3727 パワーアシストロボットのための知的認知アシスト(J27 知能機械に人間の高次脳機能の知見を積極的に活用,融合した新分野を切り拓く研究・技術,ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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This paper presents an intelligent perception assist (IPA) to improve the intelligence of a power-assist exoskeleton robot. The intelligent perception assist system is equipped with a stereo vision camera to observe the environment; hence it can monitor how the user is interacting with the environment to assist the perception of the user. The stereo vision camera is controlled in 3 degrees of freedom. When the user is going to do something, it always tracks the user's hand (i.e., the end effecter of the exoskeleton) to make sure that the user's arm is always within the sight of the image. In addition, the camera is brought to a better position to monitor the interaction of the user with the environment by avoiding obstacles which can be restrained the vision of the camera. Based on the obtained environmental information, the assisted user's motion can be modified if problems are found in the user's motion when the user is going to interact with the environment.
2008-08-02