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This research proposes the motion design for the service robot to give the positive impression to the human. The impression to the robot affects the quality of the service being provided by the robot. Thus the positive impression may maintain or improve the quality of the service. This paper, therefore, considers the normative motion to give the positive impression to users, and implements the motion...
This paper proposes the saddle type human body motion interface for personal mobility. The proposed interface uses not only conventional translational body motion but also twisting motion, and makes easy operation. The saddle is attached on the personal mobility by using the seat post with the universal joint at the floor of the personal mobility. The universal joint has three rotational joints where...
For reducing the risk of pressure sore caused by long period sitting on a wheelchair, we have been developed a depressurization motion assistance system for a wheelchair user. Our developed system consists of a sitting surface lifting device and a backrest tension coordination device. Our system assists to realize the suitable posture of the seated patient with these two devices. In previous works,...
This research proposes the motion design for the service robot to give the positive impression to the human. This paper, therefore, considers the normative motion being designed for service robot to mimic the human motion. The problems in case of finding out the normative motion from the human motion is how to specify one person's motion from different motions caused by individual physical characteristics...
For reducing the risk of pressure sore caused by long period sitting on a wheelchair, we have been developed a depressurization motion assistance system for a wheelchair user. Our developed system consists of a sitting surface lifting device and a backrest tension coordination device. Our system assists to realize the suitable posture of the seated patient with these two devices. In our previous works,...
This paper propose a dynamic personal space which is a region surrounding a person who can feel comfortable psychologically to other person with a personal mobility vehicle in the pedestrian flows. A dynamic personal space is defined considering with a relative velocity and acceleration between them. Therefore, it changes dynamically according to the advance velocity and acceleration of the personal...
This paper describes human movement trajectory prediction for mobile robot's path planning in human coexistence environment. The lean path planning is necessary for the safety (collision avoidance etc.) in human coexistence environment. In this research, we predict future human movement trajectory based on an environmental figuration and the flow of people. From the result of human movement prediction,...
We propose a novel assistive wheelchair based on a concept of a passive robotics. Our proposed wheelchair consists of a frame, casters, wheels and servo brakes. Our wheelchair system estimates the trajectory its user wants to go using the characteristic of the rowing motion and realizes the estimated tracks by controlling a torque of the servo brake. Our system requires no actuators, and its mechanism...
The purpose of this research is to develop the sight assistive walker using hand haptic information. The feature of the system is user centered system. This system never gives information while user doesn't manipulate the system. Only when user walks and manipulates the system, the system give an environmental information. Therefore, this system needs user's active intention for moving. The main important...
This paper considers that the framework of intuitive interface of personal motility is the combination of the Intention Extractor and Motion Designer, which are the natural extraction of user intention and the human-like system's motion respectively. This research proposed the motion design which makes mobility's motion to be human-like by focusing on the Motion Designer in this framework. For designing...
The purpose of this research is to develop the sight assistive walker using hand haptics information. In order to realize user's active environmental recognition, the proposed system has passive actuators instead of active actuators. This system is something like a cane, and it has a small mobile platform on its tip. The small platform is equipped with some wheels and generates brake forces. And the...
For reducing a risk of pressure sore caused by long period sitting on a wheelchair, a patient is required to depressurize buttocks by changing the posture suitably. Thus, we have been developed an automatic depressurization motion assistance system for a seated patient on a wheelchair. In our previous work, we developed a sitting surface coordination system which can lift or incline and assists a...
For reducing a risk of pressure sore caused by long period sitting on a wheelchair, a patient is required to depressurize buttocks by changing the posture suitably. Thus, we have been developed an automatic depressurization motion assistance system for a seated patient on a wheelchair. In our previous work, we developed a sitting surface coordination system which can lift or incline and assists a...
In our previous research, we have developed a novel intelligent wheelchair based on the passive robotics. Our proposed assistive wheelchair consists of a frame, casters, wheels and servo brakes, and realizes the reference tracks by controlling a torque of the servo brake. For setting a reference track, it is important to estimate the user's intention. Thus, in this paper, we propose the estimation...
This paper found out the standard human motion which is exemplar motion for letting robot's motion approximate to human motion, and evaluated the human impression to the robot motion. The problems in case of finding out the standard human motion is how to specify one motion from different motions caused by individual physical characteristics and peculiarities. We have solved above problem by following...
In our current research, we have developed a novel navigation system for indoor service robots using pictographs. Pictographs are widely used in a general environment with human such as offices, stations and welfare care facilities. Using them as a landmark, our system does not require special markers in the navigation area of the robot. Our robot is only equipped with a low-cost camera and uses SURF...
In our current research, we have developed a novel standing assistance system for an elderly person. Our developing assistance system is designed compactly for family use. Our system is based on a robotic walker with novel manipulator mechanisms on its body with four parallel linkages. In this paper, we propose the assistance control scheme which can use a remaining physical strength of a patient...
The objective of this study is to develop the mechanism which assists the wheelchair user to climb a step. The wheelchair caster unit with an assistive mechanism is developed. This unit is easily replaced with the conventional wheelchair caster. The proposed caster unit has two functions to assist the step climbing. One is the assistive plates to enlarge the caster radius imaginarily. The other is...
Since the structure and D.O.F. of human and machine are different, the motion of human and machine is essentially different. This study defines "Pseudo Human Motion" as approximated machine's motions referring to the standard human motion. If the pseudo human motion is realized, the operation of complex machine becomes easy, because the motion of complex machine becomes human-like motion...
For reducing the risk of pressure sore caused by long period sitting on a wheelchair, we have developed a depressurization motion assistance system which is low cost and suitable for practical use. Our developing system consists of a seating cushion which the patient sits on and four air cells which can lift or incline the seating cushion. Each air cell is actuated by small air compressor, which can...
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