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.
Elderly people have some problems about their decrease in lower limb function. So, there is a possibility of falling and causing serious injury when standing or sitting. The purpose of this research is to construct a system that enables elderly people to receive safe and high quality rehabilitation. At the first, analysis of trajectory of standing and sitting motion is performed. Thanks to the analysis,...
Rehabilitation robots have been widely used in clinical rehabilitation in stroke subjects. The safety and comfort in rehabilitation training still are affected by many problems, however, such as the single rehabilitation training mode, the poor human-robot interaction and adaptability. In this paper, an adaptive trajectory planning method of lower limb rehabilitation robot based on surface Electromyography...
A one degree-of-freedom (vertical up-down) power assist robot was developed for lifting objects. The robot was simulated and six subjects independently lifted objects of three different sizes with the robot. In each trial, the subject used his two hands synchronously to lift the object with the robot and estimated the perceived weight of the lifted object by comparing it to a reference weight. We...
To achieve natural and mutually engaging rhythmic human-robot handshaking, the movements of the human and robot should be synchronized. However, the intended movements of the human, namely the frequency components and amplitudes of the periodic motion, are largely unknown. In this paper, a robot controller has been developed to reach the goal of natural handshake. The control system for the robot...
This paper describes a novel method for motion generation and reactive collision avoidance. The algorithm performs arbitrary desired velocity profiles in absence of external disturbances and reacts if virtual or physical contact is made in a unified fashion with a clear physically interpretable behavior. The method uses physical analogies for defining attractor dynamics in order to generate smooth...
In order for service robots to safely coexist with humans, collision avoidance with humans is the most important issue. On the other hand, working efficiencies are also important and cannot be ignored. In this paper, we propose a method to estimate a pedestrian's behavior. Based on the estimation, we realize smooth collision avoidances between a robot and a human. A robot detects pedestrians by using...
We propose a control strategy for a robotic manipulator operating in an unstructured environment while interacting with a human operator. The proposed system takes into account the important characteristics of the task and the redundancy of the robot to determine a controller that is safe for the user. The constraints of the task are first extracted using several examples of the skill demonstrated...
This paper represents the method to manipulate the objects with the upper body of a humanoid robot by capturing human motions in real-time. To control the upper body of a humanoid robot and make it behave as a human does, we define several virtual spring-damper elements between the humanoid robot and the human. The resultant motions given by the virtual forces of the elements lead the humanoid robot...
A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from an operator and the small actuators are used as a regulator and feedback controlled by a wire angle sensor. Since a motion of the suspended object can be approximated as a second order system, overshoots...
Recent development of motion control technology brings robots to our daily life. In the daily life, physical distance between humans and robots get very closer. This closed distance leads new issues in human robot interaction, such as safety issue and communication issue. The authors developed haptic sensing system called haptic armor. The sensory system can detect any contact on the robot surface...
This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing...
Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. In particular, manipulation of bulky objects in narrow environments requires cooperating partners. Actuation redundancies arising in joint manipulation impose the question of load sharing among the interacting partners. In this paper, effort sharing policies are systematically...
This paper discusses methods to avoid collisions between a robot and an obstacle, based on distance feedback given by a laser Time Of Flight (TOF) sensor. Two solutions are presented: the former (GCT: Geometry Consistent Trajectory) preserves the geometrical properties of the trajectory, while the latter (TCT: Time Consistent Trajectory) aims at preserving the time properties of the trajectory. Both...
The potential market of robots that can helpfully work at home is increasing, and such robots are required to possess force and tactile sensors achieving dynamic and cooperative interactions with their users. We proposed virtual force sensing (VFS) which, is a versatile solution allowing high spatial resolution and degrees of freedom instead of embedding force sensors in robots/machines. The technological...
In this paper a reactive control strategy intended for human-robot interactions (HRI) is presented. A conventional reactive control scheme is reviewed first. This is followed by the introduction of a new prediction-based reactive control strategy. The new control strategy considers foreseeable dangerous events by predicting human motion using artificial neural networks, based on the previous pattern...
This paper focuses on developing a neural network (NN) based force limiting controller for a robot interacting with an uncertain Hunt-Crossley viscoelastic environment. The proposed controller consists of a bounded NN term and saturated feedback which limits the control force to a known bound, which can be changed by adjusting the feedback gains. The Lyapunov-based controller, dependent only on position...
Exoskeleton suit is a typical human-machine system. Control the exoskeleton suit to track the pilot's moving trajectory as well as to minimize the human-machine interaction force. The suit will help decrease the pilot's power consumption and assist the pilot to carry heavy load. Impedance control was introduced to the control of exoskeleton suit. As the control laws that based on the dynamic model...
This paper proposes a method for the design of a real-time fuzzy trajectory generator for the robotic rehabilitation of patients with upper limb dysfunction due to neurological diseases. The system utilizes a fuzzy-logic schema to introduce compliance into the human-robot interaction, and to allow the emulation of a wide variety of therapy techniques. This approach also allows for the fine-tuning...
The last advances and researches have shown that intensive task-oriented therapy is highly effective for improving the arm function of individuals after stroke, brain injury or other neurological and motor diseases and injuries. This paper studies different control and trajectory planning techniques used on human machine interaction, in order to make a robot behave in a more human compliant way. This...
A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a hidden Markov model-based high-level controller is used to estimate human intentions and modify the reference...
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.