フィジカルケアにおける身体動作に適応する倣いシステム

抄録

The purpose of this research is to build a system that a robot arm can quickly and softly move along the shape of the human body, which is often done in physical care situations such as massage, rehabilitation, and palpation. This movement requires real-time visualization of the whole body using a RGB camera with OpenPose, a skeletal detection software, and contact force control by a force sensor. Three types of tracking system which consist of two types of control, speed and contact force control, are used against the still and active body, evaluating them with retention rate and position. As a result, the arm can track body shape adjusting body movement at the low velocity.