Restrained-torque-based motion-coaching wearable robot

研制了肘关节弯曲装置，并进一步实施了基于约束力矩的主动指导方案：诱导受试者主动激活肌肉。通过肘关节屈曲/伸展的心理物理实验，保持了动作回放的精确度，约束力矩主动指导方案成功地减少了必要的力矩。开发了指尖引导机械手系统：采用基于被动的指令方案，研究了线条图形的感知特性，建立了一些感知模型；另一方面，在基于头盔显示器的三维观察系统中实现了注释附加功能，开发了运动教练系统。通过对NAGINATA武术的比较研究，证实了该系统在质量和数量上都优于有代表性的YouTube系统。

An elbow joint-bending equipment was developed, and a restrained-torque-based active instruction scheme was further implemented: it induces subjects to activate their muscles voluntarily. As a result of elbow-flection/extension psychophysical experiments, retaining motion-replay accuracies, the restrained-torque active instruction scheme successfully decreased necessary toques. A fingertip-guiding manipulator system was also developed: using passive-based instruction scheme, line-graph perceptual characteristics were studied, and some perceptual models were established.On the other hand, implementing annotation-attaching function into an HMD-based 3-D viewing system, we have developed a motion coaching system. As a result of a comparative study on NAGINATA martial arts, it was confirmed that the proposed system was superior to the representative YouTube system from the viewpoint of quality and quantity.