Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedCT2 Fenix 2 Wednesday, October 10, 2012, 11:00–12:30
Human Performance Augumentation
Chair Yasuhisa Hasegawa, Univ. of Tsukuba
Co-Chair
11:00–11:15 WedCT2.1
Full-body Exoskeleton Robot Control
for Walking Assistance by
Style-phase Adaptive Pattern Generation
Takamitsu Matsubara 1,2 , Akimasa Uchikata 1,2
and Jun Morimoto 1
1. Department of Brain Robot Interface, ATR-CNS, Japan
2. Graduate School of Information Science, NAIST, Japan
• Propose an adaptive walking assistance
strategy using an coupled oscillator
model for full-body exoskeleton robot
control.
• Consider the diversity of user motions
and the interactions among a user, a
robot, and an environment.
• Adapt to time-varying user walking
spatiotemporally by style-phase
adaptive pattern generation.
• Demonstrate that the necessary torque
for the simulated user walking was
reduced around 40% by using our
method.
Schematic diagram of our adaptive
walking assistance strategy.
11:30–11:45 WedCT2.3
Synergy–based Optimal Design of Hand Pose
Sensing
Matteo Bianchi, Paolo Salaris and Antonio Bicchi
Interdept. Research Center “Enrico Piaggio”, University of Pisa, Italy.
Antonio Bicchi
Department of Advanced Robotics, Istituto Italiano di Tecnologia, Italy.
• This paper investigates the optimal design
of low-cost gloves for hand pose sensing;
• The cost constraints may limit both the
number and the quality of sensor and
technologies used;
• We exploit the knowledge on how humans
most frequently use their hands in
grasping tasks ;
• We study how and where to place sensors
on the glove in order to get the maximum
information about the actual hand posture.
• Experiments validate the proposed optimal
design.
12:00–12:15 WedCT2.5
Pinching Force Accuracy Affected by Thumb
Sensation in Human Force Augmentation
Yasuhisa Hasegawa, Tetsuri Ariyama and Kiyotaka Kamibayashi
Department of Intelligent Interaction Technologies,
University of Tsukuba, Japan
• Confirmed contribution of thumb sensation
to pinching force accuracy when it is
augmented by an exoskeleton.
• Proposed an exoskeleton structure to
achieve high precision force control based
on human sensation.
• The structure transmits an assistive force
to a grasping object through two paths at
fixed distribution ratio.
Pinching with force assistance
and exoskeleton structure for
accurate force control
11:15–11:30 WedCT2.2
Development and Evaluation of Add-On
End-Effector for Linear Power Assist Unit
with Variable Assist Gain
Marina Kaneko, Taishi Kitano, Takahiro Wakatabe,
Norihiro Kamamichi and Jun Ishikawa
Department of Robotics and Mechatronics, Tokyo Denki University, Japan
• Linear power assist unit easy to be
designed by using an add-on end-effector
• Robustly worked against human and
environmental perturbations achieving an
assisting bandwidth of 1 to 3 Hz
• Online adjusting of the assist gain
available so that the system can be easyto-use
for various applications
• Could be helpful in rehabilitations by
tuning the load depending on the degree
of recovery
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–140–
Proposed power assist system
using add-on end-effector
11:45–12:00 WedCT2.4
Demonstration-Based Control of Supernumerary
Robotic Limbs
Baldin Llorens-Bonilla and Federico Parietti
Mechanical Engineering, Massachusetts Institute of Technology, USA
H. Harry Asada
Mechanical Engineering, Massachusetts Institute of Technology, USA
• This system, called the Supernumerary
Robotic Limbs (SRL), consists of two
additional robotic arms worn through a
backpack-like harness.
• The SRL performs movements closely
coordinated with the user and exhibit
human-like dynamics, thus extend the
worker’s range of available skills and
manipulation possibilities.
• Demonstration data of two workers are
analyzed and, through the use of System
Identifications, a state estimation
algorithm is extracted.
12:15–12:30 WedCT2.6
Implementation of Force Sensing in a Haptic
Musical Instrument Without Additional Sensors
Mark Havryliv and Fazel Naghdy
Faculty of Informatics, University of Wollongong, Australia
Greg Schiemer
School of Sound and Music Design, University of Technology, Australia
• A haptic system for simulating the forcefeedback
of a centuries-old carillon.
• Our prototype device will allow performers
to rehearse in private.
• A single linear actuator for each key
provides force-feedback in an admittance
control scheme.
• The control loop is closed by sensing force
based on current being supplied to the
actuator, therefore requiring no additional
force sensors.
• The current is filtered using Kalman
estimation for precise and quick forcefeedback.
The keyboard of the National
Carillon, Canberra, Australia.