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In our previous research, we have developed a novel standing assistance system, which uses a remaining physical strength of an elderly person. For realizing it, the assistance system needs to estimate the load of a patient and in many cases, the previous researchers use a joint traction which can be derived by a human linkages model kinematically for evaluating it. However, human body motions are...
This paper proposes the saddle type human body motion interface for personal mobility. The proposed interface uses not only conventional translational body motion but also twisting motion, and makes easy operation. The saddle is attached on the personal mobility by using the seat post with the universal joint at the floor of the personal mobility. The universal joint has three rotational joints where...
This paper proposes a standing assistance control for our robotic walker system. Our developing assistance system is based on a walker which is a popular assistance device for an aged person in normal daily life and realizes a standing motion using its support pad which is actuated by novel assistance manipulator mechanisms with four parallel linkages. Our system assists a standing motion using a...
In our current research, we are developing a robotic walker system with standing, walking and sitting assistance function. Our developing system is based on a walker which is popular assistance device for aged person in normal daily life and realizes the standing and sitting motion using the support pad which is actuated by novel assistance manipulator mechanisms with four parallel linkages. In this...
This paper presents development of an evaluation system for easiness of manipulation of product shapes to design better product shapes. In developing the evaluation system, we concentrate mainly on manipulation which involves handling state such that even when the product is rotating it remains near the hand. The evaluation system consists of a glove type hand posture measuring instrument and physics...
This paper considers the degree of freedom (DoF) in the modeling of the hand. Human hand dexterously manipulates objects. When the hand model in computer application will be developed, It is necessary to think about approximate DoF for the real DoF of the joint of hand mechanism. Especially, the approximated DoF is evaluated from a view of dexterously manipulation of human hand. We have developed...
In our current research, we are developing a robotic walker system with standing, walking and seating assistance function. Our developing system is based on a walker which is popular assistance device for aged person in normal daily life and realizes the standing and seating motion using the support pad which is actuated by the novel assistance manipulator mechanism with four parallel linkages. In...
This paper describes evaluation of grasping-easiness from perspective of dynamics with hand model. Evaluation of grasping-easiness, which is degree of easiness to grasp an object, is an important factor because it is useful to design better industrial products. We have developed a system for evaluation of grasping-easiness, which consists of the dynamics simulation space and the data glove. This system...
This paper presents image-based finger pose measurement for hand user interface. The aim of this measurement technique is to make a better user interface enabling three dimensional operation by hand. The measurement technique uses stereo vision, and approximates the hand motion based on anatomical constraints. Distinctive feature of the measurement technique is usage of ring markers, which enable...
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