In this paper, a new human-robot interface has been proposed for teleoperating assistive robots. As assistive robots are expected to compensate lost functions of disabled persons, the teleoperation should be easy for the users; moreover, it is desired to be training free. However, the teleoperation of robots with conventional joy sticks is difficult in general because the kinematic structures of the joy stick and the slave robot are different each other. Furthermore, considerable amount of training is required for the smooth operation. This problem will be solved using our proposed subsystems, which are called as direct-master-arm and 3-dimentional mouse. The interface consists of a position and orientation sensor system and a 3-dimentional mouse in which a vibrator and a tactile sensor are installed. While the arm of operator works as a master arm for teleoperating the robot, the vibrator contacting with human fingertip presents the reflected force from the robot to the operator. These subsystems make it possible for the user to operate the slave robot for daily tasks without having difficulty. This paper describes the structure and feature of the proposed system, and verifies the usefulness through the experiments.

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Electric powered wheelchair users are increasing and the improvement of riding comfort is desired.The tilting of body at the time of acceleration and deceleration is one of factors related to the riding quality. In the case of electric powered wheelchair, a speed control is performed through a joystick, and the acceleration and deceleration become rapid. Consequently, the operator's trunk tends to swing and the riding quality becomes poor. In this study, a control system for reducing the body tilting of electric powered wheelchair was designed. The relation between body tilting and the riding quality was investigated, and an optimal control corresponding to individual user was proposed. A state feedback control using an optimal regulator and a Kalman filter as the state observer, which is based on a modeling of electric powered wheelchair system including the operator(h-EPW system: human-Electric Powered Wheelchair system), was adopted. The system is based on a model in which only forward and backward body tilting is considered. The effect of reducing in body tilting with this control is confirmed by simulation. The body tilting in forward and backward directions was reduced even in turning of electric powered wheelchair, and it could turn conveniently. The control system is applied to the auxiliary power unit of wheelchair and the reduction effect of body tilting and its controllability was verified.

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Navigation systems for walking in city areas have been reported. The method widely used for communication has been speech-based interface. However, high concentrations of acoustic information may overload the sensory system with a gult of information, which may increase the potential for traffic accidents involving visually impaired pedestrians . A new approach to navigation systems through stimulation of the human body solves this problem. The wearable system has a control pack(4.7kg, 400mm in height, and 370mm in width)and 'Kinematic Stimulators'. Users can also modify the system settings. Types A(attached to the arm, 0.4kg, 100mm in width, and 1200mm in length)and H(hip belt, 0.3kg, 80mm in height, and 500mm in width)are stimulators for walking direction. Types K(knee supporter, 0.1kg, 180mm in height, and 170mm in width)and S(shin supporter, 0.1kg, 170mm in height and 90mm in width)are stimulators to halt walking. The control pack and kinematic stimulators were activated by 3-12 volts DC and gas pressure from HFC134a. The infrared(IR)approach beacon system supports linear movement and radio route indicator is a kind of a‘node’transmitting an ID number. Verification was performed in doors and out doors. The air temperature ranged from 9 to 35 degrees C with temperature on the road from 8 to 49 degrees C. The illuminance ranged from 2 to 125 kilolux. The IR systems were installed along crooked line, and users traced them with ease. Users immediately stopped walking or changed direction without conscious thought when stimulation was induced by the kinematic stimulators.

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