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

Session WedDT5 Gemini 2 Wednesday, October 10, 2012, 14:00–15:00
Human-Machine Interfaces
Chair Fabio Paolo Bonsignorio, Heron Robots srl Univ. Carlos III de Madrid
Co-Chair
14:00–14:15 WedDT5.1
Novel Equilibrium-Point Control of Agonist-
Antagonist System with Pneumatic Artificial Muscles:
II. Application to EMG-based Human-machine
Interface for an Elbow-joint System
Yohei Ariga, Daisuke Maeda, Hang T. T. Pham,
Mitsunori Uemura, Hiroaki Hirai and Fumio Miyazaki
Graduate School of Engineering Science, Osaka University, Japan
• An EMG-based HMI for the agonist-antagonist system with
pneumatic artificial muscles (PAMs) is proposed.
• We introduce the novel concepts of agonist-antagonist
muscle-pair ratio (A-A ratio) and agonist-antagonist
muscle-pair activity (A-A activity).
• These concepts enable us to linearly
translate the equilibrium point of
the human muscle system into that
of the PAM system, linking these two
systems in a simple way.
EMG Signal
14:30–14:45 WedDT5.3
I’ll Keep You in Sight: Finding a Good Position
to Observe a Person
Jens Kessler and Daniel Iser and Horst-Michael Gross
Neuroinformatics and Cognitive Robotics Lab, Ilmenau University of
Technology, Germany
• Hard and soft criteria are
combined to find a good position
(e.g. visibility, sensor distance)
• Particle swarm optimization is
used to find the position
• A very computational expensive
3D approach is reduced to an
efficient 2D approach
• First experiments show stable
results in both cases
Valid search space from hard criteria and
the person occupancy distribution
14:15–14:30 WedDT5.2
Benchmarking Shared Control for Assistive
Manipulators: From Controllability to the Speed-
Accuracy Trade-Off
Martin F. Stoelen, Virginia F. Tejada,
Alberto Jardón Huete and Carlos Balaguer
Roboticslab, Universidad Carlos III de Madrid (UC3M), Spain
Fabio Bonsignorio
UC3M and Heron Robots, Genova, Italy
• Shared control for assistive manipulators
• Predict intent and assist disabled user
• So far mainly wheelchairs/mobile platf.
• Benchmarking/experiments important
• High-DOF human-robot systems
• Sharing and replication of results
• System models and metrics proposed
• Controllability from user’s perspective
• Speed-accuracy trade-off
• Case study on adaptive shared control
showed improvement in both metrics
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–155–
Experimental setup used for case
study on adaptive shared control
14:45–15:00 WedDT5.4
Embedding Imperceptible Codes into Video
Projection and Applications in Robotics
Jingwen Dai and Ronald Chung
Department of Mechanical and Automation Engineering,
The Chinese University of Hong Kong, Hong Kong
• A novel system of embedding
imperceptible structured codes
into normal projection.
• In coding end: noise-tolerant
schemes (specifically designed
shapes and large hamming
distance) are employed.
• In decoding end: pre-trained
primitive shape detectors are used
to detect and identify the weakly
embedded codes.
• Some potential applications to a
robotic system are demonstrated.