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This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower...
This paper proposes a tendon driven system with antagonistic pairs of polyarticular tendons to simulate a variable stiffness of a human fingertip. The stiffness of a robot finger should be adjusted according to a situation that includes large position errors or collisions, because it tolerates errors of object positions and dimensions in assembly task and absorbs collision energy in hitting or catching...
This paper introduces a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as a timings to start and stop walking, walking speed and waking direction. Using this algorithm an exoskeletal walking support system could help a paraplegia patient walking comfortablly. At first, a pair of gloves with several DOFs is developed to convey...
This paper proposes a polyarticular tendon drive system to simulate a variable stiffness of a human fingertip. The stiffness determines displacement of the fingertip when an external force is affected to it. The stiffness should be adjusted not only according to measurement precision of object's dimensions in order to allow grasping position errors, but also according to tolerance of the assembly...
This paper introduces a new wearable handling support system for a person who has trouble in motor capability of his or her upper limb. The support system is used as not only a support system to make his upper limb active in daily life but also a rehabilitation system to reduce manual loads of physical therapists. The system measures three rotation angles of patientpsilas head: pitch, roll and yaw...
The singular points of fingerprints, namely, core and delta, are important referential points for the classification of fingerprints. Several conventional approaches such as the Poincare index method have been proposed; however, these approaches cannot achieve the reliable detection of poor-quality fingerprints. In this paper, we propose a new core and delta detection method by singular candidate...
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