皮膚電気反射を利用したマスタ支援型ロボットによる人体に対する安全接触倣い作業

概要

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A cooperative control approach between human and robot is important for an assisting robot coexisting with humans in medical service and welfare. The safety measures against the human are important function for the human-robot coexistence system in which a robot makes contact with a part of the human body. In order to relieve a human from pricking pain, a safety of the human is quantitatively evaluated based on an awful feeling and an uncomfortable feeling detected using galvanic skin reflex which expresses emotions of the humans. In this paper, the degree of cooperation between human operator and robot is adequately adjusted by the fuzzy reasoning based on the psychological safety of the human who is assisted by the robot. The proposed cooperative control system is applied to a pneumatic robot with three degrees of freedom. The experimental results indicate that it is possible to ensure the safety of the experimental subject by measuring the personal feelings.
2001-07-25