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In this paper, we develop a passive wire-type motion support system controlled by servo brakes to assist human motion in the fields of rehabilitation and sports training. We also propose a control method to guide the human hand by using the servo brakes which cannot generate a driving force. This passive system is intrinsically safe and wire-type motion support system has a wide operating range. But,...
This paper presents an Active Variable Stiffness Differential Elastic Actuator (ADEA) which is designed and application for robotic systems and more generally for machines that are designed to interact with people and environments under safety constraints. The ADEA consists of two DC-motors to drive two antagonistic warm gears independently. By changing the synchronisation and differentiation of angle...
This paper presents a novel variable impedance compact compliant series elastic actuator (SEA) design for human-friendly robotics applications. The actuator design consists of a servomotor, a ball screw, a torsional spring connecting the motor and the ball screw via a pair of spur gear, and a set of translational springs connecting the ball screw nut to the output link. The translational springs with...
Several groups are working on the design of a new generation of robots and haptics for the activities of daily life or rehabilitation of elderly people or patients with some pathology. Sometime their forces in power grasping are different from healthy people. This paper is focused on the study of grasp forces of these patients with different pathologies and presents a new methodology to calculate...
This paper proposes a velocity based motion-copying system for grasping/manipulation motion reproduction. The motion-copying system is able to store and reproduce human motion based on the bilateral control. As the applications, the motion-copying system is expected to be used in various fields such as industrial applications, medical and welfare human assist. In this paper, the motion-copying system...
Book arrangement task is still executed by humans, and it has not been mechanized, yet. So, we are developing a book arrangement robot system. Our developed system can insert the grasping book to the narrow gap in the bookshelf or in case the side book is inclined. We have constructed an operation by the robot arm based on the human operation. Physical models of the book for examining the conditions...
This paper presents both the design and the implementation of a bilateral teleoperation system for a mobile manipulator, allowing a human operator to perform complex tasks in remote environments. Two teleoperation operation modes are proposed: the locomotion mode (mobile manipulator) and the manipulation mode (robotic arm). The human operator can select the modes through the switch located on a haptic...
We present a system to simulate the movement of individual agents in large-scale crowds performing the Tawaf. The Tawaf serves as a unique test case. The crowd consists of a heterogeneous set of pilgrims, varying with respect to physical capacity as well as activity. Furthermore, the density of the crowd reaches very high levels. Our approach uses a finite state machine to specify the behavior of...
Abnormal gait leads to falling which can cause of human's injury. Normally human has resembled gait cycle between walking. But if human has falling or abnormal walking that gait cycle is not resemble the normal walking. The walking gait can calculate the locus of the Zero Moment Point (ZMP) and the ZMP can be estimated by the signal from low-cost Force Sensitive Resistors (FSRs). Four FSRs were installed...
Negative pressure wound therapy (NPWT), a successful, open wound treatment, is not readily available in low-resource settings (LRSs): the developing world, combat fields, and disaster relief. This is due to its high electrical power requirement (upwards of 70 Watts), lack of portability (approximately 12.5 lbs.), and high cost ($20-25K per unit, typically rented for $120/day; and $30/day for disposables)...
Herein, a novel, original and artful gravity compensation method, namely, the Auto-Regulation Counterweight method (ARC method) is been proposed and based on the ARC method, a haptic interface device with the well-designed ARC mechanism composed of the counterweight link, the counterweight block, the retarding mechanism and an actuator, is newly designed and implemented. A manipulator of the haptic...
We introduce a low-complexity error-resilient perceptual haptic data reduction scheme addressing network packet losses. As shown in previous works, haptic packet losses highly impair telemanipulation systems displaying haptic artifacts and causing instabilities. Inspired by a previous error-resilient haptic data reduction approach, we propose a decreased-complexity binary tree scheme that aims to...
Shared control (also known as continuous haptic guidance or haptically active controls) has recently been introduced in car driving. With shared control, the driver receives continuous force feedback on the gas pedal or steering wheel, so that human and machine conduct the driving task simultaneously. Experiments in driving simulators have shown that shared control reduces control variability and...
For realtime teleoperation with haptic feedback, network-induced artifacts like delay, packet loss and lossy coding of haptic data deteriorate the operability of the system. We provide a systematic quantification of the limits within which, these network-induced degradations are tolerable for human task performance in executing a given haptic task. These limits are conservative in the sense that we...
In the previous study, we proposed a method to evaluate the tactile sensation of human hair during hair washing. By using this method, a sensory score of “squeaky” sensation during hair washing with shampoo was reproduced by the physical indexes obtained by the integration of the reactive force and the frequency analysis of temporal fluctuation. By clarifying the microscopic mechanism of decrease...
In a recent study, fingerprint data was collected across six different force levels. A total of 8,877 slap samples were ground truthed, and subsequently processed using a commercially available fingerprint segmentation tool. This paper delves deeper into understanding segmentation errors across the force levels. Out of the 8,877 slaps, 370 slaps failed to segment. In order to understand why there...
The classic approach to teleoperation system design seeks to augment human capabilities and allow the execution fo tasks in a remote (possible hazardous) environment. Recent developments have provided robotic systems with additional autonomy, thus allowing the possibility of having collaboration between humans and robots in local scenarios. This paper presents preliminary ideas where the concept of...
Vehicle accelerations may feed through the human body, causing involuntary limb motions which may lead to involuntary control inputs. This phenomenon is called biodynamic feedthrough (BDFT). Signal cancellation is a possible way of mitigating biodynamic feedthrough. It makes use of a BDFT model to estimate the involuntary control inputs. The BDFT effects are removed by subtracting the modeled estimate...
One of the main issues in human-robot interaction is to control the forces arising from physical interaction. In this work, it is proposed an optimal admittance force controller for safe physical human-robot interaction (pHRI), which is obtained using optimization tools. First, the performance index of the optimization problem is proposed as the weighted sum of the force tracking error and its time...
This paper introduces a novel approach to the manipulation of body-parts ownership, using the tactile rubber hand illusion (RHI) paradigm. In the conventional studies on the RHI, participant's invisible hand and the visible rubber hand are manually tapped or stroked by an experimenter. Differently, in our approach, a bilateral master-slave system is applied to provide tactile stimulations in a novel...
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