Humanoid robot as an evaluator of assistive devices
Humanoid robot as an evaluator of assistive devices
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人形机器人作为辅助设备的评估者
DOI：
10.1109/icra.2013.6630646
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Takayuki Tanaka
中科院分区：
文献类型：
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作者：
K. Miura;E. Yoshida;Yoshiyuki Kobayashi;Y. Endo;F. Kanehiro;K. Homma;I. Kajitani;Y. Matsumoto;Takayuki Tanaka
本文提出了一个基本的研究，利用其拟人的形状作为评估辅助设备的人形机器人的使用的可行性。在这种新的应用中，人形机器人有望通过定量测量来帮助评估，这对人类受试者来说是困难的，并且还可以减轻人类受试者进行昂贵测试的伦理问题带来的负担。以一种用于减轻下背部负荷的被动支撑服“Smart Suit Lite”为例，使用仿人机器人HRP-4C进行了初步实验。拟由人形机器人执行的运动是通过重定向技术从测量的人体提升运动获得的。首先通过考虑支持装置的机制的模拟来估计支持效果。仿人硬件的实验为我们带来了关于该应用的基本可行性的令人鼓舞的结果，因为我们观察到，正如模拟所预期的那样，当佩戴该设备时，提升扭矩明显下降。
This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear “Smart Suit Lite” designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.
DOI：
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发表时间：
2009
期刊：
影响因子：
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作者：
Aiman Musa M. Omer;Hideki Kondo;Hun-ok Lim;Atsuo Takanishi
通讯作者：
Atsuo Takanishi