Patent Application
20050080350
The present invention relates to a work comfort evaluating device and method for evaluating a level of comfort of work by measuring myoelectric potentials of plural deltoid muscles when the work is done by antagonistic activities of the deltoid muscles. More particularly, the invention relates to a device and method for evaluating a steering comfort of a vehicle.
At present, automobile manufacturers and tire manufacturers pursue steering easiness of a vehicle and develop vehicles and tires by using various methods in order to provide such vehicles as automobiles, and tires, which ensure comfortable steering operations. In the development of the vehicles and tires, a steering comfort is evaluated, in most cases, by using a subjective sensory evaluation of a driver, or by using a method in which physical measurement data representing a behavior of the vehicle is acquired by using a measuring sensor such as an acceleration sensor that is attached to the vehicle, and the vehicle behavior is quantitatively measured.
To evaluate a level of work load imparted when given work is done, an electromyogram depicting signal waveforms of myoelectric potentials of a worker is used, and loads imparted to the muscles of the worker are quantitatively grasped. Since the measurement itself of the myoelectric potential is simple and good in its adaptation, it is thought that a level of the work load imparted when given work is done can properly be evaluated when the electromyogram is used. Further, there is a possibility that the evaluating method using the electromyogram is applied to the steering operation of the vehicle by the driver.
JP 2002-225585 A discloses a technique in which a myoelectric potential of a muscle acting to extend the arm and a myoelectric potential of another muscle acting to contract the arm are both measured, a value (conflict value) concerning a conflict of those two myoelectric potentials is calculated, and a level of driving load on the driver is determined based on the conflict value. More specifically, myoelectric potentials of the muscles of the driver which conflictingly act are measured by using myoelectric potential sensors, and a conflict feature quantity is calculated from a conflict value of the myoelectric potentials measured. When the calculated conflict feature quantity exceeds a predetermined threshold value, it is judged that the driving load on the driver has increased (paragraphs [0031] to [0038] in JP 2002-225585 A).
To obtain the threshold value used for the judgment, as shown in FIG. 10 in JP 2002-225585 A, the myoelectric potentials are measured for a long time, for example, 10 minutes, 8 minutes or 5 minutes, and a conflict value is calculated based on the measurement results. A conflict feature quantity for calibration, such as maximum values and average values, is calculated from the conflict value obtained by the long-time measurement. The threshold value in question is determined by multiplying the calculated feature quantity by a preset coefficient. Thus, to determine the threshold value, the long time measurement of 10 minutes, for example, is required. During this measurement time, the driving load on the driver cannot be judged. To cope with this, in JP 2002-225585 A, the data of the previous driving by the driver is used as a reference (paragraph [0040] in JP 2002-225585 A).
It is known that the myoelectric potential level frequently takes a different value when the myoelectric potential is measured because every time the sensors are stuck onto parts of the muscles before the measurement. If the data of the previous driving is used, which contains the myoelectric potential level that is probably different from the level of the current measurement, the judgment of the driving load on the driver will be erroneous. That is, the conflict feature quantity for calibration, which is used for determining the threshold value, is calculated from the myoelectric potential which will take a different value every time the detecting sensors are stuck. As a result, the conflict feature quantity for calibration also takes a different value every time the sensors are stuck. Accordingly, if the threshold value is determined by multiplying the conflict feature quantity for calibration by a fixed coefficient, judgment of the driving load on the driver will be erroneous.
The driving load on the driver disclosed in JP 2002-225585 A is a combination of a mental burden as to whether the driving is easy for the driver and a physical load when the driver actually drives. Accordingly, in a case where a large steering force is required for operating the steering wheel depending on the type of tires mounted, the physical load imparted to the steering wheel is large and the driving load increases. In this case, the steering force is large and a stable steering is secured, giving the driver secures a sense of safety and making the mental load less. However, the increase of the steering force results in an increase of the driving load.
In JP 2002-225585 A, the driving load on the driver is evaluated by using threshold values preset for respective running modes of high-speed cruising, highway congestion and city-area driving. Therefore, it is impossible to know a difference of the driving load caused by the mental burden on the drive in the high-speed cruising mode from the mental load in the highway congestion mode.
Such problems also occur not only in the evaluation of the steering operation of the vehicle but also in a case where a comfort is evaluated at work where an object to be operated is operated by antagonistically activating plural muscles (a pair of muscles, for example) of a human body.
Accordingly, an object of the present invention is to provide a work comfort evaluating device and method for evaluating a level of comfort of work by measuring myoelectric potentials of plural deltoid muscles when the work is done by antagonistic activities of the deltoid muscles, with which a level of comfort of work can be quantitatively evaluated from short-time measurement results.
The present invention provides a work comfort evaluating device for evaluating a level of comfort of work by measuring myoelectric potentials of plural muscles when the work is done by antagonistic activities of the muscles. The work comfort evaluating device comprises: a pair of detecting sensors for sensing myoelectric potentials of the muscles generated through muscular activities of a human body at a time of work; an amplifier for amplifying the myoelectric potentials sensed by the detection sensor; a signal processing part for calculating a synchronous contraction intensity of the muscles by using myoelectric potential waveforms of the amplified myoelectric potentials; a work load intensity calculating part for calculating a level of a work load intensity in the work imparting load to the muscles with a timing of the generation of the synchronous contraction intensity; and an evaluation part for evaluating a level of comfort of the work by normalizing the synchronous contraction intensity by using the level of the work load intensity calculated.
Note that the antagonistic activities of the muscles generally means that one muscle contracts while the other relaxes if there are two muscles cooperatively act to perform a piece of work.
The plural muscles are preferably a pair of muscles located at right and left parts of the human body. More preferably, the pair of muscles are deltoid muscles of a shoulder of the human body.
The work load intensity calculating part preferably calculates a level of the work load intensity from the myoelectric potential waveforms of the muscles. Then, the work load intensity calculating part more preferably calculates intensities of muscular loads imparted to the muscles in the work from the myoelectric potential waveforms of the muscles, and averages and smoothes the calculated muscular load intensities in an averaging process to thereby calculate levels of the work load intensities. Then, the averaging process may be a geometric averaging process.
In the work comfort evaluating device, the work is preferably a work in which the muscles cooperate to cause an object to be operated to dynamically behave, and the work load intensity calculating part preferably calculate a level of the work load intensity by measuring a physical quantity representing a dynamic behavior of the object operated by the work.
The signal processing part preferably calculates a geometrical average of the myoelectric potential waveforms of the muscles, and calculates root mean square values of the a geometrical average within a predetermined period, whereby the synchronous contraction intensity is generated.
The work may be a driving of a vehicle that is performed by a driver turning a steering wheel.
The invention also provides a work comfort evaluating method for evaluating a level of comfort of a work by measuring myoelectric potentials of plural muscles when the work is done by antagonistic activities of the muscles. The work comfort evaluating method comprises: sensing and amplifying myoelectric potentials of the muscles generated through muscular activities of a human body at a time of work; generating a synchronous contraction intensity of the muscles by using myoelectric potential waveforms of the amplified myoelectric potentials; alculating a level of a work load intensity in the work imparting load to the muscles with a timing of the generation of the synchronous contraction intensity; and evaluating a level of comfort of the work by normalizing the synchronous contraction intensity by the level of the work load intensity calculated.
In the present invention, where myoelectric potentials of plural muscles of antagonistic activities is measured and a synchronous contraction intensity is calculated from a synchronous contraction waveform of the myoelectric potentials with a work-load intensity, a level of comfort of work can be quantitatively evaluated from short-time measurement results.
Therefore, the present invention which evaluates a work comfort by a level of mental stress from the short-time measurement results, does not have to take a longer time, for example 10 minutes, before a work comfort is evaluated, compared to a conventional method. Specifically, the present invention normalizes the synchronous contraction intensity by the level of the work load intensity, thereby a rate of synchronous contraction intensity which increases as the mental stress is stronger, in the work-load intensity is obtained. Using the ratio, a work comfort of driver's steering operation can be evaluated irrespective of various driving modes, a high-speed cruising mode, highway congestion mode, city-area driving mode and so on.
This application claims priority on Japanese patent application No. 2003-325042, the entire contents of which are hereby incorporated by reference.
A work comfort evaluating device and a work comfort evaluating method, which are believed to be the best modes when the present invention is carried out, will be described with reference to the accompanying drawings.
In the accompanying drawings:
The steering comfort evaluating device 10 is a device for evaluating a level of comfort of steering operation by a driver who drives a vehicle. The steering comfort evaluating device 10 is made up of myoelectric potential detecting sensors 12 and 14 for detecting myoelectric potentials at right and left deltoid muscles of the driver, an electrode 16, an amplifier 18 for amplifying myoelectric potentials derived from the potential detecting sensors 12 and 14, a processor unit 20 for evaluating a level of steering comfort based on time-series waveforms of the amplified myoelectric potentials at the right and left deltoid muscles, and a monitor 22 for monitoring the result of the valuation.
The myoelectric potential detecting sensor 12 is a sensor for sensing a myoelectric potential of the deltoid muscle of the left shoulder of the driver. The detecting senor 12 is formed with a pair of Ag/AgCl dish-shaped electrodes. Those paired electrodes are stuck onto a surface part of the left shoulder where the deltoid muscle is located, while being spaced apart from each other a predetermined distance of several milimeters, for example, 5 mm.
The myoelectric potential detecting sensor 14 is a sensor for detecting a myoelectric potential of the deltoid muscle of the right shoulder of the driver. The detecting senor 14, like the detecting sensor 12, is formed with a pair of Ag/Ag CL dish-shaped electrodes. Those paired electrodes are stuck onto a surface part of the right shoulder where the deltoid muscle is located, while being spaced apart from each other a predetermined distance of several milimeters, for example, 5 mm.
A material for those potential detecting sensors 12 and 14 is not limited to Ag/Ag CL, but may be any of other suitable materials, such as Ag or stainless steel.
Before the electrodes of those detecting sensors are stuck onto the skin surface of the driver, each electrode is scrubbed with a suitable means, and cleaned by using alcohol, and then are attached to the skin surface by using electrode paste. In this case, the cleaning operation is continued till an electric resistance is reduced to 30 kΩ (preferably 5 kΩ). The paired electrodes are attached onto a venter of the muscle in a state where those electrodes are arranged in parallel with the muscular fiber. As shown in
The electrode 16 is an ground electrode to be attached to an earlobe of the driver, which is an electrically inactive position, in order to keep a potential of the driver constant. Use of the electrode 16 ensures an exact measurement carried out by the potential detecting sensors 12 and 14. The electrode 16, connected to the amplifier 18, is grounded via the amplifier 18.
The amplifier 18 is connected to the detecting sensors 12 and 14 by means of lead wires. The amplifier is a known operational amplifier for amplifying myoelectric potentials detected by the detecting sensors 12 and 14.
The myoelectric potentials, which are detected by the detecting sensors 12 and 14 and amplified by the amplifier, are transmitted to the processor unit 20.
The processor unit 20 contains a signal processing part 24, a work load intensity calculating part 25, and a comfort evaluating part 26.
The processor unit 20 is a unit containing a computer. The signal processing part 24, the work load intensity calculating part 25, and the comfort evaluating part 26 exhibit their own functions when the program is executed.
The signal processing part 24, the work load intensity calculating part 25, and the comfort evaluating part 26 may be constructed with which dedicated circuits.
The signal processing part 24 samples time-series data of myoelectric potentials at the two deltoid muscles to generate myoelectric potential waveforms and calculates a synchronous contraction intensity by using the myoelectric potential waveforms.
Specifically, the time-series data of the myoelectric potentials are sampled and subjected to full-wave rectification. The rectified waveforms are smoothed by smoothing filters (low-pass filters) to generate signal waveforms of the myoelectric potentials (myoelectric potential waveforms). A geometric average (a square root of the product of the myoelectric potential waveforms) of the two myoelectric potential waveforms at the same time point is calculated. A synchronous contraction waveform generated when the right and left deltoid muscles simultaneously and synchronously contract is formed by using the average values thus obtained. Further, a root means square (RMS) of the synchronous contraction waveform is calculated, and the calculated RMS is used as a synchronous contraction intensity. The RMS value is a square root of the sum of squares of the deviation of the waveforms from the mean value (simple addition mean value) during a predetermined period. The predetermined period is, for example, 0.5 to 10 seconds. It is evident that the synchronous contraction waveform in the present invention is not limited to the waveform generated by calculating a geometric average of the two myoelectric potential waveforms. For example, the myoelectric potential waveform that is the smaller in value of the two myoelectric potential waveforms may be used for the synchronous contraction waveform. However, it is preferable to generate the synchronous contraction waveform by calculating a geometric average of the two myoelectric potential waveforms, with an intention of lessening deterioration of the synchronous contraction waveform, where the deterioration arises from a level variation of the myoelectric potential caused every time the potential detecting sensors 12 and 14 are stuck.
The signal processing part 24 supplies to the work load intensity calculating part 25 the signal waveforms of the myoelectric potentials, which are formed through the smoothing process.
The work load intensity calculating part 25 calculates a level of the work load intensity in the steering operation by the driver by using the myoelectric potential waveforms supplied from the signal processing part 24. Specifically, muscular load intensities of the right and left deltoid muscles when the driver operates the steering wheel are calculated from the myoelectric potential waveforms. Those muscular load intensities are averaged. A level of work load intensity is calculated together with the calculation of a synchronous contraction intensity. The calculation of the work load intensity is performed together with the generation of the synchronous contraction intensity. The muscular load intensity is obtained by calculating an RMS value of the myoelectric potential waveform of each of the right and left deltoid muscles as shown in
The work load intensity calculated is supplied to the comfort evaluating part 26.
The comfort evaluating part 26 calculates a synchronous contraction rate, which represents a level of a driver's mental stress by using the synchronous contraction intensities and the work load intensity, which are supplied from the signal processing part 24 and the work load intensity calculating part 25, and evaluates a level of comfort of the driver's steering operation based on the synchronous contraction rate.
Thus, the synchronous contraction rate to be calculated represents a ratio of the synchronous contraction intensity which indicates a mental stress for the work load intensity when the synchronous contraction intensity representing a level of the mental stress is normalized by dividing the synchronous contraction intensity by the work load intensity.
An evaluation of the driver's comfort in the steering operation is performed in the following manner, for example. Comfort levels of the driver when he/she operates the steering wheel are arranged in ranks. A synchronous contraction rate calculated is compared with preset values for the respective ranks. The comfort level is evaluated based on the comparison result. An evaluation of the driver's comfort in the steering operation may also be performed in the following manner, for example. A frequency at which the synchronous contraction rate falls within a predetermined segment within a predetermined time is compared with the frequencies preset to rank comfort levels of the steering operation by the driver. The comfort level is evaluated based on the comparison result.
Such evaluation results, together with the calculation results of the myoelectric potential waveforms, the synchronous contraction waveforms, the muscular load intensities or the work load intensity, and the like, are sent to the monitor 22 to be displayed.
As described above, the steering comfort evaluating device 10 calculates a synchronous contraction waveform from the myoelectric potential waveforms of the right and left deltoid muscles, and calculates a synchronous contraction intensity. Further, the steering comfort evaluating device calculates a work load intensity from the myoelectric potential waveforms. The steering comfort evaluating device also calculates a synchronous contraction rate representing a level of mental stress of the driver when he/she operates the steering wheel, by using the calculated synchronous contraction intensity and the work load intensity. Finally, the steering a level of comfort evaluating device evaluates a level of steering comfort of the driver based on the synchronous contraction rate.
To steer the vehicle, generally, the driver turns the steering wheel. To steer the vehicle to the right, the driver angularly moves the left hand gripping the wheel in an upward direction. At this time, the deltoid muscle of the driver's left shoulder contracts actively. On the other hand, the right hand of the driver is merely put on the steering wheel and moves passively. Accordingly, at this time, the deltoid muscle of the right shoulder relaxes. When steering the vehicle to the left, the deltoid muscle of the driver's left shoulder relaxes, while the deltoid muscle of the right shoulder contracts. Thus, the steering operation is performed by the driver in such a manner that one of the right and left deltoid muscles of the human body, which are symmetrically disposed as laterally viewed, contracts, while the other relaxes. That is, the steering operation is done that is antagonistically done by the paired muscles that are laterally symmetrical.
However, there is a case where the driver grips the steering wheel by excessive force for handling because the driver has some mental burden when the driver is hindered from smooth steering operation and incessantly grips the steering wheel in a strained condition, for example. There is also a case where the steering operation is difficult and the driver strains himself. In such cases, the right and left deltoid muscles synchronous contract also in the steering operation that is done through the antagonistic activities of the right and left deltoid muscles. In this way, of the paired muscles that antagonistically act, one muscle contracts when it should relax, simultaneously with the straining staete of the other muscle that should be strained. In this case, the one muscle generates a myoelectric potential. A waveform of this myoelectric potential is called a synchronous contraction waveform.
A force by which the driver grips the steering wheel in the above situation is produced as the result of such activities of the deltoid muscles. However, this wheel gripping force cannot be obtained from measurement data of physical quantities representing a behavior of the vehicle, which are measured by measuring sensors such as acceleration sensors and load cells.
The inventors of the present invention found the fact that steering easiness of the vehicle and controllability of the vehicle by the steering operation can be evaluated by normalizing the intensity or frequency of the synchronous contraction by using the work load intensity.
The calculation for obtaining the work load level in the steering operation done by the driver is not limited to the calculation using the myoelectric potentials at the right and left deltoid muscles. The steering comfort evaluating device 10 may take any configuration if the muscles antagonistically used in the steering operation are used as objects of which myoelectric potentials are to be measured. For example, the biceps brachii muscle and the triceps brachii muscle may be treated as the paired muscles that antagonistically act, and used as the objects of which myoelectric potentials are to be measured. Plural pairs of antagonistically acting muscles may be used. In this case, the myoelectric potentials of those muscle pairs may be measured in the following manner. Those muscle pairs are classified into two groups: one group consisting of muscles which simultaneously contract, and the other group consisting of muscles which simultaneously relax. The myoelectric potentials of those muscles of each group are multiplied or averaged to thereby form two myoelectric potential waveforms. The thus obtained myoelectric potential waveforms of those two groups are handled similarly to the right and left deltoid muscle waveforms as already described, to thereby calculate the synchronous contraction rate.
While the work load level is calculated by using the myoelectric potentials of the muscles in the embodiment described above, it may be calculated in any of other suitable ways. In the steering operation where a plurality of muscles cooperatively act to turn the steering wheel, a steering torque of the steering wheel is measured and a steering angular velocity is measured in addition to the steering torque, thereby to calculate a steering operation energy based on the measurement value or values. The steering torque or the operation energy may be used as the work load level. Alternatively, a lateral acceleration or a yaw angular velocity of the vehicle, which are generated when the steering wheel is turned, is measured. The result of the measurement is used as the work load level in the steering operation. In this way, in the present invention, at work in which a plurality of muscles cooperate to cause an object to be operated, such as a steering wheel or a vehicle, to dynamically behave, the work load intensity calculating part 25 may calculate a work load intensity by measuring physical quantities representing a dynamic behavior of the object (the steering wheel, the vehicle, or the like) having been operated.
To start with, the myoelectric potential detecting sensors 12 and 14 are stuck onto surface parts of the right and left shoulders where the right and left deltoid muscles of the driver are located (step 100). At the same time, the electrode 16 is stuck onto the earlobe of the driver.
After the sticking of the potential detecting sensors 12 and 14, myoelectric potentials at the right and left deltoid muscles of the driver in driving are measured (step S102).
Then, signals of the myoelectric potentials acquired by the myoelectric potential measurement are sampled, A/D converted, and subjected to full-wave rectification, and thereafter smoothed by the smoothing filters (low-pass filters) to thereby form myoelectric potential waveforms of the right and left deltoid muscles as shown in
The generated myoelectric potential waveforms of the right and left deltoid muscles are averaged to thereby form a synchronous contraction waveform as shown in
Work load intensities of the right and left deltoid muscles by using the myoelectric potential waveforms are calculated (step S107). The work load intensity is obtained by calculating the muscular load intensities of the right and left deltoid muscles by using the myoelectric potential waveforms of those muscles and averaging the calculated muscular load intensities. The muscular load intensity is an RMS value of the myoelectric potential waveform, for example, and the averaging process is a geometric averaging process. Thus, in the invention, the work load intensity is obtained by calculating the muscular load intensities of the right and left deltoid muscles and averaging the calculated muscular loads. The work load intensity may also be obtained in the following manner. When the driver operates a specific object to be operated, such as a steering wheel, physical quantities representing a dynamic behavior of the object having been operated is measured, and the result of the measurement is used as the work load intensity.
As described above, an RMS value is calculated to obtain the synchronous contraction intensity, and another RMS value is calculated to obtain the muscular load intensity. It is preferable that those two RMS values are obtained within the same period of time.
A synchronous contraction rate is calculated by using the thus calculated synchronous contraction intensity and the work load intensity (step S108). The calculated synchronous contraction rate is a rate obtained when the synchronous contraction intensity is normalized by dividing it by the work load intensity. This rate is a rate of the synchronous contraction rate representative of an intensity versus an intensity at which each muscle receives work load, where the muscles, which do not contract normally, simultaneously and synchronously contract because of mental stress. Therefore, it is evaluated that when the synchronous contraction rate is large, the driver works with great mental stress.
Next, a level of comfort representing a level of the mental stress is evaluated by using such a synchronous contraction rate (step S110). In the present invention, a method of evaluating the level of comfort by using the synchronous contraction rate is not specifically limited. For example, the level of comfort may be directly evaluated by using a value of the synchronous contraction rate. In another method, levels of comfort for work to be done are arranged in several ranks. A threshold value of the synchronous contraction rate is set for each comfort level. When a calculated synchronous contraction rate within the threshold value continues for a predetermined period, it is evaluated that the comfort level of the work is within the threshold value.
As described above, in the present invention, plural myoelectric potentials of the muscles that antagonistically act, such as the right and left deltoid muscles, are measured, and the level of comfort of the driver that momently changes when he/she operates the steering wheel can be evaluated based on the result of the measurement that is performed for a short time.
The abscissa of a graph of
When changing the lanes, the car ran at a speed of 100 km/hour, and was laterally shifted by 4 m. The synchronous contraction rates in
Table 2 shows five test specifications (A to E) based on combinations of three types of tires, NVH, STL, and HPT. In each of the test specifications A to C, the same type of tires are mounted on the front wheel and the rear wheel. In the test specification D, tires of the HPT type are mounted on the front wheels, and tires of the NVH type are mounted on the rear wheels. In the test specification E, tires of the NVH type are mounted on the front wheels, and tires of the HPT type are mounted on the rear wheels. The types of tires mounted on the front wheels and on the rear wheels are different in the test specification D and E, so as to change the steering characteristic. The steering characteristic in the test specification D is more oversteer than the test specifications A to C. The steering characteristic in the test specification E is more understeer than the test specifications A to C. As seen from
As seen from
As described above, in the present invention, a level of mental stress at work can be properly evaluated by dividing a synchronous contraction intensity of the muscles when one piece of work is done through cooperative actions of plural muscles that antagonistically act, by a work load intensity concurrently calculated.
While the work comfort evaluating device and the work comfort evaluating method, which are implementations of the present invention, have been described in detail, it should be understood that the invention is not limited to those implementations, but may variously be modified, altered, and changed within the true spirits of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2003-325042 | Sep 2003 | JP | national |
