1C1-2 高速触覚センサと3次元カメラを搭載した移動マニピュレータによるヒューマンアシスト : 基本構想(GS1:立ち座り動作解析・支援機器の開発,一般セッション)

概要

論文の詳細を見る
As one of the home services with a mobile manipulator system, we are aiming at the realization of the motion assist for older persons. The purpose of the work is to realize a safe assist by real time feedback control based on the information of sensor fusion from a three-dimensional camera for detecting the 3-dimensional coordinate and a high speed tactile sensor for detecting the load and its center. This paper introduces our basic method for assisting standing-up motion and system configuration, the design of tactile sensor as well as initial experimental results to show the feasibility of the proposed system.
一般社団法人日本機械学会の論文
2009-09-23