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In recent years, there has been great interest in the possibility of using artificial limbs as an extension of the human body as well as replacement of lost limbs. In this paper, we develop a sixth finger system as an extension of the human body. We then investigate how an extra robotic thumb, that works as a sixth finger and gives somatosensory feedback to the user, modifies the body schema, and...
The final goal of our research is to embody of an extra robotic thumb. In order to achieve this goal, we use tactile feedback. At first, we developed the extra robotic thumb which has three joints. It is attached on left hand and controlled by the right hand thumb. The robotic thumb takes the same motions as the right thumb does. Besides, a tactile sensor is equipped on the tip of the robotic thumb...
In this paper, we propose the method that acquires reaction force using a cane. A humanoid uses the cane in order to prevent falling by deriving optimal cane position and reaction force. We define the optimal cane position as Capture Point (CP). Arranging the cane to CP enable to keep the COG in support polygon even if falling occurs. That is, the robot realizes passive prevention of falling by arranging...
This paper shows improvement of stability and efficiency for mobility using locomotion selection strategy. First strategy is the selection of a gait relying on locomotion rewards. The locomotion reward has been proposed as an indicator for selection algorithm based on Falling Risk and the moving speed. This strategy has achieved a capability of large changes of uncertainties, such as a steep slope...
This work shows a method to improve stability and energy efficiency by arm-swing for a bipedal walking of humanoid robot. For stabilization, the robot calculates the moment of a swing leg and current ZMP, and swings both arms in order to cancel the moment and compensate ZMP error. For improvement of the efficiency, we propose a twist walking of a coxae using inertial force by arm-swing. Inertial force...
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