Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedCT2 Fenix 2 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 11:00–12:30<br />
Human Performance Augumentation<br />
Chair Yasuhisa Hasegawa, Univ. of Tsukuba<br />
Co-Chair<br />
11:00–11:15 WedCT2.1<br />
Full-body Exoskeleton Robot Control<br />
for Walking Assistance by<br />
Style-phase Adaptive Pattern Generation<br />
Takamitsu Matsubara 1,2 , Akimasa Uchikata 1,2<br />
and Jun Morimoto 1<br />
1. Department of Brain Robot Interface, ATR-CNS, Japan<br />
2. Graduate School of Information Science, NAIST, Japan<br />
• Propose an adaptive walking assistance<br />
strategy using an coupled oscillator<br />
model for full-body exoskeleton robot<br />
control.<br />
• Consider the diversity of user motions<br />
and the interactions among a user, a<br />
robot, and an environment.<br />
• Adapt to time-varying user walking<br />
spatiotemporally by style-phase<br />
adaptive pattern generation.<br />
• Demonstrate that the necessary torque<br />
for the simulated user walking was<br />
reduced around 40% by using our<br />
method.<br />
Schematic diagram of our adaptive<br />
walking assistance strategy.<br />
11:30–11:45 WedCT2.3<br />
Synergy–based Optimal Design of Hand Pose<br />
Sensing<br />
Matteo Bianchi, Paolo Salaris and Antonio Bicchi<br />
Interdept. Research Center “Enrico Piaggio”, University of Pisa, Italy.<br />
Antonio Bicchi<br />
Department of Advanced Robotics, Istituto Italiano di Tecnologia, Italy.<br />
• This paper investigates the optimal design<br />
of low-cost gloves for hand pose sensing;<br />
• The cost constraints may limit both the<br />
number and the quality of sensor and<br />
technologies used;<br />
• We exploit the knowledge on how humans<br />
most frequently use their hands in<br />
grasping tasks ;<br />
• We study how and where to place sensors<br />
on the glove in order to get the maximum<br />
information about the actual hand posture.<br />
• Experiments validate the proposed optimal<br />
design.<br />
12:00–12:15 WedCT2.5<br />
Pinching Force Accuracy Affected by Thumb<br />
Sensation in Human Force Augmentation<br />
Yasuhisa Hasegawa, Tetsuri Ariyama and Kiyotaka Kamibayashi<br />
Department of Intelligent Interaction Technologies,<br />
University of Tsukuba, Japan<br />
• Confirmed contribution of thumb sensation<br />
to pinching force accuracy when it is<br />
augmented by an exoskeleton.<br />
• Proposed an exoskeleton structure to<br />
achieve high precision force control based<br />
on human sensation.<br />
• The structure transmits an assistive force<br />
to a grasping object through two paths at<br />
fixed distribution ratio.<br />
Pinching with force assistance<br />
and exoskeleton structure for<br />
accurate force control<br />
11:15–11:30 WedCT2.2<br />
Development and Evaluation of Add-On<br />
End-Effector for Linear Power Assist Unit<br />
with Variable Assist Gain<br />
Marina Kaneko, Taishi Kitano, Takahiro Wakatabe,<br />
Norihiro Kamamichi and Jun Ishikawa<br />
Department of Robotics and Mechatronics, Tokyo Denki University, Japan<br />
• Linear power assist unit easy to be<br />
designed by using an add-on end-effector<br />
• Robustly worked against human and<br />
environmental perturbations achieving an<br />
assisting bandwidth of 1 to 3 Hz<br />
• Online adjusting of the assist gain<br />
available so that the system can be easyto-use<br />
for various applications<br />
• Could be helpful in rehabilitations by<br />
tuning the load depending on the degree<br />
of recovery<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–140–<br />
Proposed power assist system<br />
using add-on end-effector<br />
11:45–12:00 WedCT2.4<br />
Demonstration-Based Control of Supernumerary<br />
Robotic Limbs<br />
Baldin Llorens-Bonilla and Federico Parietti<br />
Mechanical Engineering, Massachusetts Institute of Technology, USA<br />
H. Harry Asada<br />
Mechanical Engineering, Massachusetts Institute of Technology, USA<br />
• This system, called the Supernumerary<br />
Robotic Limbs (SRL), consists of two<br />
additional robotic arms worn through a<br />
backpack-like harness.<br />
• The SRL performs movements closely<br />
coordinated with the user and exhibit<br />
human-like dynamics, thus extend the<br />
worker’s range of available skills and<br />
manipulation possibilities.<br />
• Demonstration data of two workers are<br />
analyzed and, through the use of System<br />
Identifications, a state estimation<br />
algorithm is extracted.<br />
12:15–12:30 WedCT2.6<br />
Implementation of Force Sensing in a Haptic<br />
Musical Instrument Without Additional Sensors<br />
Mark Havryliv and Fazel Naghdy<br />
Faculty of Informatics, University of Wollongong, Australia<br />
Greg Schiemer<br />
School of Sound and Music Design, University of Technology, Australia<br />
• A haptic system for simulating the forcefeedback<br />
of a centuries-old carillon.<br />
• Our prototype device will allow performers<br />
to rehearse in private.<br />
• A single linear actuator for each key<br />
provides force-feedback in an admittance<br />
control scheme.<br />
• The control loop is closed by sensing force<br />
based on current being supplied to the<br />
actuator, therefore requiring no additional<br />
force sensors.<br />
• The current is filtered using Kalman<br />
estimation for precise and quick forcefeedback.<br />
The keyboard of the National<br />
Carillon, Canberra, Australia.