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Aim to improve upper limb rehabilitation effect, we design and develop an Image-projective Desktop Arm Trainer (IDAT). Compared with conventional therapy, IDAT provides a more effective and interesting training method. IDAT's goal is to maintain and improve patients' upper limb function by training their eye-hand coordination. We select step-on interface (SOI) as the input system which makes trainees...
In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static...
Autonomous robots are required to perform tasks in complex and dynamic environments. For this class of systems, traditional safety assuring methods are not satisfying due to the unknown effects of the interacting system with an open environment. Briefly speaking: What is not known during the development phase can not be adequately considered. In order to tackle this problem, it is proposed to extend...
Obesity is a growing health problem in the United States, especially among children. Indicators show that the rate of obesity for children age 12–19 years old has risen from 5% percent to 18% over the last ten years. To deal with the obesity epidemic, a number of technology interventions, including the use of robotics and virtual reality games, have arisen to motivate youth to become physically active...
We present a intuitive teleoperation scheme by using human gesture and multimodal multi-user human-robot interface. Further, in order to deal with the dynamic daily environment, we apply haptic point cloud rendering and virtual collaboration and all these functions are achieved by portable hardwares which is called “mobile iSpace”. First, a surrounding environment of a teleoperated robot is captured...
Human-Robot hybrid manufacturing system means a new type of manufacturing system that the human and the robot working together besides each other to enhance the productivity of the factory. In this kind of new manufacturing system, the robot has to meet new kind of requirements. For this reason, the authors designed a new type of dual arm robot system and the research results will be introduced in...
Multi-robot system often require human assistance in practical situation. The level of controlling multiple robots in the real world lies somewhere between fully autonomous and fully manual. The optimal level of autonomy for the multi-robot system controller is discussed in this paper. Since human perception is limited for controlling large number of robots, interface design should consider separating...
An integrated distributed computing system for industrial tele-robotic tasks is discussed. Three main aspects are in focus: the architecture of the (network distributed computing system) on-board the robots, the tele-robotics assistance scheme in sewer exploration applications, and the robotic platforms. In this manuscript we present a focus in parallel hardware as the key issue to improve robot's...
Three different approaches of having a full-size humanoid throw the first pitch at a Major League Baseball game are tested and implemented. The approaches include kinematic mapping using a motion capture system to capture a human's throwing motion then mapping that to a full-size humanoid. The second method is a fully automated approach that uses the sparse reachable map to provide viable full body...
In the near future, robots will exist in our home, office, hospital, school and all other public places. In other words, robots have to work and share environments with human. However, there exist many invisible social rules or social protocols in human society. For example, people usually stand in a line to access certain services. It seems that there is a social force or a “spatial effect” which...
In this paper, we connect local properties in a mobile planar multi-robot team to the task of creating decentralized real time algorithmic music. Using a nonlinear formation control law inspired by the consensus equation, we map the local motion parameters of robots to Euclidean rhythms with the use of sequencers. The control parameters allow a human user to direct this decentralized musical process...
The body representation in the human mind is dynamic, and illusions or traumatic events can modify it to include additional limbs. This remarkable adaptability of the central nervous system to different body configurations opens new possibilities in the field of human augmentation. In order to fully exploit this potential, we developed a new type of wearable co-robot that can perform tasks in close...
We address the problem of robot participation as a team member in group activities. In this human-robot interactive setting, the goal is to enable a robot to detect objects around it using on-board video cameras, and determine which activity they are performing. It then determines how it should move to participate in the activity based on its intended role, derived from domain knowledge, and human...
Humans are experts in cooperating in a smooth and proactive manner. Action and intention understanding are critical components of efficient joint action. In the context of the EU Integrated Project JAST [16] we have developed an anthropomorphic robot endowed with these cognitive capacities. This project and respective robot (ARoS) is the focus of the video. More specifically, the results illustrate...
In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and follower) modes for trajectory-based tasks. We present it in the case of a linear impedance controller...
Creating robots that can act autonomously in dynamic, unstructured environments is a major challenge. In such environments, learning to recognize and manipulate novel objects is an important capability. A truly autonomous robot acquires knowledge through interaction with its environment without using heuristics or prior information encoding human domain insights. Static images often provide insufficient...
In this paper we describe an event-based walking control system for biped robots. Classically, the control of biped robots has been separated into walking pattern generation and stabilizing control. While this is an effective strategy in well-known environments, walking in rough, unmodelled terrain can easily destabilize the system. Findings from neurobiology suggest that gait generation in animals...
In this paper, viable applications for mobile robotic units on construction sites are explored. While identifying potential areas for in-situ fabrication in the construction sector, the intention is also to build upon innovative man-machine interaction paradigms to deal with the imprecision and tolerances often faced on construction sites. By combining the precision of the machine with the innate...
In this paper, we investigate an adaptive bipedal walking control that exploits sensory information stemming from “soft deformable” feet. To this end, we developed a bipedal robot with soft deformable feet and proposed an unconventional CPG (central pattern generator)-based control that exploits the local force feedback generated from such deformation. Through experiments with the constructed robot,...
We aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental...
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