Restrained-torque-based motion-coaching wearable robot

研制了一种肘关节弯曲装置，并进一步实施了一种基于约束力矩的主动教学方案：诱导受试者主动激活肌肉。由于肘弯曲/扩展心理物理实验，保留运动重放精度，限制扭矩主动指令计划成功地减少了必要的扭矩。开发了一个指尖引导机械手系统：采用基于被动的指令方案，研究了线图的感知特性，建立了感知模型;另一方面，在基于HMD的三维视景系统中实现了注释附加功能，开发了一个运动指导系统。作为一个比较研究的结果NAGINATA武术，它被证实，该系统是优于代表性的YouTube系统的质量和数量的观点。

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.