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New evaluation framework for human-assistive devices based on humanoid robotics
| Title: | New evaluation framework for human-assistive devices based on humanoid robotics |
| Authors: | Ayusawa, Ko Browse this author | | Yoshida, Eiichi Browse this author →KAKEN DB | | Imamura, Yumeko Browse this author | | Tanaka, Takayuki Browse this author →KAKEN DB |
| Keywords: | assistive device evaluation | | identification | | Humanoid robot | | joint torque estimation |
| Issue Date: | 18-Apr-2016 |
| Publisher: | Taylor & Francis |
| Journal Title: | Advanced Robotics |
| Volume: | 30 |
| Issue: | 8 |
| Start Page: | 519 |
| End Page: | 534 |
| Publisher DOI: | 10.1080/01691864.2016.1145596 |
| Abstract: | This paper presents the new application of a humanoid robot as an evaluator of human-assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot's mechanical properties. We also show two approaches to estimate supporting torques from the sensor data, which can be used properly according to the situations. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. We evaluate a passive assistive wear 'Smart Suit Lite (SSL)' as an example of device, and use HRP-4 as the humanoid platform. |
| Rights: | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 18 April 2016, available online: http://www.tandfonline.com/10.1080/01691864.2016.1145596. |
| Type: | article (author version) |
| URI: | http://hdl.handle.net/2115/65110 |
| Appears in Collections: | 情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)
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Submitter: 田中 孝之
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