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Study on cooperative motion between a robot and a human

Research Project

Project/Area Number 05452161
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field Dynamics/Control
Research InstitutionTohoku University

Principal Investigator

INOOKA Hikaru  Tohoku University, System Information Sciences, Professor, 大学院・情報科学研究科, 教授 (20006191)

Co-Investigator(Kenkyū-buntansha) OHBA Kohtaro  Tohoku University, Engineering, Research Associate, 工学部, 助手 (70221835)
IKEURA Ryojun  Tohoku University, System Information Sciences, Research Associate, 大学院・情報科学研究科, 助手 (20232168)
Project Period (FY) 1993 – 1994
Project Status Completed (Fiscal Year 1994)
Budget Amount *help
¥6,500,000 (Direct Cost: ¥6,500,000)
Fiscal Year 1994: ¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 1993: ¥4,000,000 (Direct Cost: ¥4,000,000)
KeywordsMan-machine system / Cooperative motion / Robot / Grasping force / Delivering motion / Motion prediction of human hand
Research Abstract

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.

Report

(3 results)
  • 1994 Annual Research Report   Final Research Report Summary
  • 1993 Annual Research Report
  • Research Products

    (43 results)

All Other

All Publications (43 results)

  • [Publications] 柴田 論: "位置決め精度が必要な人間上肢運動に関する実験的考察" 日本人間工学会誌. 29. 279-287 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Ohba: "Model-based velocity estimation using the Kalman Filter" Journal of Flow Visualization and Image Processing. 1. 253-260 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 池浦良淳: "筋電位を用いた操作器の操作性評価法" 計測自動制御学会論文集.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 29. 949-955 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Shibata: "Experimental study on human arm motions in positioning" Proc.of Karean Automatic Control Conference. 212-217 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Shibata: "Emotional evaluation of human arm motion models" Proc.of IEEE International Workshop on Robot and Human Communication. 346-351 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 梶川伸哉: "モデルを用いた移動体の実時間計測法(単振り子の計測)" 日本機械学会論文集C編. 60. 1251-1255 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 梶川伸哉: "単眼による三次元移動体の実時間計測法" 日本機械学会論文集C編. 60. 3157-3163 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Manual control approach to the teaching of a robot task" IEEE Trans.on Systems,Man,and Cybernetics. 24. 1339-1346 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Motion planning for computer controlled automata" Mechatronics. 4. 831-842 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Cooperative motion control of a robot and a human" Proc.of 3rd IEEE International Workshop on Robot and Human Communication. 112-117 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] H.Kobayashi: "Evaluation for maneuverability of a control stick using Electromyogram" Proc.of 3rd IEEE International Workshop on Robot and Human Communication. 78-83 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Variable impedance control of a robot for cooperation with a human" IEEE International Conference on Robotics and Automation. (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Shibata: "Experimental study on human upper link point movements which require positioning accuracy" The Japanese Journal of Ergonomics. 29. 279-287 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Ohba: "Model-based velocity estimation using the Kalman Fllter" Journal of Flow Visualization and Image Processing. 1. 253-260 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "A method for evaluating the maneuverability of a control stic using electromyogram" Transaction of the Society of Instrument and Control Engineers. 29. 949-955 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Shibata: "Experimental study on human arm motions in positioning" Proc. of Korean Automatic Control Conference. 212-217 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Shibata: "Emotional evaluation of human arm motion models" Proc. of IEEE International Workshop on Robot and Human Communication. 346-351 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Kajikawa: "Model-based measurement using image processing (Measurement of simple-pendulum motion)" Transactions of the Japan Society of Mechanical Engineers. 60. 1251-1255 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] S.Kajikawa: "Real-time measurement of moving object by single camera" Transactions of the Japan Society of Mechanical Engineers. 60. 3157-3163 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Manual control approach to the teaching of a robot task" IEEE Transactions on Systems, Man, and Cybernetics. 24. 1339-1346 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Motion planning for computer controlled automata" Mechatronics. 4. 831-842 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Cooperative motion control of a robot and a human" Rroc. of 3rd IEEE International Workshop on Robot and Human Communication. 112-117 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] H.Kobayashi: "Evaluation for maneuverability of a control stick using Electromyogram" Rroc. of 3rd IEEE International Workshop on Robot and Human Communication. 78-83 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] R.Ikeura: "Variable impedance control of a robot for cooperation with a human" IEEE International Conference on Robotics and Automation. (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 柴田 論: "位置決め精度が必要な人間上肢運動に関する実験的考察" 日本人間工学会誌. 29. 279-287 (1993)

    • Related Report
      1994 Annual Research Report
  • [Publications] K.Ohba: "Model-based velocity estimationusing the kalman Filter" Journal of Flow Visualization and Image Processing. 1. 253-260 (1993)

    • Related Report
      1994 Annual Research Report
  • [Publications] 池浦 良淳: "筋電位を用いた操作器の操作性評価法" 計測自動制御学会論文集. 29. 949-955 (1993)

    • Related Report
      1994 Annual Research Report
  • [Publications] S.Shibata: "Experimental study on human arm motions in positioning" Proc.of karean Automatic Control Conference. 212-217 (1993)

    • Related Report
      1994 Annual Research Report
  • [Publications] S.Shibata: "Emotional evaluation of human arm motion models" Proc.of IEEE International workshop on Robot and Human Communication. 346-351 (1993)

    • Related Report
      1994 Annual Research Report
  • [Publications] 梶川 伸哉: "モデルを用いた移動体の実時間計測法(単振り子の計測)" 日本機械学会論文集C編. 60. 1251-1255 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 梶川 伸哉: "単眼による三次元移動体の実時間計測法" 日本機械学会論文集C編. 60. 3157-3163 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] R.IKeura: "Manual control approuch to the teaching of a robot task" IEEE Trans.on Systems,Man,and Cybernetics. 24. 1339-1346 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] R.IKeura: "Motion planning for computer.controlled automata" Mechatronics. 4. 831-842 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] R.IKeura: "Cooperative motion control of a robot and a human" Proc.of 3rd IEEE International workshop on Robot and Human Communication. 112-117 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] H.Kobayashi: "Evaluation for maneuverability of a control stick using Electromyogram" Proc.of 3rd IEEE International Workshop on Robot and Human Communication. 78-83 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] R.IKeura: "Variable impedance control of arobot for cooperation with a human" IEEE International Conference on Robotics and Automation. (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 金一煥: "人間の把持力制御特性の実験的考察" 日本人間工学会誌. 29. 95-102 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 柴田 諭: "位置決め精度が必要な人間上肢運動における実験的考察" 日本人間工学会誌. 29. 279-287 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 金一煥: "人間の指先のインピーダンスモデル" 計測自動制御学会論文集. 30. 112-114 (1994)

    • Related Report
      1993 Annual Research Report
  • [Publications] R.Ikeura: "Manual control approach to the teaching of a robot task" IEEE Trans.on Systems,Man,and Cybernetics. (発表予定).

    • Related Report
      1993 Annual Research Report
  • [Publications] 梶川伸哉: "モデルを用いた移動体の実時間計測(単振り子の計測)" 日本機械学会論文集C編. (発表予定).

    • Related Report
      1993 Annual Research Report
  • [Publications] 門田 浩: "人間とロボットの協調動作に関する研究" 第11回日本ロボット学会学術講演会予稿集. 755-756 (1993)

    • Related Report
      1993 Annual Research Report

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Published: 1993-04-01   Modified: 2016-04-21  

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