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A motion prediction method using Gaussian Mixture Models (GMM) is applied to a kendo agent (Kendo is a traditional Japanese martial art). Human player motion is measured by a motion capture system, using markers attached to each of the player's joints. Measurement information is converted to a state vector with Euler angles to indicate orientation of the sword and orientation of each part of the player's...
Human-robot coordination system is one feasible solution for a robot to assist human to conduct tasks. The most important specification is safety, especially for the system with physical interaction. To solve this problem, we developed a passive dance robot to perform ballroom dances in cooperation with a human. The paper aims to study the human-robot coordination via a passive dance robot installed...
Walking support systems have been developed and various support methods have been proposed for supporting the motion of the elderly and physically disabled. In this research, we propose a walking support method based on the spring-mass model. Although the spring-mass model is very simple, the human motion during the walking is reproduced on the computer simulation using this model. In the stance phase,...
This paper proposes a motion control scheme for an electric vehicle with a large sideslip angle. The scheme employs the driving forces of the four independently driven wheels and the steer angle of the front wheels. The proposed control algorithm is derived in two steps based on a planar vehicle dynamics with four wheels. First, a control algorithm is derived for the control of forward velocity and...
In recent years, robots working in human living space with human-robot interactions are actively studied. To these robots, it is important to perform environmental cognition not only building environment map for autonomous motion of the robots but also estimating presences of human around the robots. In this study, by utilizing human state estimation function and SLAM based mapping technology, a concept...
Since the cycling wheelchair was introduced in the 2000s, we have focused on alleviating the over-use of healthy limbs that presents a problem to users. To this end, we have been developing assistance control for everyday users of cycling wheelchairs. In our previous research, we found that user load varies in different environments. Traveling resistance compensation control proved successful in counteracting...
In this study, we present a new type of wheelchair called the cycling wheelchair, in which the user moves the wheelchair by pedaling with his/her legs and changes direction using a steering handle. This wheelchair has great potential not only as an effective rehabilitation device but also as a mobility assistive device. However, the commercially available model has several hardware limitations that...
In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics...
In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system that is similar to a bicycle, and patients with impairment of their lower extremities can move the wheelchair based on the pedaling force if they can slightly move their legs by themselves. The user can also change the wheelchair direction using the steering...
In this paper, we propose a vision based compliant motion control method for part assembly work. Some industrial parts are deformed during assembly of parts. If work progress continues, deformation of the part increases, humans check the deformation and adjust force corresponding to the progress state. The proposed method enables a robot manipulator to adjust force applied for assembly work like a...
In this study, we propose a robot hand referred to as iGRIPP 4 (Integrated Gripper for Power and Precision Grasp 4), which has suction mechanism at each fingertip. This robot hand can grasp various objects steadily and achieve dexterous manipulations with a simple mechanism. The iGRIPP 4 has three fingers and two servomotors which are designed to grasp objects in power grasp and precision grasp. The...
This paper presents high speed and high accuracy visual servoing system. The algorithm has three major improvements, which can be implemented in practical applications; Firstly high-accuracy pose estimation by using stereo cameras, secondly real time implementation issues with non-real-time image processing platform and thirdly a consideration for industrial position controller. To resolve the issues,...
This paper proposes model-based compliant motion control scheme for assembly tasks using vision and force information. Many problems, especially assembly tasks, could be solved by integrating visual servoing and impedance control with model-based compliant motion design, in which the coordinate frame of the impedance control is attached to the model of assembled object. To implement the model-based...
In this study, we propose a cycling wheelchair that assists the movement of patients with impairment of lower extremities. The wheelchair is a pedal-driven system, similar to a bicycle, moved by the pedaling force of the patient's legs. Although the lower extremities of patients are impaired, they can use both legs to smoothly rotate the pedal. However, there are several barriers to use the cycling...
Though several kinds of equipment such as wheelchairs and electrical wheelchairs exist to support lower limb disabilities, there were still problems because of disuse of lower limbs that limits effect of rehabilitation and also cause disuse syndrome. To overcome these problems, cycling-wheelchair was invented by Handa et al. It is a pedal-driven wheelchair and can be applied to most of the patients...
Methotrexate (MTX) exhibits large inter-individual and inter-ethnic differences in the dose required for its anti-rheumatic effect. To maintain low disease activity, patients may require increased MTX doses or co-administration of biologic disease-modifying anti-rheumatic drugs (bDMARDs). The availability of a marker predicting the effect of MTX will make it possible to increase the MTX dose and prescribe...
In this presentation a practical look is taken at how the use of implant and electrode technology can be employed to create biological brains for robots, to enable human enhancement and to diminish the effects of certain neural illnesses. In all cases the end result is to increase the range of abilities of the recipients. An indication is given of a number of areas in which such technology has already...
Mechanical parking systems, such as elevator/tower parking systems, convey parking systems, shuttle parking systems, etc., are very popular in Japan especially inside of a crowded city. These systems are used to park automobiles efficiently for department stores, hotels, etc., although users are required to maneuver their cars skillfully and locate their cars at a specified narrow place. iCART (Intelligent...
For robots working in human living space, both environmental information acquisition and human existence detection and estimation are necessary. In this study, by using human existence estimation function and mapping function of SLAM, a concept and architecture of Human Motion Map by representing extracted human behavior in the human living space as a map are proposed. Human Motion Map is a high-dimensional...
This paper proposes a new cooperative transportation control algorithm in consideration of not only the internal force but the external force applied to “Mobile Robot for a Wheel (MRWheel)”. First, we describe the merits and demerits of the model-based external force compensation method proposed in our previous study and explain the necessity of this new control algorithm. Secondly, we explain this...
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