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Wearable assist robots deliver power in form of direct contacts with the user, therefore, safety control is considered to be the prior requirement for wearable assist robots. To improve safety, the robot needs to be controlled based on the current contact state feedback. As a state estimation concept approach, a feedback control system based on joint torque has been proposed. The principle of this...
The authors have researched on a method of human action modeling to realize systems such as to support human human operations or watch persons to prevent various kinds of accidents. In order to recognize or support various kinds of human actions, a certain human action model is necessary in these systems. Therefore, we have proposed a modeling method of human actions, which is extracted statistically...
This paper presents a measuring position determination method of Unmanned Aerial Vehicles (UAVs) for automatic visual inspection. Distinguishing measurable geometry of a target facility by an UAV and ensuring reliability in data gathering to detect anomaly are both important functions for inspections. The proposed method is based on the premise that the 3D geometrical data of a target facility and...
In this paper, a new impedance control method based on pressure distribution for wearable assist robot on multi-joint part is proposed. Generally, assist robots were designed based on assisting for a simple joint body part of the user such as elbow, knee, limb and so on. These robots can be similar structure to the assisted body part, and they can follow the user's movements. On the other hand, it...
This paper concerns the sensor data fusion method in mobile robot localization. Sensor data fusion methods using particle filter have been a major technique to estimate robots's state from noisy sensor observation. Generally, the sensors assumed to be in the nominal state of work. In realistic contexts, however, sensor characteristics may change online depending on sensor functioning conditions, and...
In this paper, a new impedance control method for wearable assist robots based 011 pressure distribution is proposed. Conventional power assist systems could not realize high power assist because they did not consider about the physical contacts between the user and robot. Also, these systems assisted only for simple joints such as knee, elbow, limb and so on. I11 order to achieve higher power assist...
We suggest motion adaptation method against environmental changes for service robots. Several motions such as walking, dancing, demonstration and so on are described with time series patterns. These motions are optimized with the architecture of the robot and under certain surrounding environment. Under unknown environment, robots cannot accomplish their tasks. We propose motion generation system...
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