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This paper presents a mixed reality system for combining real robots, humans, and virtual robots. The system tracks and controls physical robots in local physical space, and inserts them into a virtual environment (VE). The system allows a human to locomote in a VE larger than the physically tracked space of the laboratory through a form of redirected walking. An evaluation assessed the conditions...
Human mobility often needs to be simulated in order to evaluate various designs in transportation and urban planning. Our target application is the design and evaluation of wireless networks and services for new theme park experiences. The performance of some wireless networks, such as mobile ad hoc networks, strongly depends on human mobility. Therefore, we developed a tool named ParkSim that allows...
The video sequence which contains certain human action is considered as a spatio-temporal volume. There exists certain characteristic signature in appropriately selected spatio-temporal slice of the video sequence. By using these discriminative signatures which we call “human action logos”, new approaches are proposed for period detection and action recognition. Algorithm performance is evaluated...
In this paper, we present a method for emulating human walking motions with leg impairments or disabilities using humanoid robots. Our optimal dynamic multi-contact motion software generates the emulated motions. We take into account the full-body dynamic model of the robot and consider possible leg impairments as additional physical constraints in the optimization problem. The proposed approach is...
Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave...
Human-robot interaction and safe operation requires human detection capability from a mobile robot. This paper presents a novel algorithm for detecting and tracking walking humans with a 2D LIDAR (Light Detection and Ranging) on a mobile robot. The horizontal LIDAR receives reflections of human legs taken from approximately the knee level. A list of predefined features are used for classifying the...
We are trying to create a novel musculoskeletal humanoid robot which has a humanlike structure. In this paper, we present a new knee joint which is usually simplified in robotics for high controllability. The knee joint has three human mimetic points, patella, screw-home mechanism and four-linked linkage. Patella is for a longer moment arm. Screw-home mechanism is for locking knee joint. Four-linked...
Estimating robot performance in human robot teams is a vital problem in human robot interaction community. In previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on low degree of minimum acceptable performance level set at 50% of peak performance, taking into account any false...
Despite some successful dynamic simulation of self-impact double pendulum — as humanoid robots legs or arms- studies, there limited information is available about the control of one leg locomotion. It is clear that the gait cycle, as a part of the lower-extremity motions, has a remarkable effect on the whole body movement and also behavior. The whole walking motion has been modeled into an inverted...
In this paper, a functional interface between brain and central pattern generator (CPG) is designed in an engineering perspective, which may serve in a human-machine system. Steady-state visual evoked potential (SSVEP) based brain-computer interface (BCI) is used to recognize five types of intention related to human walking. After feature extraction, classification and command translation on electroencephalography...
While humanoid feet are made of rigid plates, human feet have evolved into highly articulated and flexible elements. This adaptiveness provides key advantages. It absorbs impacts and secures grip when interacting with the environment. However, the human foot design potentially increases the energetic cost, because it features actuators and provides less power transfer than a rigid plate does. Here...
A robot requires any path planning to respect human movements when the robot works with the person in an environment. In this study, a path planning method that respects human movements is proposed for mobile robots working in a living environment. In this path planning, we use a “Human Frequency Map (HFM)” generated by using observed human positions in a sensor-distributed space. The robot can obtain...
Walking power assist leg (WPAL) [1]-[5] is designed for old people, patients with weak legs or normal humans power augmentation during walking. The control system of WPAL is mainly developed to enhance the mobility because the field of activities of WPAL assistance is expected to be like outdoors activities. So the portability is very important, and the control system of WPAL should be small, light...
Gait recognition and analysis is one of the most important biometric methods for medical treatments, virtual reality games and human motion identification. Gait recognition based on wearable MEMS inertial sensors is proposed for medical rehabilitation with Physical Activities Healthcare System (PATHS) in this paper. We use relative wavelet energy as features for support vector machine (SVM) recognition...
Exoskeleton systems have been largely developed though, quantitative performance estimation has not been reported so far. We have been developing the wearable muscle suit for direct and physical motion supports. The use of the McKibben artificial muscle has opened the way to the introduction of “muscle suits” — compact, lightweight, reliable, wearable “assist-bots” enabling manual worker to lift and...
Human bipedal walking is symmetrical, stable and efficiency optimal. To clarify the essential relationship in human gait, accelerometers and rate gyroscopes are mounted on waist and lower extremities of subject to acquire kinematics information during walking. By employing Principal Component Analysis (PCA), kinematics signals of one side are reconstructed using that of opposite side. The reconstructed...
Even though humans and a humanoid robots have similar kinematic structures, directly imitating human movement does not guarantee the same behavior of the robot because of their different dynamical properties and perhaps different conditions under which the task is being performed. Our research starts by showing how to apply a generalization algorithm to extract the desired movement primitives from...
Video analysis aiming at efficient pedestrian detection is an important research area in computer vision and robotics. Although this is a well studied topic, successful detection still remains a challenge in outdoor, low resolution images. We present efficient detection metrics which consider the fact that human movement presents some characteristic patterns. Unlike many methods which perform an intra-blob...
The authors have conducted experiments to measure personal space between a human and a humanoid robot using both a real and a VR (virtual reality) humanoid robot in order to evaluate the comfortable distance between them. The reason for using both a real and VR robot is to verify the effectiveness of VR. Using a VR robot, we can conduct experiments cheaply and safely because the robot has an unsubstantial...
An experiment was conducted to reveal the differences between intra-personal and inter-personal systems in terms of the perceptual effect on the stability of the finger-tapping movement in the in-phase vs. anti-phase modes. We investigated a between-subjects factor, i.e., the intra-/inter-personal condition, and a within-subject factor, i.e., the phase mode. In the intra-personal condition, ten participants...
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