J1602-1-2 認知アシスト付き上肢パワーアシストロボットによる作業支援([J1602-1]機械の知能化と脳工学応用)

概要

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This paper describes task support in upper-limb exoskeleton power-assist robot with perception-assist. If the robot has not found any problems in the user's motion, then the ordinal power-assist is carried out by the robot. On the other hand, if the robot has found some problems in the user's motion during the task, the robot tries to modify the user's motion to perform the task properly. In the perception assist by using exoskeleton robot, it is important to recognize objects which user has, because robot assists the task based on them. In this paper, the method which uses task estimation by the motion of user's arm in combination with image processing is proposed. To estimate the motion of user's arm, the feature quantity which is calculated by hand vector is used. The effectiveness of the proposed method was evaluated by the experiments.
2010-09-04