人間拡張のためのユーザの脚部位を用いたロボットアームの制御手法

抄録

In this paper, we propose a novel manipulation method that expands the number of human arms by substituting legs with artificial robotic arms attached to userʟs body. This limb substitution creates a perception of numerous arms sensation, changing the perceived body image. The proposed work mainly addresses two research topics: leg based interaction, and limb augmentation systems. Our proposed method uses a socks type tracking device, which includes two bending sensors to detect the posture of user toes, and optical markers attached on user's feet and knees to measure motion and rotation of the legs. Using this interaction, body scheme can be alternated to achieve full utilization of body limbs and to enhance multitasking.