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The demand for monitoring from high points is increasing to support remote control and accurate monitoring. Unmanned ground vehicles with long arms are used to achieve long-term and accurate monitoring. The use of convex steel tapes is effective for achieving both high strength and lightness of the arm, which prevents the robot from collapsing or the arm from falling off. However, the previously proposed...
For example, there exist some wheelchair users, who cannot operate a powered wheelchair well by using a joystick, which is usual manipulation equipment of powered wheelchairs. A prototype of our group has simple manipulation equipment, constructed by buttons or levers. This operation equipment restricts the running performance of wheelchair. On the other hand, due to the restricted running performance,...
We develop a one hand drive wheelchair with original manipulation mechanism and power assist mechanism. In this investigation, first, we improve the transfer mechanism of this wheelchair. As a result, using an improved mechanism, the running resistance of the wheelchair decreased with about 1/2 to the previous one. The effects of this improvement are verified by long distance drive experiment using...
A one hand drive wheelchair with power assist mechanism is developed. In this investigation, we propose a simple and useful manipulation torque detection method which yields wide detection areas with uniform distribution of stress. This method can be applied to a one hand drive wheelchair with complicated structure of manipulation mechanism with three rings. Moreover, even if the grasping position...
In this paper, we propose a cooperative control method of transporting a single object utilizing a leader-follower type multiple robot system with loose handling. It is advantageous for a desired trajectory or an external operation command to be given only to a leader robot, and follower robots estimate the trajectory of the leader using the forces information from the object during transportation...
A one-hand drive wheelchair with power assist mechanism is developed. We have proposed a manipulation mechanism with a triple ring and some assist functions. In this paper, the effect of the assist function compensating an increase of the running resistance is newly discussed The effectiveness of the assist functions is verified through experiments using a prototype, developed in our research group.
This paper reports a new myoelectric interface for robotic hand control consisting of two main parts. The first part concerns the motion classification using electromyogram (EMG) signals of a support vector machine (SVM). Because there has been little research on the application of the SVM to motion classification using EMG signals, its effectiveness has not yet been established. The SVM has some...
Various interfaces using Electromyogram (EMG) signals for controlling a robot hand have been developed. However, there are few researches that apply support vector machines (SVMs) to EMG signal classification for estimating operator's hand motions. There is a possibility that the SVMs are effective classifiers. This paper proposes a real-time hand motion estimation method using the EMG signals with...
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