부산대학교 도서관

This paper ponders the effects of introducing an assistive force visual display on a subject’s force perception. Correct and incorrect displays were tested and were found to significantly affect the subject’s force perception as compared to no visual feedback case. The elbow joint was considered for this study and assisted with four wearable artificial muscles called pneumatic gel muscles (PGMs). It was observed that subjects tend to underestimate the assistive force. The introduction of a visual display could significantly reduce this force underestimation. Moreover, the level of force underestimation was higher in case of higher force values. In other words, the higher the actual force provided, the higher the level of force underestimation in all three conditions: correct, incorrect and no visual feedback. It was also observed that the perceived error (perceived force - actual force) was directly in proportion with the visual error (visual force - actual force).