Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708357
S. Tarao, Hirotsugu Kobayashi, Masaya Satoh, Hirokazu Saito
Force display is an important element to set up a user-friendly man-machine interaction system (e. g. haptic interface system). To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot. This paper presents development of a prototype of a planar 3-DOF wheeled motion base consisting of omnidirectional mechanism, and the some experiments to estimate performance of the force display. In addition, for realizing a widely applicable motion base, a spacial 6-DOF motion base mechanically-expanded from the planar 3-DOF one is proposed and prototyped.
{"title":"Force display consisting of a wheeled motion base — Expanding mobility from 3-DOF to 6-DOF","authors":"S. Tarao, Hirotsugu Kobayashi, Masaya Satoh, Hirokazu Saito","doi":"10.1109/SII.2010.5708357","DOIUrl":"https://doi.org/10.1109/SII.2010.5708357","url":null,"abstract":"Force display is an important element to set up a user-friendly man-machine interaction system (e. g. haptic interface system). To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot. This paper presents development of a prototype of a planar 3-DOF wheeled motion base consisting of omnidirectional mechanism, and the some experiments to estimate performance of the force display. In addition, for realizing a widely applicable motion base, a spacial 6-DOF motion base mechanically-expanded from the planar 3-DOF one is proposed and prototyped.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128728335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708337
M. Okamoto, K. Kikuchi, S. Tsuchitani
In this paper, we describe evaluation results of operating characteristics of Ionic Polymer-Metal Composite (IPMC) with ionic liquids. This actuator has a feature of large displacement under low driving voltage drive, although its generation power was small. We prepared IPMC by incorporating ion liquid into it and evaluated moving performance in water. The performance has been improved compared to IPMC with alkali metallic ion.
{"title":"Evaluation of operating characteristics of Flemion®-based IPMC with ionic liquids operated in water","authors":"M. Okamoto, K. Kikuchi, S. Tsuchitani","doi":"10.1109/SII.2010.5708337","DOIUrl":"https://doi.org/10.1109/SII.2010.5708337","url":null,"abstract":"In this paper, we describe evaluation results of operating characteristics of Ionic Polymer-Metal Composite (IPMC) with ionic liquids. This actuator has a feature of large displacement under low driving voltage drive, although its generation power was small. We prepared IPMC by incorporating ion liquid into it and evaluated moving performance in water. The performance has been improved compared to IPMC with alkali metallic ion.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123624208","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708340
Kyong-Mo Koo, Xin Jiang, A. Konno, M. Uchiyama
This paper presents more reliable and fast path planning method for end effector constrained 7DOF redundant manipulators. Conventional path planning for redundant manipulators used jacobian based planning method for convenience. But it is not easy to apply in case of constrained tasks and redundant manipulators. On the contrary in this paper we uses position based path planning by inverse kinematics. Position based path planning is cost effective than jacobian methods and more easy to avoid joint limit and singularity. Usual path planning problems of pick and place with constraint are considered and demonstrated the usefulness of proposed planner.
{"title":"End effector constrained path planning for 7DOF manipulator","authors":"Kyong-Mo Koo, Xin Jiang, A. Konno, M. Uchiyama","doi":"10.1109/SII.2010.5708340","DOIUrl":"https://doi.org/10.1109/SII.2010.5708340","url":null,"abstract":"This paper presents more reliable and fast path planning method for end effector constrained 7DOF redundant manipulators. Conventional path planning for redundant manipulators used jacobian based planning method for convenience. But it is not easy to apply in case of constrained tasks and redundant manipulators. On the contrary in this paper we uses position based path planning by inverse kinematics. Position based path planning is cost effective than jacobian methods and more easy to avoid joint limit and singularity. Usual path planning problems of pick and place with constraint are considered and demonstrated the usefulness of proposed planner.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130473494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708330
M. Komori, Jungchul Kang, Yukihiko Kimura, Fumi Takeoka
A wide range of speed or torque is required for some types of machines. It is possible for the motors to realize some range of speed or torque but the range is limited to some degree considering the size, weight and cost of the motors. If the velocity ratio between input and output shaft is changed, a wide range of speed or torque can be realized even if the ability of the motor is limited in speed or torque. Therefore a velocity ratio variation system is an ideal method in this point. Ratio variation devices using gears are widely used in the industrial fields and there are many research reports in terms of device control and mechanisms. Gears have advantages in torque capacity, precise rotation transmission and efficiency and that is the reason why gears are used in a variety of mechanical devices. In a geared transmission, it is necessary to change the working gear pairs to vary the velocity ratio of the transmission. However, the motion transmission from the input shaft to the output shaft is interrupted during this process. Therefore it is impossible to change the velocity ratio while transmitting rotation between the input and output shafts. This leads to an important problem in the field of precise positioning. In order to solve this problem, the velocity ratio variation method that can transmit motion precisely is proposed in this report. This method uses a gear pair that can realize the velocity ratios of two gear pairs to transmit motion precisely. In this report, the principle of this velocity ratio variation method is proposed and its components are considered. In addition, to reveal the geometrical characteristic of the element for this system, the analysis program of the geometry of the element is developed.
{"title":"Velocity variation system for mobile robot","authors":"M. Komori, Jungchul Kang, Yukihiko Kimura, Fumi Takeoka","doi":"10.1109/SII.2010.5708330","DOIUrl":"https://doi.org/10.1109/SII.2010.5708330","url":null,"abstract":"A wide range of speed or torque is required for some types of machines. It is possible for the motors to realize some range of speed or torque but the range is limited to some degree considering the size, weight and cost of the motors. If the velocity ratio between input and output shaft is changed, a wide range of speed or torque can be realized even if the ability of the motor is limited in speed or torque. Therefore a velocity ratio variation system is an ideal method in this point. Ratio variation devices using gears are widely used in the industrial fields and there are many research reports in terms of device control and mechanisms. Gears have advantages in torque capacity, precise rotation transmission and efficiency and that is the reason why gears are used in a variety of mechanical devices. In a geared transmission, it is necessary to change the working gear pairs to vary the velocity ratio of the transmission. However, the motion transmission from the input shaft to the output shaft is interrupted during this process. Therefore it is impossible to change the velocity ratio while transmitting rotation between the input and output shafts. This leads to an important problem in the field of precise positioning. In order to solve this problem, the velocity ratio variation method that can transmit motion precisely is proposed in this report. This method uses a gear pair that can realize the velocity ratios of two gear pairs to transmit motion precisely. In this report, the principle of this velocity ratio variation method is proposed and its components are considered. In addition, to reveal the geometrical characteristic of the element for this system, the analysis program of the geometry of the element is developed.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132634829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708299
T. Takei, Yusuke Suzuki, O. Matsumoto, Y. Adachi, Y. Sasaki, Mitsuhiro Kamo
Accidents involving electric wheelchairs in Japan have increased as the nation's population ages. About half of all accidents are caused when the chair tips over sideways or backwards on a sidewalk. The authors have developed two kinds of safe technology intending to prevent such accidents. The first prevents the wheelchair from falling sideways on a sidewalk when the wheelchair is moving across the slope of a sidewalk. On a slope, the wheelchair easily swerves from the desired direction and goes down the slope because of gravity. The second measure prevents a large backward tipping angle when the wheelchair is moving up over grade height differences and slopes. The authors have configured a wheelchair which has a posture sensor, magnetic brake bar and small control board. Results of indoor experiments on not only simulated slopes and grade height differences but also in real outdoor environments have confirmed the effectiveness of the authors' support technology.
{"title":"Development of assistive technologies for safe operation of electric wheelchairs on sloping sidewalks and grade height differences","authors":"T. Takei, Yusuke Suzuki, O. Matsumoto, Y. Adachi, Y. Sasaki, Mitsuhiro Kamo","doi":"10.1109/SII.2010.5708299","DOIUrl":"https://doi.org/10.1109/SII.2010.5708299","url":null,"abstract":"Accidents involving electric wheelchairs in Japan have increased as the nation's population ages. About half of all accidents are caused when the chair tips over sideways or backwards on a sidewalk. The authors have developed two kinds of safe technology intending to prevent such accidents. The first prevents the wheelchair from falling sideways on a sidewalk when the wheelchair is moving across the slope of a sidewalk. On a slope, the wheelchair easily swerves from the desired direction and goes down the slope because of gravity. The second measure prevents a large backward tipping angle when the wheelchair is moving up over grade height differences and slopes. The authors have configured a wheelchair which has a posture sensor, magnetic brake bar and small control board. Results of indoor experiments on not only simulated slopes and grade height differences but also in real outdoor environments have confirmed the effectiveness of the authors' support technology.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132829428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708314
T. Yukawa, N. Nakata, G. Obinata, Taira Makino
This paper describes a new type of assistance system that can support bedridden patients to reduce the burden of nursing care. The first component is an electric wheelchair that can be modified to function as a portable bed by reclining the seat. The second component is a new type of lift for carrying a patient from the wheelchair to the bath, or to a normal bed. The third component is a new type of bathtub made from vinyl cloth and supported by an aluminum frame and that can be moved easily. Generally, it is difficult for a caregiver to move a bedridden patient between the bed and the bathroom, and bathing patients who are lying in bed is one of the most difficult tasks for caregivers. Using the proposed items such as the wheelchair and the lift, caregivers can more easily bathe patients. Another challenging task for caregivers is helping patients with incontinence. To help overcome this problem, we have designed a small mobile robot with a portable toilet to set up under the seat of the wheelchair. The robot can move inside the house after moving out from under the wheelchair. The proposed omni-directional mechanism allows the robot with the portable toilet to adjust not only to a narrow room such as a restroom but also to a narrow hallway. For the final component of our system, we designed a cleaning mechanism for the portable toilet, with an autonomous control system.
{"title":"Assistance system for bedridden patients to reduce the burden of nursing care (first report — Development of a multifunctional electric wheelchair, portable bath, lift, and mobile robot with portable toilet)","authors":"T. Yukawa, N. Nakata, G. Obinata, Taira Makino","doi":"10.1109/SII.2010.5708314","DOIUrl":"https://doi.org/10.1109/SII.2010.5708314","url":null,"abstract":"This paper describes a new type of assistance system that can support bedridden patients to reduce the burden of nursing care. The first component is an electric wheelchair that can be modified to function as a portable bed by reclining the seat. The second component is a new type of lift for carrying a patient from the wheelchair to the bath, or to a normal bed. The third component is a new type of bathtub made from vinyl cloth and supported by an aluminum frame and that can be moved easily. Generally, it is difficult for a caregiver to move a bedridden patient between the bed and the bathroom, and bathing patients who are lying in bed is one of the most difficult tasks for caregivers. Using the proposed items such as the wheelchair and the lift, caregivers can more easily bathe patients. Another challenging task for caregivers is helping patients with incontinence. To help overcome this problem, we have designed a small mobile robot with a portable toilet to set up under the seat of the wheelchair. The robot can move inside the house after moving out from under the wheelchair. The proposed omni-directional mechanism allows the robot with the portable toilet to adjust not only to a narrow room such as a restroom but also to a narrow hallway. For the final component of our system, we designed a cleaning mechanism for the portable toilet, with an autonomous control system.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130525064","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708315
A. Yamazaki, R. Masuda
In this paper, a new robot equipped with ecological and communication functions is proposed. We call this device an “Eco-communication Robot”. To fulfill its ecological function, this robot can move about on wheels around a campus or park to assist in waste collection. It can also identify various waste products, such as steel or aluminum cans and PET bottles, using an onboard multi-sensor system. Furthermore, when stimulated by sound or when touched, the robot uses its communication function to express “emotions”, and will react to different situations by changing eye color and by issuing distinctive cries. This Eco-communication Robot is intended for use as an educational tool to promote enhanced ecological awareness in children and students.
{"title":"Development of an eco-communication robot for enhanced environmental education","authors":"A. Yamazaki, R. Masuda","doi":"10.1109/SII.2010.5708315","DOIUrl":"https://doi.org/10.1109/SII.2010.5708315","url":null,"abstract":"In this paper, a new robot equipped with ecological and communication functions is proposed. We call this device an “Eco-communication Robot”. To fulfill its ecological function, this robot can move about on wheels around a campus or park to assist in waste collection. It can also identify various waste products, such as steel or aluminum cans and PET bottles, using an onboard multi-sensor system. Furthermore, when stimulated by sound or when touched, the robot uses its communication function to express “emotions”, and will react to different situations by changing eye color and by issuing distinctive cries. This Eco-communication Robot is intended for use as an educational tool to promote enhanced ecological awareness in children and students.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121803453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708320
Suwoong Lee, Atsushi Ogawa, Kenji Inoue
In labor-intensive fields, lifting a heavy object up and down is regarded as a frequently performed motion which imposes a physical strain on workers, and power assist systems are expected to address such a problem. The objectives of this paper are to introduce system design for forearm support-type lift assist system (FOLAS) and to verify its basic functionality and usefulness in lifting motion support. The FOLAS mechanical structure is largely divided into the forearm support and parallel motion arm; The forearm support can transfer the FOLAS driving force to operator's forearms to assist lifting motion. The air cushion attached on the forearm support can indirectly detect interaction force between FOLAS and operator through a pneumatic pressure sensor as well as receive operator's forearm softly. We adopt the PSDs for load existence detection, and the FOLAS recognizes an operator receives a load when the PSD data indicates less than the preset threshold. The forearm support is mounted on the 2-DOF parallel motion arm that enables the forearm support to be maintained in a horizontal position with fewer actuators. Such mechanical characteristics enable the FOLAS to assist lifting motion without wearing, i.e., fixing his/her body on the system, and an operator can maneuver it intuitively feeling a lifted object. Experiments for lifting motion with the FOLAS operation were performed, and we could verify its basic functionality and usefulness.
{"title":"System design for forearm support-type lift assist system (FOLAS): An intuitively-operated power assist system without wearing","authors":"Suwoong Lee, Atsushi Ogawa, Kenji Inoue","doi":"10.1109/SII.2010.5708320","DOIUrl":"https://doi.org/10.1109/SII.2010.5708320","url":null,"abstract":"In labor-intensive fields, lifting a heavy object up and down is regarded as a frequently performed motion which imposes a physical strain on workers, and power assist systems are expected to address such a problem. The objectives of this paper are to introduce system design for forearm support-type lift assist system (FOLAS) and to verify its basic functionality and usefulness in lifting motion support. The FOLAS mechanical structure is largely divided into the forearm support and parallel motion arm; The forearm support can transfer the FOLAS driving force to operator's forearms to assist lifting motion. The air cushion attached on the forearm support can indirectly detect interaction force between FOLAS and operator through a pneumatic pressure sensor as well as receive operator's forearm softly. We adopt the PSDs for load existence detection, and the FOLAS recognizes an operator receives a load when the PSD data indicates less than the preset threshold. The forearm support is mounted on the 2-DOF parallel motion arm that enables the forearm support to be maintained in a horizontal position with fewer actuators. Such mechanical characteristics enable the FOLAS to assist lifting motion without wearing, i.e., fixing his/her body on the system, and an operator can maneuver it intuitively feeling a lifted object. Experiments for lifting motion with the FOLAS operation were performed, and we could verify its basic functionality and usefulness.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127745923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708327
T. Inamura, T. Shibata, H. Sena, T. Hashimoto, N. Kawai, T. Miyashita, Y. Sakurai, M. Shimizu, M. Otake, K. Hosoda, S. Umeda, Kentaro Inui, Y. Yoshikawa
Understanding mechanisms of intelligence of human beings and animals is one of the most important approaches to develop intelligent robot systems. Since the mechanisms of such real-life intelligent systems are so complex, physical interactions between agents and their environment and the social interactions between agents should be considered. Comprehension and knowledge in many peripheral fields such as cognitive science, developmental psychology, brain science, evolutionary biology, and robotics is also required. Discussions from an interdisciplinary aspect are very important for implementing this approach, but such collaborative research is time-consuming and labor-intensive, and it is difficult to obtain fruitful results from such research because the basis of experiments is very different in each research field. In the social science field, for example, several multi-agent simulation systems have been proposed for modeling factors such as social interactions and language evolution, whereas robotics researchers often use dynamics and sensor simulators. However, there is no integrated system that uses both physical simulations and social communication simulations. Therefore, we developed a simulator environment called SIGVerse that combines dynamics, perception, and communication simulations for synthetic approaches to research into the genesis of social intelligence. In this paper, we introduce SIGVerse, its example application and perspectives.
{"title":"Simulator platform that enables social interaction simulation — SIGVerse: SocioIntelliGenesis simulator","authors":"T. Inamura, T. Shibata, H. Sena, T. Hashimoto, N. Kawai, T. Miyashita, Y. Sakurai, M. Shimizu, M. Otake, K. Hosoda, S. Umeda, Kentaro Inui, Y. Yoshikawa","doi":"10.1109/SII.2010.5708327","DOIUrl":"https://doi.org/10.1109/SII.2010.5708327","url":null,"abstract":"Understanding mechanisms of intelligence of human beings and animals is one of the most important approaches to develop intelligent robot systems. Since the mechanisms of such real-life intelligent systems are so complex, physical interactions between agents and their environment and the social interactions between agents should be considered. Comprehension and knowledge in many peripheral fields such as cognitive science, developmental psychology, brain science, evolutionary biology, and robotics is also required. Discussions from an interdisciplinary aspect are very important for implementing this approach, but such collaborative research is time-consuming and labor-intensive, and it is difficult to obtain fruitful results from such research because the basis of experiments is very different in each research field. In the social science field, for example, several multi-agent simulation systems have been proposed for modeling factors such as social interactions and language evolution, whereas robotics researchers often use dynamics and sensor simulators. However, there is no integrated system that uses both physical simulations and social communication simulations. Therefore, we developed a simulator environment called SIGVerse that combines dynamics, perception, and communication simulations for synthetic approaches to research into the genesis of social intelligence. In this paper, we introduce SIGVerse, its example application and perspectives.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124422351","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708346
K. Shima, T. Tsuji
This paper proposes a novel method of pattern classification for user motions to create input signals for human-machine interfaces from electromyograms (EMGs) based on muscle synergy theory. The method can be adopted to represent non-trained combined motions (e.g., wrist flexion during hand grasping) using a recurrent neural network by combining synergy patterns of EMG signals preprocessed by the network. This approach allows combined motions (i.e., unlearned motions) to be classified through learning of individual motions (such as hand grasping and wrist flexion) only, meaning that the number of motions can be increased without increasing the number of learning samples or the learning time needed to control devices such as prosthetic hands. The effectiveness of the proposed method was demonstrated through motion classification tests and prosthetic hand control experiments with six subjects (including a forearm amputee). The results showed that 18 motions (12 combined and 6 single) could be classified sufficiently with learning for just 6 single motions (average rate: 89.2 ± 6.33%), and the amputee was able to control a prosthetic hand using single and combined motions at will.
{"title":"Classification of combined motions in human joints through learning of individual motions based on muscle synergy theory","authors":"K. Shima, T. Tsuji","doi":"10.1109/SII.2010.5708346","DOIUrl":"https://doi.org/10.1109/SII.2010.5708346","url":null,"abstract":"This paper proposes a novel method of pattern classification for user motions to create input signals for human-machine interfaces from electromyograms (EMGs) based on muscle synergy theory. The method can be adopted to represent non-trained combined motions (e.g., wrist flexion during hand grasping) using a recurrent neural network by combining synergy patterns of EMG signals preprocessed by the network. This approach allows combined motions (i.e., unlearned motions) to be classified through learning of individual motions (such as hand grasping and wrist flexion) only, meaning that the number of motions can be increased without increasing the number of learning samples or the learning time needed to control devices such as prosthetic hands. The effectiveness of the proposed method was demonstrated through motion classification tests and prosthetic hand control experiments with six subjects (including a forearm amputee). The results showed that 18 motions (12 combined and 6 single) could be classified sufficiently with learning for just 6 single motions (average rate: 89.2 ± 6.33%), and the amputee was able to control a prosthetic hand using single and combined motions at will.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121497683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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