Establishment of Humans' Emotion Model for Nursing Training Patient Robot and Generation of Personality by Chaos Controlling

• Project/Area Number: 19560254
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: University of Fukui
• Principal Investigator: MIONAMI Mamoru (MINAMI Mamoru) University of Fukui, 大学院・自然科学研究科, 教授 (80262608)
• Co-Investigator(Kenkyū-buntansha): MAE Yasusi 大阪大学, 大学院・基礎工学研究科, 准教授 (50304027) ; 朝倉 俊行 福井医療短期大学, 医歯学, 教授 (70027803)
• Project Period (FY): 2007 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000); Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2008: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2007: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: 人間機械システム / 患者ロボット / 静脈注射実習 / 感情モデル / カオス / 個性創出 / 3次元位置・姿勢実時間認識 / 看護実習 / 実時間認識

Research Abstract

This research proposes a patient robot system for nursing students to practice injection training and describes verifications of the training effects. A prototype of a patient robot has been designed and developed with the functions of letting the students inject to its vein and expressing countenances and emotional behaviors to make the robot system be seen similar to actual human. Challenging how to achieve the objective of providing the student trainees with the feeling as if they are nursing actual human, we propose to utilize chaotic transitions generated by non-linear dynamics to avoid repeating actions. The effects to the injection trainings of the patient robot have been evaluated by vital sign such as students' heart beating rate and questionnaire after practical injection trainings.

Research Products

• [Journal Article] 患者ロボットのカオスを用いた反応動作の看護実習への効果 (2010)
  • Author(s): 前泰志, 見浪護, 酒井明子, 大西武夫, 田中完爾
  • Journal Title: 日本機械学会論文集(C編) Vol.76, No.770 Pages: 2628-2637
  • Peer Reviewed
• [Journal Article] フィードフォワード遺伝的認識法を用いた3-Dビジュアルサーボ (2010)
  • Author(s): 宋薇, 見浪護
  • Journal Title: 日本ロボット学会誌 Vol.28, No.5 Pages: 47-54
  • NAID: 10026387128
  • Peer Reviewed
• [Journal Article] 3D Visual Servoing by Feedforward Evolutionary Recognition (2010)
  • Author(s): W.Song, Y.Fujia, M.Minami
  • Journal Title: J.of Advanced Mechanical Design, Systems, and Manufacturing (JSME) Vol.4, No.4 Pages: 739-755
  • NAID: 130000300110
  • Peer Reviewed
• [Journal Article] クォータニオンを用いたフィードフォワードオンラインポーズ遺伝的認識法 (2010)
  • Author(s): 宋薇, 見浪護, 青柳誠司
  • Journal Title: 日本ロボット学会誌 Vol.28, No.1 Pages: 55-64
  • NAID: 10026090128
  • Peer Reviewed
• [Journal Article] 患者ロボットのカオスを用いた反応動作の看護実習への効果 (2010)
  • Author(s): 前泰志, 見浪護, 酒井明子, 大西武夫, 田中完爾
  • Journal Title: 日本機械学会論文集(C編) Volume: Vol.76, No.770 Pages: 2628-2637
  • Peer Reviewed
• [Journal Article] フィードフォワード遺伝的認識法を用いた3-Dビジュアルサーボ (2010)
  • Author(s): 宋薇, 見浪護
  • Journal Title: 日本ロボット学会誌 Volume: Vol.28, No.5 Pages: 47-54
  • NAID: 10026387128
  • Peer Reviewed
• [Journal Article] 3D Visual Servoing by Feedforward Evolutionary Recognition (2010)
  • Author(s): W.Song, Y.Fujia, M.Minami
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing (JSME) Volume: Vol.4, No.4 Pages: 739-755
  • NAID: 130000300110
  • Peer Reviewed
• [Journal Article] Hand-eye-motion Invariant Pose Estimation with On-line 1-step GA, -3D Pose Tracking Accuracy Evaluation in Dynamic Hand-eye Oscillation- (2009)
  • Author(s): M.Minami, W.Song
  • Journal Title: J.of Robotics and Mechatronics Vol.21, No.6 Pages: 709-719
  • Peer Reviewed
• [Journal Article] On-line Configuration-optimizing Adap- tive System of Redundant Manipulator and Experimental Evaluation (2009)
  • Author(s): Y.Nakamura, T.-xiao Zhang, 宋薇, M.Minami
  • Journal Title: Int.J.of Advanced Computer Engineering Vol.2, No.2 Pages: 117-128
  • Peer Reviewed
• [Journal Article] A Proposal of Real-Time Configuration Control System for Redundant Manipulators (2009)
  • Author(s): T.-xiao Zhang, M.Minami, W.Song, Y.Nakamura
  • Journal Title: Journal of Robotics and Mechatronics Vol.21, No.3 Pages: 359-375
  • Peer Reviewed
• [Journal Article] 回避能力評価指標AMSIPに基づく冗長マニピュレータの実時間形状最適化制御 (2009)
  • Author(s): 見浪護, 池田桂志, T.-xiao Zhang
  • Journal Title: 日本ロボット学会誌 Vol.27, No.5 Pages: 546-555
  • NAID: 10024790498
  • Peer Reviewed
• [Journal Article] On-line Configuration-optimizing Adaptive System of Redundant Manipulator and Experimental Evaluation (2009)
  • Author(s): Y.Nakamura, T.-xiao Zhang, W.Song, M.Minami
  • Journal Title: Int.J.of Advanced Computer Engineering Vol.2, No.2 Pages: 117-128
  • Peer Reviewed
• [Journal Article] A Proposal of Real-Time Configuration Control System for Redundant Manipulators (2009)
  • Author(s): T.-xiao Zhang, M.Minami, W.Song, Y. Nakamura
  • Journal Title: Journal of Robotics and Mechatronics Vol.21, No.3 Pages: 359-375
  • Peer Reviewed
• [Journal Article] Hand-eye-motion Invariant Pose Estimation with On-line 1-step GA, -3 D Pose Tracking Accuracy Evaluation in Dynamic Hand-eye Oscillation- (2009)
  • Author(s): Mamoru Minami, Wei Song
  • Journal Title: Journal of Robotics and Mechatronics Vol.21, No.6 Pages: 709-719
  • Peer Reviewed
• [Journal Article] On-line Stable Evolutionary Recogniti- on Based on Unit Quaternion Representation by Motion-Feedforward Compensation (2008)
  • Author(s): W.Song, M.Minami, S.Aoyagi
  • Journal Title: Int.J.of Intelligent Computing in Medical Sciences and Image Processing(IC-MED) Vol.2, No.2 Pages: 127-139
  • Peer Reviewed
• [Journal Article] On-line Stable Evolutionary Recognition Based on Unit Quaternion Representation by Motion-Feedforward Compensation (2008)
  • Author(s): W. Song, M. Minami, S. Aoyagi
  • Journal Title: Int.J.of Intelligent Computing in Medical Sciences and Image Processing(IC-MED) Vol.2, No.2 Pages: 127-139
  • Peer Reviewed
• [Journal Article] Human-like Patient Robot for Injection Training by Chaotic Behavior (2008)
  • Author(s): Yoshiro Kitagawa, Wei Song, Mamoru Minami, Yasushi Mae
  • Journal Title: International Symposium on Test Automation and Instrumentation (国際会議論文) Vol. 1, No. 1 Pages: 136-139
  • Peer Reviewed
• [Journal Article] On-line Motion-Feedforward Pose Recognition Invariant for Dynamic Hand-eye motion (2008)
  • Author(s): Wei Song, Mamoru Minami
  • Journal Title: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (国際会議論文) Vol. l, No. l Pages: 1047-1052
  • Peer Reviewed
• [Journal Article] ON-line Stable Evolutionary Recognition Based on Unit Quaternion Representation by Motion-Feedforward Compensation (2008)
  • Author(s): Wei Song, Mamoru Minami and Seiji Aoyagi
  • Journal Title: International Journal of Intelligent Computing in Medical Sciences and Image Processing Vol.2, No.2 Pages: 127-139
  • Peer Reviewed
• [Journal Article] Finding and Quantitative Evaluation of Minute Flaws on Metal Surface Using Hairline (2007)
  • Author(s): Jianing Zhu, Yasushi Mae and Mamoru Minami
  • Journal Title: IEEE Transactions on Industrial Electronics Vol.54, No.3 Pages: 1420-1429
  • Peer Reviewed
• [Presentation] 3-D Hand & Eye-Vergence Approaching Visual Servoing with Lyapunouv-Stable Pose Tracking, Wei Song, Mamoru Minami (2011)
  • Author(s): Fujia Yu, Yanan Zhang, Akira Yanou
  • Organizer: IEEE Int.Conf.on Robotics and Automation pp.5210-5217
• [Presentation] Visual Servoing with Quick Eye-Vergence to Enhance Trackability and Stability, Paper ThDT14.5 (2010)
  • Author(s): Y.Fujia, M.Mamoru, Song, Wei
  • Organizer: International Conference on Intelligent Robots and Systems, IROS2010
  • Place of Presentation: 台湾,台北
  • Year and Date: 2010-10-21
• [Presentation] Visual Servoing with Quick Eye-Vergence to Enhance Trackability and Stability (2010)
  • Author(s): Yu, Fujia, Minami, Mamoru, Song, Wei
  • Organizer: Int.Conf.on Intelligent Robots and Systems, IROS2010, pp.6228-6233
• [Presentation] Multi-Preview Configuration Control for Predictive Behavior of Redundant Manipulator (2010)
  • Author(s): Y.Nakamura, T.Zhang, M.Minami
  • Organizer: ICCAS-SICE Int.Joint Conf. pp.3117-3123
• [Presentation] Human-like Patient Robot with Chaotic Emotion for Injection Training (2010)
  • Author(s): Y.Kitagawa, T.Ishikura, W.Song, Y.Mae, M.Minami, K.Tanaka
  • Organizer: ICCAS-SICE Int.Joint Conf. pp.4635-4640
• [Presentation] Hand & Eye-Vergence Dual Visual Servoing to Enhance Observability and Stability (2009)
  • Author(s): W.Song, M.Minami
  • Organizer: IEEE Int.Conf.on Robotics and Automation (ICRA), pp.714-721
• [Presentation] Stability / Precision Improvement of 6-DoF Visual Servoing by Motion Feedforward Compensation and Experimental Evaluation (2009)
  • Author(s): W.Song, M.Minami
  • Organizer: IEEE Int.Conf.on Robotics and Automation (ICRA), pp.722-72
• [Presentation] Multi-Preview Configuration Control for Predictive Behavior of Redundant Manipulator (2009)
  • Author(s): Y.Nakamura T.Zhang, M. Minami
  • Organizer: ICCAS-SICE Int.Joint Conf.
  • Place of Presentation: Fukuoka, JAPAN
• [Presentation] Human-like Patient Robot with Chaotic Emotion for Injection Training (2009)
  • Author(s): Y. Kitagawa, T. Ishikura, W. Song, Y. Mae, M. Minami, K. Tanaka
  • Organizer: ICCAS-SICE Int.Joint Conf.
  • Place of Presentation: Fukuoka, JAPAN
• [Presentation] Hand & Eye-Vergence Dual Visual Servoing to Enhance Observability and Stability (2009)
  • Author(s): W. Song, M. Minami
  • Organizer: IEEE Int.Conf.on Robotics and Automation (ICRA)
  • Place of Presentation: Kobe, JAPAN
• [Presentation] Stability/Precision Improvement of 6-DoF Visual Servoing by Motion Feedforward Compensation and Experimental Evaluation (2009)
  • Author(s): W. Song, M. Minami
  • Organizer: IEEE Int. Conf. on Robotics and Automation (ICRA)
  • Place of Presentation: Kobe, JAPAN
• [Presentation] Human-like Patient Robot with Chaotic Emotion for Injection Training (2009)
  • Author(s): Y.Kitagawa, T.Ishikura, W.Song, Y.Mae, M.Minami, K.Tanaka
  • Organizer: ICCAS-SICE International Joint Conference
  • Place of Presentation: Fukuoka, JAPAN
• [Presentation] Hand & Eye-Vergence Dual Visual Servoing to Enhance Observability and Stability (2009)
  • Author(s): W.Song, M.Minami
  • Organizer: IEEE International Conference on Robotics and Automation(ICRA)
  • Place of Presentation: Kobe, JAPAN
• [Presentation] ハンドアイ3-Dビジュアルサーボの動的安定性の改善と検証 (2008)
  • Author(s): 宋薇, 見浪護
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 神戸
  • Year and Date: 2008-09-12
• [Presentation] ハンドアイ3-Dビジュアルサーボの動的安定性の改善と検証 (2008)
  • Author(s): 宋薇, 見浪護
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 神戸大学
  • Year and Date: 2008-09-12
• [Presentation] 看護実習用患者ロボットの開発 (2008)
  • Author(s): 北川与史郎, 土屋智子, 宋薇, 見浪護, 前泰志
  • Organizer: 日本機械学会ロボティクス・メカトロニクス部門講演会
  • Place of Presentation: 長野市
  • Year and Date: 2008-06-05
• [Presentation] 看護実習用患者ロボットの開発 (2008)
  • Author(s): 北川与史郎, 土屋智子, 宋薇, 見浪護, 前泰志
  • Organizer: 日本機械学会ロボティクス・メカトロニクス部門講演会(ROBOMEC2008)
  • Place of Presentation: 野市
  • Year and Date: 2008-06-05
• [Presentation] Human-like Patient Robot for Injection Training by Chaotic Behavior, Y.Kitagawa (2008)
  • Author(s): W.Song, M.Minami, Y.Mae
  • Organizer: Int.Symp.on Test Automation and Instrumentation, pp.136-139
  • Place of Presentation: 北京,中国
• [Presentation] Position-based Visual Servoing to 3D Pose with Feedforward Compensation (2008)
  • Author(s): W.Song, M.Minami
  • Organizer: Int.Symp.on TestAutomation and Instrumentation, pp.702-705
  • Place of Presentation: 北京,中国
• [Presentation] On-line Configuration-optimizing Control of Redundant Manipulator Based on AMSIP (2008)
  • Author(s): Y.Nakamura, T.-xiao Zhang, M.Minami
  • Organizer: SICE Annual Conf., pp1994-2000
  • Place of Presentation: 東京電機大学
• [Presentation] Cognitive Resource Allocation Optimi-zation for Real-time Multiple Object Recognition (2008)
  • Author(s): R.Ozawa, M.Minami
  • Organizer: SICE Annual Conf., pp1934-1939
  • Place of Presentation: 東京電機大学
• [Presentation] On-line Motion-Feedforward Pose Recognition Invariant for Dynamic Hand-eye motion (2008)
  • Author(s): W.Song, M.Minami
  • Organizer: IEEE/ASME Int.Conf.on Advanced Intell-igent Mechatronics (AIM), pp1047-1052
  • Place of Presentation: 西安,中国
• [Presentation] Human-like Patient Robot for Injection Training by Chaotic Behavior (2008)
  • Author(s): Y. Kitagawa, W. Song, M. Minami, Y. Mae
  • Organizer: Int.Symp.on Test Automation and Instrumentation
  • Place of Presentation: 北京, 中国
• [Presentation] Position-based Visual Servoing to 3D Pose with Feedforward Compensation (2008)
  • Author(s): W. Song, M. Minami
  • Organizer: Int.Symp.on Test Automation and Instrumentation
  • Place of Presentation: 北京, 中国
• [Presentation] On-line Configuration-optimizing Control of Redundant Manipulator Based on AMSIP (2008)
  • Author(s): Y. Nakamura, T.-xiao Zhang, M. Minami
  • Organizer: SICE Annual Conf.
  • Place of Presentation: 東京電機大学
• [Presentation] Cognitive Resource Allocation Optimization for Real-time Multiple Object Recognition (2008)
  • Author(s): R. Ozawa, M. Minami
  • Organizer: SICE Annual Conf.
  • Place of Presentation: 東京電機大学
• [Presentation] On-line Motion-Feedforward Pose Recognition Invariant for Dynamic Hand-eye motion (2008)
  • Author(s): W. Song, M. Minami
  • Organizer: IEEE/ASME Int.Conf.on Advanced Intelligent Mechatronics (AIM)
  • Place of Presentation: 西安, 中国
• [Presentation] 看護実習用患者ロボットの感情モデルに基づく表情生成 (2007)
  • Author(s): 前 泰志, 見浪護, 大西武夫
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 千葉工業大学
  • Year and Date: 2007-09-14
• [Presentation] クォータニオンを用いたオンライン3Dポーズ遺伝的認識法 (2007)
  • Author(s): 宋薇, 見浪護, 前泰志, 青柳誠司
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 千葉工業大学
  • Year and Date: 2007-09-14
• [Remarks] 2007年7月2日にNHKのニュースで患者ロボットが取り上げられた
• [Remarks] ホームページ等
  • URL: http://www.suri.sys.okayama-u.ac.jp/index_j.html
• [Remarks] HP:患者ロボットを用いた注射実習,患者ロベットの人間に対する仕草のひとつの実現方法として,3次元ビジュアルーボを研究し制御実験風景を公開している.
  • URL: http://rc.his.fukui-u.ac.jp/
• [Remarks] 患者ロボットを用いた注射実習,患者ロボットの人間に対する仕草のひとつの実現方法しとて,3次元ビジュアルサーボを研究し制御実験風景を公開している.
  • URL: http://rc.his.fukui-u.ac.jp/
• [Patent(Industrial Property Rights)] 看護シミュレータ (2009)
  • Inventor(s): 見浪護
  • Industrial Property Rights Holder: 福井大学
  • Industrial Property Number: 2007-086176
  • Filing Date: 2009-03-29
• [Patent(Industrial Property Rights)] 看護シミュレータ (2007)
  • Inventor(s): 見浪護
  • Industrial Property Rights Holder: 福井大学
  • Industrial Property Number: 2007-086176
  • Filing Date: 2007-03-29
• [Patent(Industrial Property Rights)] 特許 (2007)
  • Inventor(s): 見浪 護
  • Industrial Property Rights Holder: 福井大学
  • Industrial Property Number: 2007-086176
  • Filing Date: 2007-03-29