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An intelligent cane robot is designed for aiding the elderly and handicapped people's walking. The robot consists of a stick, a group of sensors, and an omnidirectional basis driven by three Swedish wheels. Recognizing the user's walking intention plays an important role in the motion control of our cane robot. To quantitatively describe the user's walking intention, a concept called “intentional...
In this study, we propose a novel fall prevention scheme for an omni-direction type cane robot by using a DC motor driven universal joint. The cane robot which is driven by three omni-wheels is called Intelligent Cane Robot (iCane). It is designed for aiding the elderly and handicapped people walking as shown in Fig.1. The motion of cane robot is controlled for both normal and abnormal walking conditions...
Manufacturing industry tends to employ more flexible assembly cells for High-Mix, Low-Volume production. We has proposed an innovative human and robot hybrid assembly cell within this purpose to solve the problem of persistent growing cost for human resources and now and again changes in programs and configurations for robots, and to achieve a high manufacturing efficiency. One of the key issues is...
Many computer users suffer varying degrees of visual impairment, which hinder their interaction with computers. In contrast with available methods of vision correction (spectacles, contact lenses, LASIK, etc.), this paper proposes a vision correction method for computer users based on image pre-compensation. The blurring caused by visual aberration is counteracted through the pre-compensation performed...
Recognizing the user motion intention plays an important role in the study of power-assist robots. An intention-guided control strategy is proposed for the upper-limb power-assist exoskeleton. A force sensor system comprised of force sensing resistors (FSRs) is designed to online estimate the motion intention of user upper limb. A new concept called “intentional reaching direction (IRD)” is proposed...
Service-oriented architecture (SOA) provides the concept of packaging available functionalities as interoperable services within the context of various domains that use it. With rapid advances in SOA technologies and the growing availability of web services, the problem of composing a set of web services to achieve complex systems is becoming more practical. In the context of cyber-physical systems...
To design a safe path planning for the manipulator is a key issue during the human worker and manipulator cooperation cell assembly. In this study, a cell assembly system involving human worker and manipulator is designed. According to the camera vision information, the locations of the human worker and the manipulator are calculated, and then the potential field is calculated based on the Artificial...
This paper describes the effect of Muller-Lyer illusion on a reaching movement just after the visual and haptic/kinesthetic cues are simultaneously presented. First, a standard experiment on this visual illusion is conducted by means of the most typical way so as to make sure that participants can experience this illusion; the result shows that all the subjects are deceived by the illusion figure...
Supervised manifold learning has been successfully applied to human action recognition. With the class label information, the recognition performance can be improved. However, the learned manifold may not be able to well preserve the local structure which reflects temporal information of an action. To overcome this limitation, this paper proposes a new supervised manifold learning algorithm namely...
A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. A new human fall detection method is proposed based on fusing sensory information from a vision system and a laser ranger finder (LRF). This method plays an important role in the fall-prevention for the cane robot. The human fall model is represented in a 2D space, where the distance between the head and the average...
A three-wheeled omni-directional cane robot is designed for aiding the elderly walking. Possible move modes are analyzed and a corresponding hybrid model is constructed to describe walking behavior. A concept called intentional direction is presented to denote the moving intention of a human. Based on experiments and some assumptions, dynamic model of intentional direction is obtained as well as its...
Human beings usually locate their hand at the position with a higher moving potential in order to easily deal with various situations. Inspired by the human hand-arm movement, this study proposes a motion control issue for a serial-linkage finger-arm robot according to Wf.
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