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This paper presents intelligent control of power assist system considering skill level of operators for wheelchair. In this paper, operability and anti-fluctuation running against the fluctuation of human force added to the handle by operator are progressed by the proposed auto-tuning system of power-assist controller. A method to estimate the operator's skill level and appropriately adjust the parameters...
An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice instructions, together with use of auxiliary information such as, the information on the tip-position in three-dimension and on the distance of the previous movement. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary...
This paper proposes a method for learning and controlling an industrial robot manipulator through fuzzy voice commands guided by visual motor coordination. The visual motor coordination learning is implemented by a supervised self organizing map (SSOM). Study of human-robot communication is one of the most important research areas. The voice communication is significant in human robot interactions...
A fuzzy-energy regions based switching method has been studied to control Underactuated manipulators. The switching rule of this method was designed on sub-energy regions with several boundary curves represented by fuzzy reasoning. However, it was pointed out, through some simulations, that the number of switching times for partially stable controllers increased according to the initial conditions...
When robots are interacting with humans and other objects, they always have a safe distance between them and the objects. One of the problems in concern is, how can this distance be arranged when interacting with humans. In order to "humanize" robots, they (robots) should also have certain understanding of such emotions that we, humans have concerning this distance. In this research project,...
One of control methods used in underactuated manipulators is known as a switching control, which selects a partially-stable controller with a prespecified switching rule. A switching computed torque control integrated with a fuzzy-energy regions method has been proposed, and applied to control a two degrees-of-freedom (dofs) underactuated manipulator with one active degree-of-freedom (dof) and one...
Human beings are fascinating creatures. Their behavior and appearance cannot be compared with any other living organism in the world. They have two distinct features with compared to any other living being; unique physical nature and emotions / feelings. Anybody who studies on humans or tries to construct human like machines should consider these two vital facts. When robots are interacting with humans...
In this survey paper, we describe the research of biomimetic machines that has been founded at the advanced integration division of SICE. This research committee aims at studying on biomimetic machines, which is not the conventional bionics that fuses the bioengineering and the electronics, rather directs to the realization of a machine and a robot using several biomimetic technologies. We mainly...
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