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Coupling Phenomenon Observed with NIRS in Bimanual Operation
Yaodong Pan,Dewen Hu,Katsuhisa Furuta,Takayoshi Komine 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.1
In this paper, the activation of left and right motor cortex areas during bimanual and unimanual operations is investigated by using a near-infrared spectroscopy (NIRS), EGT-4000 Optical Topography System made by Hitachi Medical Corporation, Japan. It is found that only left or right side of the motor cortex area is active when a subject"s contralateral hand (or fingers of contralateral hand or contralateral arm) is moving in a slow or normal speed (i.e. a speed which is slower than or the same to the finger/hand/ arm moving speed in his/her dairy life), which coincides with previous research results found in literature. The most important discovery in this investigation is that the other side of the motor cortex area, i.e. the ipsilateral motor cortex area which is inactive for the low speed movement in unimanual operations becomes active when the movement is accelerated to a certain speed, which is much higher than finger/hand/arm moving speed in his/her dairy life and less than the speed limitation of his/her operation. This result reveals that the coupling between left and right motor cortex areas is the reason why the bimanual operation (two hands movement) effects with each other. For each subject participated in this research, a higher moving speed in bimanual operation results in more active in both sides of the motor cortex area. And the threshold speed with which the motor cortex area becomes much more active depends on the operation skill of the subject. More skilled the operator is, higher the threshold speed is.
Learning Process of Bimanual Coordination
Yukihito Suzuki,Hiroki Takase,Yaodong Pan,Jun Ishikawa,Katsuhisa Furuta 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
There are many systems that need sophisticated skills for operation. Operators must practice very well before actually operating systems, such as cranes, helicopters, and so on. We focus on two hand (bimanual) operation of human in this research. In the bimanual operation, motion of one hand of a low-skilled operator tends to suffer interfering in motion of the other hand. We have already identified human bimanual dynamic characteristics based on experimental results. However, learning process during bimanual operation was not clarified in the previous research. Therefore, in this research, we clarified the learning process by a simple task, i.e., bimanually moving grips on XY-stages back and forth only. In the experiment, subjects simultaneously moved one hand back and forth at 0:3[Hz] and the other at 0:5[Hz]. We divided subjects into two groups: Learning process A (LP A) and Learning process B (LP B). Subjects in LP A group conducts only manual operation without mechanical assistance, and those in LP B group conduct manual operation after a training guided by the XY-stages. It has been confirmed that subjects in LP B needed less number of trials than those in LP A to achieve the same performance trajectory.
Assistive Control System for Skill Acquisition - Balancing Pendulum
Katsuhisa Furuta,Yuya Kado,Yaodong Pan 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.4
This paper presents our recent research results for the assisitive control system for skill acquisition of a machine operation. Such assistive system for the operator to learn the skill is said Human Adaptive Mechatrnics. The assistive control system developed has force feedback for correcting the operation. The tasks considered are balancing an inverted pendulum, which has been used for skill evaluation. The assisitive control system developed has the structure that can be used for assisting general systems, where the display gives the reference to the operator. A virtual pendulum shown in the display is considered as the object. A human operator manipulates an X-Y stage as the human-machine interface with a haptic function. An assistive controller designed is similar to the Kawato-model in the sense that human is the feed forward and controller is the feedback system. An experiment result shows effectiveness of this system for assistance for getting the skill.