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ABSTRACT: This paper describes an instruction assist system for instruction of Taijiquan in Intelligent Space. Taijiquan is a Chinese physical exercise whose practice is believed to be beneficial for maintaining one's health. The instruction system provides learners with two pieces of functionality. The first measures the position and posture of the learner and simultaneously displays the measurement results as a 3-dimensional computer graphics human model with expert's one measured in preliminary experiments. The measurement is performed with arrays of optical and ultrasonic sensors installed in the space. The second monitors load on knees of the learner, which is estimated with the measurement results and a load model, in order to avoid knee injuries which may occur in the practice. The load model is developed based on a human body link model and the measurement of electromyographic (EMG) signals from the muscles on thigh whereas the monitoring method doesn't need measurement of EMG signals in run time.
Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE; 12/2007
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ABSTRACT: This paper introduces three supporting technologies that support the daily life of weak-eyesight persons. These three technologies enable the eyes-handicapped persons to spend the high quality of daily life, and are consisted of two themes; "visible", "training" and "recognizing". First is the auto color conversion method for color-defective vision is shown in "visible page". Second is the training method to improve the eye controls ability is outlined as "training the vision". Third is the substitution sense with hand force for vision recognizing surrounding environment for safety walking.
SICE, 2007 Annual Conference; 10/2007
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ABSTRACT: The High-Technology Research Center (HRC) in Tokyo University of Technology promotes the research project which is "Development of creating technologies on comfortable life network space for elderly". This paper introduces the supporting technologies, which are the parts of the results of this project., to creative comfortable life space for elderly.
SICE, 2007 Annual Conference; 10/2007
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ABSTRACT: In this paper, we propose a method for non-contact measurement of knee load. Joint position data is acquired with image analysis. Masses and centers of gravity on each segment of human body is estimated with a multiple linear regression model. Knee torque is estimated based on kinetics and these data, and it is used index value of knee load. In the proposing method, human body is not restricted and measurement may be performed in a ordinary space without any special equipment set on the floor or wall. The method is effective for preventing knee injuries. The validity of the proposing method is verified with cross-correlation function between the estimated knee load and EMG signals. The knee load increases along with the knee flexion and extension, and is sustained by the torque around the knee exerted by the quadriceps femoris. EMG signal measured on the quadriceps femoris is also index value of knee load. The experiments are performed based on those data. As a result, it is reported that the time derivative of the torque corresponds to the EMG signals in the sense of phase.
Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on; 07/2007
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ABSTRACT: This paper presents the support apparatuses, we have developed, from the viewpoint of engineering for elderly people to keep vital life. The apparatuses are introduced in this paper and are many kinds of support technologies, we especially focused on the knowledge and the exercise activity. From this, the six items as enhancing those activities have been considered
SICE-ICASE, 2006. International Joint Conference; 11/2006
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ABSTRACT: They say that human plans its motion mostly relying on visual information. From this point of view, in this paper the authors attempt to modify transfer characteristics of human operated system by displaying false image of plant whose dynamics is intentionally distorted from the real to enhance performance. Though the proposed method is a kind of human assisting scheme, it doesn't require any physical actuator unlike others and basically only a sensor system and a display device such as LCD monitor are needed. The authors employ simulated inverted pendulum as target plant to be controlled. In previous works, the authors found that there is a relationship between performance of human who is playing inverted pendulum game and his or her gain from eye to extremity at a certain frequency. The dynamics distortion is performed by 2nd order filter which is based on this relationship. The filter is designed to educe potential performance of human thus it is called as "performance educer" in this paper. Experiments are made by human subjects, in which they provide higher performance than usual. Finally, the validity of proposed idea is discussed
SICE-ICASE, 2006. International Joint Conference; 11/2006
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ABSTRACT: This paper explains the development of a new-concept three-wheeled electric cart that not only is a means of transportation, but also provides the driver with a way of getting some physical exercise. Based on an investigation of the physiological decline accompanying aging, pedaling was chosen to implement the function of maintaining or improving physical strength; and an ergonomically designed pedal unit was mounted on a cart. An interface board that handles inputs and outputs was assembled to simplify the design of the system. Finally, an impedance model was devised to describe the feeling of pushing the pedals, and a bilateral master–slave $H_infty$ control system was built to control the speed of the cart. Experimental results on a prototype cart demonstrate the effectiveness of pedaling and the usability of the system architecture.
IEEE Transactions on Robotics 07/2006; · 2.54 Impact Factor
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Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on; 02/2005
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ABSTRACT: This paper purposes to improve accuracy of positioning control within nano-scale of the linear stage made of fine-ceramics. In this control, the disturbance as the vibration of the tip and the friction transition between the tips and the guide causes the position vibration of the stage, and then the position error is increased. Positioning control of the linear stage is examined by two control strategies, i.e., a PID control (PID type) and a PID control with the disturbance observer (PID+DO type). Comparing the experimental results, it is found that the position error of PID+DO type is less than that of PID type. The considerations in the comparison for the experimental data are shown.
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE; 12/2004
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ABSTRACT: This paper deals with an analysis of situated human's behaviour as a controller that stabilizes unstable plants. There are studies that deal with human's dynamics in a certain ideal environment, but few detailed analysis of human who acts freely is discussed yet. Authors employ the inverted pendulum game to clarify the problem.
Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE; 12/2004
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ABSTRACT: This paper deals with an analysis of situated human's behaviour as a controller that stabilizes unstable plants. There are studies that deal with human's dynamics in a certain ideal environment, but few detailed analysis of human who acts freely is discussed yet. We employ the inverted pendulum game to clarify the problem.
SICE 2004 Annual Conference; 09/2004
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ABSTRACT: This paper describes some techniques to extract a wire frame model of human lower limb from three dimensional image data of human moving. To overcome several problems in use of the image-based motion capture system to obtain the wire frame in precision, the techniques such that how to attach the maker on body, the calibration tool for the image-based type, and the proposed extraction method for the wire frame model based on the terminal condition of the human lower limb are explained. The experimental results using those techniques and the proposed method are shown.
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on; 08/2003
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ABSTRACT: This paper presents a user-friendly hand force feedback system to recognize surrounding obstacles around the elderly to making walking safer. The system is implemented on a joystick mounted on a walker. The user is able to recognize the surrounding spatial information from the repulsive force generated as feedback on the joystick. The system is based on the generation of a virtual potential field that corresponds to the distance and direction to the obstacle is employed. Through the experimental results, it is found that the practice time of the user to learn basic operation of the system is sufficiently short. Furthermore, the user feels the sense of security while recognizing the surrounding information through the hand force feedback
Advanced Motion Control, 2006. 9th IEEE International Workshop on; 02/2001
