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We describes a feasibility study of the hybrid functional electrical stimulation (FES) walking assistive system, which is based on the fundamental principle of passive walking.
In a stabilizing control for nonholonomic mobile robots with two independent driving wheels, a nonholonomic double integrator in the kinematic model is first considered as a controlled object model. Then, a quasi-continuous exponential stabilizing control method is proposed as one of underactuated control methods by using invariant manifold theory. Next, to extend the velocity input control in a kinematic...
Towards establishing future-oriented relations between humans and robots, not only verbal, but also nonverbal robot functions have been studied. However, it is not clear how these different functions should be combined and implemented in robots in order to achieve `natural' human-robot communication or interaction. In this paper, we focus on the timing for the coordination between utterance as a verbal...
Up to now, different kinds of musical performance robots have been developed. MPRs are designed to closely reproduce the human organs involved during the playing of musical instruments. Our research on the Waseda Flutist Robot has been focused on clarifying the human motor control from an engineering point of view. As a result, the Waseda Flutist Robot No. 4 Refined IV (WF-4RIV) is able of playing...
The aim of our research is to develop an anthropomorphic flutist robot that on the one hand reproduces the human motor skills required for playing the flute, and on the other hand displays cognitive capabilities for interacting with other (human) musicians. In this paper, we detail the recent mechanical improvements on the Waseda Flutist Robot (WF-4RIV), enhancing the realistic production of the flute...
This paper considers the application of a low-force robotic manipulator to guide a human user's movements to place a tool (or the user's hand) at a predetermined position or move it along a predetermined trajectory. This application is potentially useful, e.g., skill training for humans, rehabilitation, and human-machine coordination in the manufacturing industry. A proportional-derivative (PD)-type...
This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro'. The specifications and advantages of Kotaro include muscle-driven endoskeletal structure, multiple degrees of freedom, variable physical softness, the multiple-joint spine, easily configurable muscles, distributed onbody controllers, various sorts of many sensors including...
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