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This paper summarizes the design optimization of a parallel mechanism using on human hip joint power assisting. Manipulability Inclusive Principle (MIP) evaluation criterion for evaluating assisting mechanism's assisting feasibility and assisting effect is proposed. The design of parallel assisting mechanism and building kinematical Jacobian are discussed. Moreover, as an important part of this paper,...
Although current humanoid controllers can rely on inverse kinematics or dynamics of the full humanoid system, powered prosthetic legs or assistive devices cannot, because they do not have access to the full states of the human system. This limitation creates the need for alternative control strategies. One strategy is to embed fundamental knowledge about legged dynamics and control in local feedback...
This paper describes a walking stabilization control based on gait analysis for a biped humanoid robot. We have developed a human-like foot mechanism mimicking the medial longitudinal arch to clarify the function of the foot arch structure. To evaluate the arch function through walking experiments using a robot, a walking stabilization control should also be designed based on gait analysis. Physiologists...
Dual-arm manipulation is an increasingly important skill for robots operating in home, retail and industrial environments. Dual-arm manipulation is especially essential for tasks involving large objects which are harder to grasp and manipulate using a single arm. In this work, we address dual-arm manipulation of objects in indoor environments. We are particularly focused on tasks that involve an upright...
According to the seven degrees of freedom (DOFs) human arm model composed of the shoulder, elbow, and wrist joints, positioning of the wrist in space and orientating the palm is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and there is no unique mathematical solution to the inverse kinematics. The redundancy of a wearable robotic...
The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation...
The present human gesture measurement approaches have inadequate performance for the environmental universality and the system complex of joint with Multiple Degree of Freedom (MDOF), which result the status of laboratorial measurements, or outdoors with short time and short distance. The paper presents a novel wearable 3D joint sensor with outstanding universality for both static and dynamic environment...
This study is a part of an ongoing project which aims to assist in teaching Sign Language (SL) to hearing-impaired children by means of non-verbal communication and imitation-based interaction games between a humanoid robot and a child. In this paper, the problem is geared towards a robot learning to imitate basic upper torso gestures (SL signs) using different machine learning techniques. RGBD sensor...
Automatic recognition of human actions from video has been studied for many years. Although still very difficult in uncontrolled scenarios, it has been successful in more restricted settings (e.g., fixed viewpoint, no occlusions) with recognition rates approaching 100%. However, the best-performing methods are complex and computationally-demanding and thus not well-suited for real-time deployments...
For the first time natural language processing approaches are applied on a large scale to psychometric methods. Psychometric methods have been applied in hundreds of thousands of published studies. This study examines automated approach to discovering behavioral knowledge that are encoded as constructs in social and behavioral science disciplines. To date, constructs relationships are ordinarily revealed...
Recent advances in technologies for capturing video data have opened a vast amount of new application areas. Among them, the incorporation of Time-of-Flight (ToF) cameras on Ambient Intelligence (AmI) environments. Although the performance of tracking algorithms have quickly improved, symbolic models used to represent the resulting knowledge have not yet been adapted for smart environments. This paper...
The ever increasing availability of high speed Internet access has led to a leap in technologies that support real-time realistic interaction between humans in online virtual environments. In the context of this work, we wish to realise the vision of an online dance studio where a dance class is to be provided by an expert dance teacher and to be delivered to online students via the web. In this paper...
Actuators for physical human-robot interaction (pHRI) such as rehabilitation or assistive systems should generate the desired torque precisely. However, the resistive and inertia loads inherent in the actuators (e.g., friction, damping, and inertia) set challenges in the control of actuators in a force/torque mode. The resistive factors include nonlinear effects and should be considered in the controller...
Recently, walking assistance robots are receiving a great attention according to the increase of elderly population. Such systems are required to generate precise and large assistive torques to effectively assist human motions. Moreover, the assistive robots should be light and compact for the comfort and safety issues. In this paper we designed full lower extremity assistive robot with compact rotary...
This paper presents a technique to map two dissimilar master-slave devices with similar, human-like workspaces for telemanipulation. The mapping focuses on achieving full geometric pose correspondence between the operator and the slave device while avoiding reaching into areas close to singularities and joint limits. The approach followed can be divided in 4 steps, namely: master workspace offset...
Due to their high power output and reliability, robots can replace humans in most modern industrial tasks associated with heavy loads. However, there are some jobs that require both human flexibility and robot power. Consequently, there is a demand to combine the high power of a robot arm with the dexterity of a human. In this work, a robot system called the power assistant robot (PAR) is proposed...
An adaptive synergy controller is presented which autonomously modulates the finger synergies of a dexterous robotic hand according to the relative orientation of a grasped object. The adaptive synergy controller is derived from approximating the human motion of unscrewing a bottle cap with sinusoids to replicate the task with a robotic hand. In preliminary experiments, the finger joint motions of...
Exercise dosage is proven to be an important factor in the physical treatment. Robot assistive approach can improve the rehabilitation quality and evaluate patient's recovery quantitatively. This paper presents kinematic structure, assistive control system, and integrated F/T sensor for an upper limb rehabilitation robot. By using the human arm dynamic, there are three rehabilitation modes presented...
Joint motion profiles from nine human test subjects were recorded while catching and lifting a sphere. Significant differences between the two tasks presented themselves consistently across all test subjects. In general, larger abductions and hyperextensions of the metacarpophalangeal joints were observed. The joint motions of the test subjects were simulated in Simulink with a skeletal structure...
Basic understanding and recognition of human actions can be accomplished by modeling the spatiotemporal relationship among major skeletal joints. In this work we present an approach that models human actions using temporal causal relations of joint movements. The relations form a graph with joints as nodes and edges induced by the Granger causality measure between pairs of joint point processes. Each...
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