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Understanding the Human Skill of Clothing Assistance and its Transfer to a Dual-Arm Robot System

Research Project

Project/Area Number 16H01749
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent robotics
Research InstitutionKyushu Institute of Technology

Principal Investigator

Shibata Tomohiro  九州工業大学, 大学院生命体工学研究科, 教授 (40359873)

Co-Investigator(Kenkyū-buntansha) 為井 智也  神戸大学, 数理・データサイエンスセンター, 准教授 (40548434)
長 隆之  九州工業大学, 大学院生命体工学研究科, 准教授 (50804663)
Project Period (FY) 2016-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥41,210,000 (Direct Cost: ¥31,700,000、Indirect Cost: ¥9,510,000)
Fiscal Year 2019: ¥8,580,000 (Direct Cost: ¥6,600,000、Indirect Cost: ¥1,980,000)
Fiscal Year 2018: ¥8,970,000 (Direct Cost: ¥6,900,000、Indirect Cost: ¥2,070,000)
Fiscal Year 2017: ¥8,970,000 (Direct Cost: ¥6,900,000、Indirect Cost: ¥2,070,000)
Fiscal Year 2016: ¥14,690,000 (Direct Cost: ¥11,300,000、Indirect Cost: ¥3,390,000)
Keywords知能ロボティクス / 機械力学・制御 / 機械学習 / 計測工学 / 知能ロボティックス
Outline of Final Research Achievements

Taking "dressing" as a subject, one of the vital life functions of humans, we constructed a dual-armed robot system that learns human assisting skills and performs mechanical assistance through clothing. Analysis of the skilled person's dressing assistance skills showed that the system did not exert significant force from the fingers to the garment. Based on the motor trajectories of human dressing assistance, we developed imitation using the statically adaptive and robust DMP method, automatic extraction of the latent space (low-dimensional space) of the dual arm movements necessary for the task, and efficient reinforcement learning using this space. We demonstrated their effectiveness through experiments on healthy subjects. We initially focused our research on the assistance operation of putting on a shirt from the head. Still, in response to the needs of nursing care facilities, we finally constructed a system that can assist with putting on a shirt that opens in front of the head.

Academic Significance and Societal Importance of the Research Achievements

少子化・超高齢化が進行する我が国においては、介護分野おいて生活機能支援ロボットの研究開発は喫緊の課題である。更衣は重要な生活機能の一つだが、健常高齢者であっても、年齢と共に肩の可動範囲が減少し、独力で行うのが難しくなり、また介護施設においても負担になっている。知能ロボティクスにおいて、柔軟で大きな変形も可能な物体である布や衣服の操作は基本的かつ重要な課題であるが、人間ロボット協調システムでもある着衣介助に関する知能ロボット研究はほとんど行われてこなかった。本研究は世界で初めて力学的な人とロボットの相互作用まで考慮した着衣介助ロボットの研究であり、また高度なAIを駆使した研究でもある。

Report

(5 results)
  • 2021 Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (34 results)

All 2021 2020 2019 2018 2017 2016 Other

All Int'l Joint Research (2 results) Journal Article (9 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 9 results,  Open Access: 8 results,  Acknowledgement Compliant: 1 results) Presentation (19 results) (of which Int'l Joint Research: 11 results,  Invited: 6 results) Book (1 results) Remarks (3 results)

  • [Int'l Joint Research] インド工科大学カーンプル校(インド)

    • Related Report
      2017 Annual Research Report
  • [Int'l Joint Research] アテネオ大学マニラ校(フィリピン)

    • Related Report
      2017 Annual Research Report
  • [Journal Article] Picking Up Clothes from a Hanger Rack Using Voice Recognition by a Mobile Manipulator2021

    • Author(s)
      Sakai, Y., Yamasaki, K., Shibata, T.
    • Journal Title

      9th International Symposium on Applied Engineering and Sciences(SAES2021)

      Volume: - Pages: 1-1

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Electric Wheelchair-Humanoid Robot Collaboration for Clothing Assistance of the Elderly2020

    • Author(s)
      Joshi, R, P., Tarapure, J,P., Shibata, T.
    • Journal Title

      2020 13th International Conference on Human System Interaction (HSI)

      Volume: - Pages: 300-306

    • DOI

      10.1109/hsi49210.2020.9142645

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Automatic generation and inferring semantic structure of verbal instructions for a motor task2020

    • Author(s)
      Takeuchi, R., Tamei, T.
    • Journal Title

      2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

      Volume: - Pages: 3735-3739

    • DOI

      10.1109/smc42975.2020.9283105

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models2019

    • Author(s)
      Koganti, N. Shibata. T., Tamei, T., Ikeda, K.
    • Journal Title

      Advanced Robotics ( RSJ )

      Volume: 33 Issue: 15-16 Pages: 800-814

    • DOI

      10.1080/01691864.2019.1610061

    • NAID

      120006841302

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] A framework for robotic clothing assistance by imitation learning2019

    • Author(s)
      Joshi, Ravi, Prakash., Koganti, N.and Shibata, T.
    • Journal Title

      Advanced Robotics

      Volume: 33 Issue: 22 Pages: 1156-1174

    • DOI

      10.1080/01691864.2019.1636715

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Quantitative Evaluation of Clothing Assistance using Whole-Body Robotic Simulator of the Elderly2019

    • Author(s)
      Joshi, R, P., Shibata, T., Ogata, K., Matsumoto, Y.
    • Journal Title

      2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

      Volume: - Pages: 1-6

    • DOI

      10.1109/ro-man46459.2019.8956308

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Bayesian Nonparametric Learning of Cloth Models for Real-time State Estimation2017

    • Author(s)
      Shibata, T
    • Journal Title

      IEEE Transactions on Robotics

      Volume: 33 Pages: 916-931

    • NAID

      120006843467

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] On redundancy resolution of the human thumb, index and middle fingers in cooperative object translation2017

    • Author(s)
      Shibata, T.
    • Journal Title

      Robotica

      Volume: 35 Pages: 1-26

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Bayesian Nonparametric Learning of Cloth Models for Real-time State Estimation2017

    • Author(s)
      Koganti, N., Tamei, T., Ikeda, K., Shibata, T.
    • Journal Title

      IEEE Transactions on Robotics

      Volume: 印刷中

    • NAID

      120006843467

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] A Study on a Low-Cost Soft Robotic Hand Grip Operated by a Smart Skin2020

    • Author(s)
      Duran J., R. A., Matsumura, N. and Shibata, T.
    • Organizer
      第38回日本ロボット学会学術講演会 日本ロボット学会
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 運動課題における言語インストラクションの自動生成と意味関係の抽出2020

    • Author(s)
      竹内亮人,為井智也
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ロボットによる衣服操作のためのMask R-CNN を用いた複数衣服の認識2019

    • Author(s)
      福宿将士,山口史晃,柴田智広
    • Organizer
      日本機械学会ロボティクスメカトロニクス講演会2019
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Garment Recognition and Grasping Point Detection for Clothing Assistance Task using Deep Learning2019

    • Author(s)
      Shibata, T.
    • Organizer
      2019 IEEE/SICE International Symposium on System Integration
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Robotics Handling of Cloth for Clothing Assistance Task using Deep Learning2018

    • Author(s)
      Saxena, K.
    • Organizer
      36th Annual Conference of the Robotics Society of Japan
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Transferring Human Skills of Clothing Assistance to a Dual-Arm Robot System2018

    • Author(s)
      Shibata, T.
    • Organizer
      2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 双腕ロボットを用いた着衣介助の研究2018

    • Author(s)
      柴田智広
    • Organizer
      SICE SI部門 マニピュレーション部会定例会
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] ロボットとの協働による看護の未来2018

    • Author(s)
      柴田智広
    • Organizer
      第17回北海道東北地区 国立病院機構・国立療養所看護研究学会
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] A study on human-robot collaboration for table-setting task2017

    • Author(s)
      Saxena, Krati
    • Organizer
      IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Missing value estimation of sEMG signals using BGPLVM toward control of a multi-fingered prosthetic hand2017

    • Author(s)
      Shibata Tomohiro, Dwivedi, S.K., Koganti, N.
    • Organizer
      第27回日本神経回路学会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Robotic cloth manipulation for clothing assistance task using Dynamic Movement Primitives2017

    • Author(s)
      Joshi, RP. Shibata Tomohiro, Koganti, N
    • Organizer
      Advances in Robotics
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Imparting Motor-skills to Humanoid Robots through Bayesian Nonparametric Latent Spaces2017

    • Author(s)
      Shibata Tomohiro, Koganti, N., Tamei, T., Ikeda, K
    • Organizer
      IEEE International Conference on Engineering in Medicine and Biology (EMBC 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 情報通信技術や知能ロボット技術を活用したスマートライフケア社会の創造を目指して2017

    • Author(s)
      柴田智広
    • Organizer
      電子情報通信学会スマートインフォメディアシステム研究会
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] 強化学習を用いた人間-ロボット系の適応制御2017

    • Author(s)
      柴田智広
    • Organizer
      電子情報通信学会のIN, MoNA, CNR合同研究会
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] 情報通信技術や 知能ロボット技術を活用した スマートライフケア社会の創造2017

    • Author(s)
      柴田智広
    • Organizer
      日本福祉工学会第2回九州支部大会
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] Bayesian Nonparametric Motor-skill Representations for Efficient Learning of Robotic Clothing Assistance2016

    • Author(s)
      Koganti, N., Tamei, T., Ikeda, K., Shibata, T.
    • Organizer
      Thirtieth Annual Conference on Neural Information Processing Systems
    • Place of Presentation
      Centre Convencions Internacional Barcelona, Barcelona SPAIN
    • Year and Date
      2016-12-05
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] EXTREMITY DETECTION FROM A PILE OF GARMENTS USING BAYESIAN GP-LVM2016

    • Author(s)
      Gaurav, V., Koganti, N., Nakata, R., Joshi, R., Shibata, T.
    • Organizer
      International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon Convention Center, Daejeon, Korea
    • Year and Date
      2016-10-09
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] CLOTH EXTREMITY DETECTION FROM A CLUTTER OF CLOTHES USING BAYESIAN GP-LVM2016

    • Author(s)
      Gaurav, V., Koganti, N., Nakata, R., Joshi, R., Shibata, T.
    • Organizer
      第34回日本ロボット学会
    • Place of Presentation
      山形大学小白川キャンパス
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
  • [Presentation] Motor-skill Learning in Latent Spaces for Robotic Clothing Assistance2016

    • Author(s)
      Koganti, N., Joshi, R.P., Tamei, T., Ikeda K., Shibata, T.
    • Organizer
      第34回日本ロボット学会
    • Place of Presentation
      山形大学小白川キャンパス
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
  • [Book] 人工知能学大辞典2017

    • Author(s)
      柴田智広
    • Total Pages
      1600
    • Publisher
      共立出版
    • ISBN
      9784320124202
    • Related Report
      2017 Annual Research Report
  • [Remarks] 柴田研究室研究紹介

    • URL

      https://www.brain.kyutech.ac.jp/~tom/ja/research/

    • Related Report
      2019 Annual Research Report
  • [Remarks] 柴田研究室ホームページ

    • URL

      http://www.brain.kyutech.ac.jp/~tom/ja/

    • Related Report
      2018 Annual Research Report
  • [Remarks] 九州工業大学研究者詳細ページ

    • URL

      https://research02.jimu.kyutech.ac.jp/html/100000703_ja.html

    • Related Report
      2018 Annual Research Report

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Published: 2016-04-21   Modified: 2023-01-30  

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