Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 03, 2017 - September 06, 2017
In the case of elderly persons and handicap persons, the perception ability for surrounding environment is sometimes deteriorated. The concept of perception-assist has been proposed to assist such person's daily life motion. For example, user's dangerous motion or mistake motion is modified to appropriate motion automatically by using perception-assist. In the upper-limb perception-assist with power-assist robot, a virtual tunnel is used to modify user's motion. The user's task intention is estimated by the information of user's biological signals, interaction with the environment, and the tool grasped by the hand such as spoon, fork, and so on. The virtual tunnel is defined for the user's upper-limb motion and the modification force is applied to the point of the tool grasped by user when a tool is going out of the virtual tunnel. In this paper, the trajectory of initially defined types of daily life motion is investigated in order to estimate some parameters of the virtual tunnel.
