The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
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...
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 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...
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,...
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 describes a localization technique for a mobile robot in an environment with many unknown obstacles, such as pedestrians. To realize robust localization against unknown obstacles by using a particle filter, a space observation model has conventionally been used. However, this approach requires a lot of computation time for matching voxel. Therefore, in this study, we propose a fast matching...
A physical activity estimation scheme is proposed for patients who use a robot for standing assistance. In general, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength of the elderly. Therefore, an assistive robot that maximally uses a patient's remaining physical strength is desired. The assistive robots can achieve...
Accompanying a person is one of the core capacities of a companion service robot and demands a smooth movement function with collision avoidance. In previous studies, on companion service robots, a robot moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a robot should lead its partner. A robot that leads its...
This paper proposes a novel driving assistance system for a manual wheelchair. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. Using only servo brakes on each wheel, our proposed system negates the wheel traction that is generated by the road's inclination. Our system measures the road's inclination and estimates the wheel traction generated...
This paper proposes an automatic sitting posture coordination system for avoiding the risk of the pressure sore on a wheelchair. For avoiding this risk, it is important to maintain the suitable posture which reduces the pressure concentration and share stress between the buttock and a sitting surface on the wheelchair, and to depressurize them as the healthy person does during sitting on the wheelchair...
This paper proposes a guide system which uses an intended hand force of a robotic guide for elderly and visually impaired people. In general, we lead these people by the hand with a different way according to the situation. For example, we lead these people strongly and rapidly for avoiding a dangerous situation. For realizing our proposed system, this paper describes the following two key topics...
This paper proposes a novel driving assistance system for a manual wheelchair. On an inclination road, there is a high risk of moving the direction, which a manual wheelchair user does not intend, because of a gravitational force. Our proposed system cancels the wheel traction, which is generated according to the inclination of the road, using only servo brakes on each wheel. Our system measures the...
In recent years, service robots are required to execute various tasks in a human-coexistence environment. These robots should be designed not to induce discomfort and aversion in people who use them. To realize this, we focus on the design method for the service robot which runs around in a public space. These service robots should avoid giving a negative impression to these people. Thus, in this...
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...
In this paper, we propose a novel pictograph detection scheme by removing miss matching points. In our previous work, we developed a robot navigation which uses only one CCD camera equipped on the robot and estimates localize self-position by pictographs on a general environment. However, our system sometimes misjudges feature points on the background as feature points on pictographs. Threfore, our...
This paper propose a driving assistance scheme for a powered wheelchair with a force feedback function of its joystick. Generally, a powered wheelchair moves in a human coexistence environment such as a pedestrian way and it is important to move on these environments without a feeling of oppression to other people around it. Therefore, we propose a concept of a dynamic personal space which is a region...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.