Human performing precision and dynamic tasks through a 1-DOF teleoperator with self-adapting variable impedance actuator

The data was taken on a study involving 24 participants performing precision and dynamic tasks on a bilateral 1-dof haptic setup with a variable impedance actuator tool device simulation.Six conditions were compared combining task type with tool device impedance setting (precision-stiff, precsion-soft, precision-adaptive, dynamic-stiff, dynamic-soft, dynamic-adaptive).In the adaptive impedance setting the impedance was changed based on the user velocity.The participants were assigned to one of six group, each group performing the trials in the condition in a different order following the Latin square method.<br>

本数据集源自一项实验研究，共纳入24名参与者，受试者在搭载可变阻抗执行器（variable impedance actuator）工具设备仿真系统的双边1自由度（1-dof）触觉装置上完成精细操作与动态操作任务。
本次实验共设置6种实验条件，将任务类型与工具设备阻抗设置进行组合，具体为：精细操作-高阻抗、精细操作-低阻抗、精细操作-自适应阻抗、动态操作-高阻抗、动态操作-低阻抗、动态操作-自适应阻抗。
在自适应阻抗条件下，阻抗值会根据使用者的运动速度进行动态调整。
所有参与者被分为6组，每组均按照拉丁方（Latin square）实验设计的不同顺序完成各条件下的实验试次。