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In recent years, service robots have advanced toward having to the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance to arrive at their goal point. In our previous research, we developed the artificial potential based method that the robot to plans an effective path simulating pedestrian characteristics by gently changing...
Recently, some spraying systems have been proposed that use a drone towing a liquid tube. However, towable tube length is limited due to the payload of a drone, and there is a possibility of liquid leakage from the tube or that the drone will fall. To solve these problems, this research proposes a liquid feeding system where the tube and cables are towed cooperatively by multiple drones. By using...
This study proposes a pattern based standing assistance on a robotic walker with a standing and sitting assistance function. In our previous works, we have developed a standing assistance system. Our assistive system consists of a powered walker and a standing assistance manipulator, and is small enough to be used in a typical narrow room such as a bathroom. Our system focuses on domestic use for...
The saddle type human body movement interface uses not only translational movements but also a twisting movement for controlling a personal mobility. The saddle is mounted on a personal mobility through a universal joint having 3 axes, and follows human body movement. One axis following the body movement on forward/backward is used for making the control input (velocity) of a personal mobility. And...
One of the important tasks for a personal vehicle is accompanying a human partner. In our previous works, we discussed how the vehicle should lead its partner, or follow its partner according to their relative position and environmental conditions for a cooperative movement when they entered into narrow space. This study, next, aims to develop a method of a path planning in the case that the personal...
This paper proposes a robotic walker with a standing or sitting assistance function. Although many assistance devices in previous works are specialized in only standing assistance or walking assistance, users need standing, walking and sitting assistance continuously from the same device. Our system focuses on domestic use for people who need nursing in their daily life such as elderly people. To...
The purpose of this study is to develop the soft robotic arms for human life assistant robots by using a pneumatic system. To activate the arm, we consider the joint to be the active part. Therefore, in this paper, the structure of the joint is the focus. This joint has a helical structure outside to higher rigidity, and two pairs of air tubes inside. By controlling the air pressure in the tubes,...
The purpose of this study is to propose the wheelchair system enabling hemiplegic users to steer the wheelchair by one hand drive. This system consists of two parts: extraction of user's control intention from the single hand rim and the front wheel system with active steering. In particular, this paper focuses on the feasibility verification of this system and to propose the front wheel system. For...
This paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively...
The purpose of this research is to develop the combination mobile system composed of coaxial rotors and single driving wheel. A conventional combination mobile system causes increase of the number of actuators, because actuators are never shared by each mobile mechanisms, but are adopted for each mobile mechanism individually. However, the actuator in the proposed mobile system is shared by combined...
In recent years, service robots have tended to have the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance and arrive at the goal point. The potential method is one of the path planning methods for obstacle avoidance. Because pedestrian is moving obstacle, he/she may go outside of artificial potential in a similar method...
The preliminary announcement, for example, the turn-signal of the automobile, the track's announcement use turning or reversing and voice announcement of the train arrives at the platform are used in the various scenes in a daily life. These preliminary announcements are used to suppress the negative impression such as discomfort, aversion and surprise of the human. In this sturdy, we clarify the...
This paper proposes a method for detecting and tracking pedestrians, which is an important function for preventing the collision of autonomously moving mobile robots with a pedestrian. To observe the pedestrian, we use two types of laser range scanners: one scans a 2D plane (2D scanner) and the other scans a 3D space, such as a 3D scanner. We scan 3D space with a 2D scanner fixed on the turning mechanism,...
This paper considers the visual impression in a human robot interaction where a robot imitates the human motion obtained by Microsoft Kinect. In this interaction, a subject swings both arms up and down while Kinect measures the subject's motion and this motion is sent to the robot with a certain delay time. In the above situation, fristly, this paper quantitatively shows the perceptible delay time...
This paper proposes the contactless measurement scheme for human body motion interface including twisting motion for a personal motility. We have already proposed the saddle type human body motion interface. This interface uses not only conventional translational human motions but also twisting motion, namely it makes full use of the human motion characteristics. The mechanism of the interface consist...
In this paper, we propose a standing assistance scheme that uses a patient's own physical strength. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is desired. To realize this...
In this paper, we propose a standing assistance scheme that uses a patient's own physical strength. In the previous researches, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows a patient to maximally use their remaining physical strength is desired. For realizing...
Accompanying a person is one of the core capacities of a personal mobility vehicle and demands a smooth movement function with collision avoidance. In previous studies on a personal mobility vehicle, a vehicle moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a vehicle should lead its partner. In this case,...
This paper presents an educational support system of physical motion with body motion based on three-dimensional biomechanism evaluation. The difficult point of the physical motion with body motion is that human cannot attain the perfect copy or imitation of the reference skill motion because each skeleton size, functions and numbers of motor of human are different, we call it the imperfect imitation...
This paper investigated the repeatability of the human motion as a first step to improve the usability of the saddle type interface using human twisting motion for the Personal Mobility. Our proposed interface uses not only conventional translational human motion but also twisting motion, namely it makes full use of the human motion characteristics. The basic experimental results also showed that...
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