Study on cooperative motion between a robot and a human

本研究的目标是执行机器人和人之间的平滑的合作运动，机器人和人之间的交付和携带的对象。本研究的主要内容如下：1.在由两个人的传递运动的分析中，它示出的抓持力控制的基础上的垂直力作用于手。使用其中实现了该算法的机器人手，执行对象到人的递送，并且动作肯定像两个人一样平滑地执行。此外，使用机器人操作器，提出了物体的轨迹规划主观评价.在分析两人搬运物体的基础上，提出了机器人控制的变阻抗模型。它在低速运动时具有高阻抗，在高速运动时具有低阻抗。在实施该方法的人和机器人进行的实验中验证了该方法的有效性。3.利用卡尔曼滤波算法设计了一个人手运动测量系统。该系统具有1/30.4秒前的手部运动预测性能。对于轨迹规划，提出了一种由人操作机器人的真实的时间规划方法。在该方法中，需要对人进行训练，以便能够执行所需的任务。结果表明，操纵杆的可操作性是减少训练的重要因素。然后，为了缩短训练时间，提出了一种迭代修正方法，并证明了其有效性.使用皮肤电反射和肌电图，机器人运动所产生的上述方法进行了实验评估。实验结果表明，该方法可以有效地评估人在与机器人协作时的心理状态。在这项研究中，一个框架之间的合作机器人和人类的构建。下一个问题是整合上述子组，并从整体上评估它们。

The target of this research is to execute a smooth cooperative motion between a robot and a human ; delivering and carrying an object between a robot and a human. This research is proceeded as follows.1. In the analysis of delivery motion by two humans, it is shown that the grasping force is controlled based on the vertical force acted to the hand. Using a robot hand in which the algorithm is implemented, the delivery of an object to a human is performed and the motion is sure to be executed smoothly like two humans. Moreover, using a robot manipulator, trajectory planning of holding out the object is evaluated subjectively.2. Based on the analysis of carrying an object by two humans, a variable impedance model for the control of a robot is proposed. It has high impedance in low speed movement and low impedance during high speed. The effectiveness of this method is verified in the experiment performed by a human and a robot in which the proposed method is implemented.3. A system for measuring a human hand motion is developed using the Kalman Filter algorithm. The system has the performance of forecasting the hand motion before second of 1/30.4. For the trajectory planning, a real time planning method in which a human operates the robot is proposed. In this method, the human is required for training so as to be able to perform a required task. It is shown that maneuverability of a control stick is of importance to reduce the training. Then, to shorten the training time, an iterative modification method is proposed and the effectiveness is shown.5. Using Galvanic Skin Reflex and Electromyogram, robot motions created by the above methods are evaluated experimentally. The results show that the state of human mind in the cooperation task with the robot can be evaluated. In this research, a framework for the cooperation between a robot and a human is constructed. Next problem is to integrate the above subgroups and to evaluate them on the whole.