Pub Date : 2010-12-01DOI: 10.1109/SII.2010.5708361
Z. Lin, M. Zecca, S. Sessa, L. Bartolomeo, H. Ishii, K. Itoh, A. Takanishi
Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios.
{"title":"Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking","authors":"Z. Lin, M. Zecca, S. Sessa, L. Bartolomeo, H. Ishii, K. Itoh, A. Takanishi","doi":"10.1109/SII.2010.5708361","DOIUrl":"https://doi.org/10.1109/SII.2010.5708361","url":null,"abstract":"Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"42 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":"122162276","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.2010.5708338
I. Shimizu, K. Kikuchi, S. Tsuchitani
In this study, in order to develop fabrication process of ionic polymer-metal composite (IPMC) actuator of microcantilever type, we evaluated actuation characteristics of a thin film type IPMC. Though its displacement was smaller than that of IPMCs fabricated by using the commercial ionic polymer (Nafion) film, the actuation of the thin film type IPMCs was confirmed. It depended on the thickness of the Nafion layer. We can expect the realization of MEMS devices integrated with the thin film type micro IPMCs fabricated by the propose method.
{"title":"Fabrication of ionic polymer-metal actuator of microcantilever type","authors":"I. Shimizu, K. Kikuchi, S. Tsuchitani","doi":"10.1109/SII.2010.5708338","DOIUrl":"https://doi.org/10.1109/SII.2010.5708338","url":null,"abstract":"In this study, in order to develop fabrication process of ionic polymer-metal composite (IPMC) actuator of microcantilever type, we evaluated actuation characteristics of a thin film type IPMC. Though its displacement was smaller than that of IPMCs fabricated by using the commercial ionic polymer (Nafion) film, the actuation of the thin film type IPMCs was confirmed. It depended on the thickness of the Nafion layer. We can expect the realization of MEMS devices integrated with the thin film type micro IPMCs fabricated by the propose method.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"47 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":"127134420","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.2010.5708308
Kazuyuki Shishido, Y. Tsumaki
In this paper, a novel exploration system for 3D virtual space named “the hand glass interface” is proposed. The proposed system provides both scalable exploration and intuitive operationality. It includes a novel hand glass display and a viewpoint changing system, which was proposed in our previous work. The hand glass display consists of four parts: a mini LCD, a micro trackball mouse, a motion sensor and a gripper. The operator can easily handle the hand glass interface in one hand, the motions of which are related to those of either the viewpoint or gaze point. In addition, the directional relationship between the virtual and real worlds is always fixed. This means the operator can intuitively explore within the 3D virtual space by using directional clues in the real world. The fundamental experiment shows its feasibilities.
{"title":"A hand glass interface to explore 3D virtual space","authors":"Kazuyuki Shishido, Y. Tsumaki","doi":"10.1109/SII.2010.5708308","DOIUrl":"https://doi.org/10.1109/SII.2010.5708308","url":null,"abstract":"In this paper, a novel exploration system for 3D virtual space named “the hand glass interface” is proposed. The proposed system provides both scalable exploration and intuitive operationality. It includes a novel hand glass display and a viewpoint changing system, which was proposed in our previous work. The hand glass display consists of four parts: a mini LCD, a micro trackball mouse, a motion sensor and a gripper. The operator can easily handle the hand glass interface in one hand, the motions of which are related to those of either the viewpoint or gaze point. In addition, the directional relationship between the virtual and real worlds is always fixed. This means the operator can intuitively explore within the 3D virtual space by using directional clues in the real world. The fundamental experiment shows its feasibilities.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"22 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":"127234110","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.2010.5708313
Mamiko Ito, A. Naganawa, K. Oka, K. Sunakoda
In industrial factories and power generation plants, many drain pipes are used to transport various fluids from one location to another, and these pipes have to be regularly inspected for maintenance purposes. The widely used inspection methods are ultrasonic flaw detection, eddy current testing, and so on. Recently, these pipes have been inspected from the inside by using developed endoscopic devices, e.g., CCD devices and optical fiberscopes. However, when certain damages are detected inside of the pipes, many pipes are corked or exchanged because conventional endoscopic devices cannot repair the damage. Therefore, we have developed a laser processing head that can attach to the tip of an optical fiberscope for slender pipes with diameters as small as 12 mm. The laser processing head has a mirror inside of the moving sleeve. The main function of this laser processing head is to reflect the endoscopic images and lasers by using the mirror. In this paper, we describe the structure of the laser processing head designed using ultrasonic actuators and the results of its movement tests.
{"title":"Development of a laser processing head to inspect and repair the damage inside of a half-inch pipe","authors":"Mamiko Ito, A. Naganawa, K. Oka, K. Sunakoda","doi":"10.1109/SII.2010.5708313","DOIUrl":"https://doi.org/10.1109/SII.2010.5708313","url":null,"abstract":"In industrial factories and power generation plants, many drain pipes are used to transport various fluids from one location to another, and these pipes have to be regularly inspected for maintenance purposes. The widely used inspection methods are ultrasonic flaw detection, eddy current testing, and so on. Recently, these pipes have been inspected from the inside by using developed endoscopic devices, e.g., CCD devices and optical fiberscopes. However, when certain damages are detected inside of the pipes, many pipes are corked or exchanged because conventional endoscopic devices cannot repair the damage. Therefore, we have developed a laser processing head that can attach to the tip of an optical fiberscope for slender pipes with diameters as small as 12 mm. The laser processing head has a mirror inside of the moving sleeve. The main function of this laser processing head is to reflect the endoscopic images and lasers by using the mirror. In this paper, we describe the structure of the laser processing head designed using ultrasonic actuators and the results of its movement tests.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"14 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":"128138994","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.2010.5708334
Atsushi Oosedo, A. Konno, Takaaki Matumoto, Kenta Go, Kouji Masuko, S. Abiko, M. Uchiyama
In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the proposed UAV over a conventional quad rotor helicopter type UAV. This paper also describes the development of the quad rotor tail-sitter UAV.
{"title":"Design and simulation of a quad rotor tail-sitter unmanned aerial vehicle","authors":"Atsushi Oosedo, A. Konno, Takaaki Matumoto, Kenta Go, Kouji Masuko, S. Abiko, M. Uchiyama","doi":"10.1109/SII.2010.5708334","DOIUrl":"https://doi.org/10.1109/SII.2010.5708334","url":null,"abstract":"In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the proposed UAV over a conventional quad rotor helicopter type UAV. This paper also describes the development of the quad rotor tail-sitter UAV.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"11 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":"115347025","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.2010.5708341
Kyong-Mo Koo, Xin Jiang, A. Konno, M. Uchiyama
Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators.
{"title":"Clamp grasping and insertion task automation for automobile industry","authors":"Kyong-Mo Koo, Xin Jiang, A. Konno, M. Uchiyama","doi":"10.1109/SII.2010.5708341","DOIUrl":"https://doi.org/10.1109/SII.2010.5708341","url":null,"abstract":"Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"43 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":"114848544","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.2010.5708300
Hiroshi Yamamoto, M. Moteki, Hui Shao, Kenzi Ootuki, Y. Yanagisawa, Y. Sakaida, A. Nozue, T. Yamaguchi, S. Yuta
Civil engineering work still involves many dangerous and grueling tasks, so improving work environments and ensuring safety are challenges facing this field. The development of construction machines are also essential to prepare for the aging problem of construction workers and shortage of young experienced workers in near future. This research project was conducted to overcome these problems by development of the basic technologies with three-dimensional information, and realize the autonomous operation of hydraulic excavators, which is, a typical general purpose construction machine. We have implemented a prototype of the autonomous hydraulic excavator, which performs the soil excavation and loading work under basic conditions. The achieved work speed and finished product precision were almost same as those of normal work by humans.
{"title":"Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control","authors":"Hiroshi Yamamoto, M. Moteki, Hui Shao, Kenzi Ootuki, Y. Yanagisawa, Y. Sakaida, A. Nozue, T. Yamaguchi, S. Yuta","doi":"10.1109/SII.2010.5708300","DOIUrl":"https://doi.org/10.1109/SII.2010.5708300","url":null,"abstract":"Civil engineering work still involves many dangerous and grueling tasks, so improving work environments and ensuring safety are challenges facing this field. The development of construction machines are also essential to prepare for the aging problem of construction workers and shortage of young experienced workers in near future. This research project was conducted to overcome these problems by development of the basic technologies with three-dimensional information, and realize the autonomous operation of hydraulic excavators, which is, a typical general purpose construction machine. We have implemented a prototype of the autonomous hydraulic excavator, which performs the soil excavation and loading work under basic conditions. The achieved work speed and finished product precision were almost same as those of normal work by humans.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"60 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":"128361209","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.2010.5708331
T. Nakano, Y. Sakamoto, Kazuya Yoshida, T. Kuwahara, Y. Shoji, M. Taguchi, M. Yamamoto, Y. Takahashi
Our team is carrying out the project of Planet observation with high precision using balloon-borne telescope. The first model, BBT-1 was equipped with a three stage pointing system and an optical system to observe the detailed structure of the atmospheric motion of Venus. The first flight test was conducted in 2009, and the performance of the system was verified. However, because of a trouble of onboard computer, the flight operation could not been finished as planned. The second model “BBT-2” is now being developed and the next flight test is planned in 2011. The BBT-2 has a bus system including FPGAs and CPU, and it is expected to be more stable than the BBT-1.
{"title":"The balloon-borne telescope system for optical observation of planets","authors":"T. Nakano, Y. Sakamoto, Kazuya Yoshida, T. Kuwahara, Y. Shoji, M. Taguchi, M. Yamamoto, Y. Takahashi","doi":"10.1109/SII.2010.5708331","DOIUrl":"https://doi.org/10.1109/SII.2010.5708331","url":null,"abstract":"Our team is carrying out the project of Planet observation with high precision using balloon-borne telescope. The first model, BBT-1 was equipped with a three stage pointing system and an optical system to observe the detailed structure of the atmospheric motion of Venus. The first flight test was conducted in 2009, and the performance of the system was verified. However, because of a trouble of onboard computer, the flight operation could not been finished as planned. The second model “BBT-2” is now being developed and the next flight test is planned in 2011. The BBT-2 has a bus system including FPGAs and CPU, and it is expected to be more stable than the BBT-1.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"63 3 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":"130739007","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.2010.5708305
E. Rohmer, K. Ohno, Tomoaki Yoshida, K. Nagatani, Eiji Konayagi, S. Tadokoro
Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky for human rescue crews, when the infrastructure of the building has been compromised or the environment contaminated by nuclear, biological, or chemical weapons. To be able to develop robots that can go inside the site instead of humans, several area of robotics need to be addressed and integrated inside a common robotic platform. In this paper, we described the modular interoperable and extensive hardware and software architecture of Quince, a high degree of mobility crawler type rescue robot having four independent sub-crawlers. To facilitate Quince's navigability, we developed and integrated a semi-autonomous control algorithm that helps the remote operator driving Quince while the flippers are autonomously adjusting to the environment. The robot is then able to overcome obstacles and steps without a special training of the operator. We present here the software integration and the control strategy of the flippers using the embedded basic version of Quince.
{"title":"Integration of a sub-crawlers' autonomous control in Quince highly mobile rescue robot","authors":"E. Rohmer, K. Ohno, Tomoaki Yoshida, K. Nagatani, Eiji Konayagi, S. Tadokoro","doi":"10.1109/SII.2010.5708305","DOIUrl":"https://doi.org/10.1109/SII.2010.5708305","url":null,"abstract":"Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky for human rescue crews, when the infrastructure of the building has been compromised or the environment contaminated by nuclear, biological, or chemical weapons. To be able to develop robots that can go inside the site instead of humans, several area of robotics need to be addressed and integrated inside a common robotic platform. In this paper, we described the modular interoperable and extensive hardware and software architecture of Quince, a high degree of mobility crawler type rescue robot having four independent sub-crawlers. To facilitate Quince's navigability, we developed and integrated a semi-autonomous control algorithm that helps the remote operator driving Quince while the flippers are autonomously adjusting to the environment. The robot is then able to overcome obstacles and steps without a special training of the operator. We present here the software integration and the control strategy of the flippers using the embedded basic version of Quince.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"51 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":"122098087","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.2010.5708318
S. Rahman, R. Ikeura, Ishibashi Shinsuke, S. Hayakawa, H. Sawai
A power assist robot system reduces the weight of an object lifted with it. However, the root causes of the reduced heaviness as well as the factors affecting the heaviness are still unknown. The knowledge on the root causes and factors could be used to modulate the interactions between the human user and the robot when lifting objects with it. This paper investigated the reasons and factors behind the reduced heaviness of objects lifted with a power assist system. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with a power assist system because the actual weight and the perceived weight were different. Subjects lifted objects manually and with power-assist separately. We compared load forces and motion features for the manually lifted objects to that for the power-assisted objects and found that the load force and its rate, velocity and acceleration for the powerassisted objects were lower than that for the manually lifted objects. We noticed that there were time delays in force sensing, position sensing, servomotor etc. for the power-assisted objects, but not for the manually lifted objects. We assumed that the delays were responsible for the reduced heaviness of objects lifted with power-assist. Finally, we proposed to use the findings to develop human-friendly power assist devices for manipulating heavy objects in industries that would help improve/modulate interactions between users and robots.
{"title":"Why does a power assist robot system reduce the weight of an object lifted with it? the preliminary results","authors":"S. Rahman, R. Ikeura, Ishibashi Shinsuke, S. Hayakawa, H. Sawai","doi":"10.1109/SII.2010.5708318","DOIUrl":"https://doi.org/10.1109/SII.2010.5708318","url":null,"abstract":"A power assist robot system reduces the weight of an object lifted with it. However, the root causes of the reduced heaviness as well as the factors affecting the heaviness are still unknown. The knowledge on the root causes and factors could be used to modulate the interactions between the human user and the robot when lifting objects with it. This paper investigated the reasons and factors behind the reduced heaviness of objects lifted with a power assist system. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with a power assist system because the actual weight and the perceived weight were different. Subjects lifted objects manually and with power-assist separately. We compared load forces and motion features for the manually lifted objects to that for the power-assisted objects and found that the load force and its rate, velocity and acceleration for the powerassisted objects were lower than that for the manually lifted objects. We noticed that there were time delays in force sensing, position sensing, servomotor etc. for the power-assisted objects, but not for the manually lifted objects. We assumed that the delays were responsible for the reduced heaviness of objects lifted with power-assist. Finally, we proposed to use the findings to develop human-friendly power assist devices for manipulating heavy objects in industries that would help improve/modulate interactions between users and robots.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"29 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":"133037923","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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