tracking operation of the stick.
本文基于肌肉特性的考量提出了一种用于控制杆的可操作性指标。这些指标是根据肌肉力量来定义的：肌肉骨骼系统的刚度以及用于加速控制杆的扭矩。通过肌电图测量肌肉力量，我们通过实验检验了所提出指标的有效性。在缓慢跟踪操作中，基于刚度的指标符合主观评价，但基于扭矩的指标作为可操作性指标并不充分；因此，我们将基于刚度的指标用作可操作性指标。在阶跃操作实验中，我们将操作分为两个阶段：移动和保持。保持操作中的指标与主观评价高度一致。在跟踪和阶跃操作中，无论受控对象是否具有一阶滞后元件，该指标的特性都是合适的。结果表明，该指标能够指示控制杆在低频跟踪操作中的可操作性。
