Name
Title | ||
|---|---|---|
Effects Of Robotic Arm Orthosis Behaviors To User'S Motion Structure Qualitative Assessment Using Arm Trajectory Profiles |
Abstract | ||
|---|---|---|
This paper presents a motion pattern analysis to examine the effects of the robotic power assisting behaviors to the user's motion structures. The basis of the analysis is placed on how much the user's original motion patterns are deformed by the intervention of the robotic system in terms of motion trajectory shapes. As to the one-handed lift-weight motion the developed robotic orthosis is intended for, spontaneous human motions are confirmed as specified by the bell curves of the angular velocity at the elbow joint, analogous to the arm trajectories in point-to-point movements. Using this frame of reference, those deformed motion structures that would fluctuate due to the purely passive, impedance controlled orthosis behaviors, are demonstrated by the comparative experiments. In addition, based on a hypothesis that the power assisting behaviors at the appropriate timing would keep the user's spontaneous motion structure, mother experiment is conducted to reveal that attuned orthosis motions led their collaborative motion structure to the same with the user's original and unforced motion patterns in terms of their shapes. |
Year | Venue | Keywords |
|---|---|---|
2006 | INTELLIGENT AUTONOMOUS SYSTEMS 9 | Power assist orthosis, human-machine interaction, motion pattern analysis |
Field | DocType | Citations |
Robotic arm,Computer science,Simulation,Trajectory | Conference | 0 |
PageRank | References | Authors |
0.34 | 1 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yukio Horiguchi | 1 | 17 | 11.89 |
| Satoshi Tsukamoto | 2 | 3 | 2.48 |
| Hiroyuki Ono | 3 | 0 | 0.34 |
| Tetsuo Sawaragi | 4 | 121 | 34.49 |
| Masahiro Sato | 5 | 0 | 2.37 |