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Control method for interface considering flexible collaboration on embodiment

Research Project

Project/Area Number 20H00616
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Review Section Medium-sized Section 61:Human informatics and related fields
Research InstitutionWaseda University

Principal Investigator

miyashita tomoyuki  早稲田大学, 理工学術院, 教授 (20329080)

Co-Investigator(Kenkyū-buntansha) 山川 宏  早稲田大学, 理工学術院, 名誉教授 (00097263)
菅野 重樹  早稲田大学, 理工学術院, 教授 (00187634)
高信 英明  工学院大学, 工学部, 教授 (40308177)
Parque Victor  早稲田大学, 理工学術院, 准教授(任期付) (50745221)
三浦 智  東京工業大学, 工学院, 講師 (70724566)
Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥36,920,000 (Direct Cost: ¥28,400,000、Indirect Cost: ¥8,520,000)
Fiscal Year 2022: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000)
Fiscal Year 2021: ¥13,130,000 (Direct Cost: ¥10,100,000、Indirect Cost: ¥3,030,000)
Fiscal Year 2020: ¥14,430,000 (Direct Cost: ¥11,100,000、Indirect Cost: ¥3,330,000)
Keywordsインタフェース / ヒューマンインターフェイス / 制御 / ヒューマンインタフェース / AI / 知的制御 / 最適化 / 協調
Outline of Research at the Start

本研究の目的は、人間のロボット操作に関する認知モデルを構築し、柔軟に適応するインタフェースの知的制御手法の確立である。申請者らは、人の手をXYZ、Pitch, Yaw, Rollの直交座標系に合わせて拘束して動かし、ロボットを直接つかむような操作感のインタフェースを独自に開発しており、これを利用する。

Outline of Final Research Achievements

The objectives of this study were to develop an interface that incorporates the physicality of the upper limb, to propose and investigate the effects of a reaction force presentation that takes into account human force perception characteristics, and to investigate the effects on maneuvering of a reaction force presentation that takes into account force perception characteristics in an interface that incorporates the physicality of the upper limb. Reflection of intended input by input discrimination and coordination of left-right differences by both hands were also examined together.

Academic Significance and Societal Importance of the Research Achievements

この実験の結果から,上肢の身体性を取り入れたインタフェースに力知覚特性を考慮した反力提示を組み合わせることで,ゲームパッドと比較して,撮影タスク成績では差異は見られなかった一方で,操縦時間を短縮することができた.この研究成果から、操作を要する多様なロボットや乗り物の直感的な操作を実現することができるようになった。

Report

(5 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Comments on the Screening Results   Annual Research Report
  • Research Products

    (12 results)

All 2022 2021 2020

All Journal Article (8 results) (of which Int'l Joint Research: 4 results,  Peer Reviewed: 7 results,  Open Access: 5 results) Presentation (4 results) (of which Int'l Joint Research: 2 results)

  • [Journal Article] Design of finger-contact device reducing the amount of mouse pointer operation and typing2022

    • Author(s)
      Ito Sogo、Miura Satoshi
    • Journal Title

      Proceedings of the 2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)

      Volume: - Pages: 1018-1023

    • DOI

      10.23919/sice56594.2022.9905757

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Exploring Resource Distribution Networks in Virtual Environments2022

    • Author(s)
      Victor Parque, Tomoyuki Miyashita
    • Journal Title

      IEEE International Conference on Artificial Intelligence and Virtual Reality (AIVR)

      Volume: 2022 Pages: 203-206

    • DOI

      10.1109/aivr56993.2022.00040

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] 2-DOF Haptic Feedback Control Stick for Remote Rover Navigation2022

    • Author(s)
      Yamazaki Tomonori、Shimizu Sota、Mazaki Rikuta、Kurihara Hokuto、Motoi Naoki、Oboe Roberto、Hasebe Nobuyuki、Miyashita Tomoyuki
    • Journal Title

      Proceedings of IECON

      Volume: 1 Pages: 1-6

    • DOI

      10.1109/iecon49645.2022.9968486

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Driver’s Drowsiness Classifier using a Single-Camera Robust to Mask-wearing Situations using an Eyelid, Lower-Face Contour, and Chest Movement Feature Vector GRU-based Model2022

    • Author(s)
      Lollett Catherine、Kamezaki Mitsuhiro、Sugano Shigeki
    • Journal Title

      IEEE Intelligent Vehicles Symposium

      Volume: - Pages: 578-585

    • DOI

      10.1109/iv51971.2022.9827229

    • Related Report
      2022 Annual Research Report
  • [Journal Article] Virtual Shadow Drawing System Using Augmented Reality for Laparoscopic Surgery2022

    • Author(s)
      Miura Satoshi、Seki Masaki、Koreeda Yuta、Cao Yang、Kawamura Kazuya、Kobayashi Yo、Fujie Masakatsu G.、Miyashita Tomoyuki
    • Journal Title

      Advanced Biomedical Engineering

      Volume: 11 Issue: 0 Pages: 87-97

    • DOI

      10.14326/abe.11.87

    • ISSN
      2187-5219
    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Small-Scale Human Impact Anthropomorphic Test Device Using the Similarity Rule.2021

    • Author(s)
      Satoshi Miura, Souhei Takahashi, Victor Parque, Tomoyuki Miyashita
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 68 (8) Issue: 8 Pages: 7188-7198

    • DOI

      10.1109/tie.2020.3003590

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Basic Input?Output Gain Tuning System Based on Control Input Histogram Leveling for Human-Operated Machines2021

    • Author(s)
      Kamezaki Mitsuhiro、Iwata Hiroyasu、Sugano Shigeki
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: 26 Issue: 6 Pages: 2857-2869

    • DOI

      10.1109/tmech.2021.3095059

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Smooth Curve Fitting of Mobile Robot Trajectories Using Differential Evolution2020

    • Author(s)
      Victor Parque, Tomoyuki Miyashita
    • Journal Title

      IEEE Access

      Volume: 8 Pages: 82855-82866

    • DOI

      10.1109/access.2020.2991003

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] Swarm Model with Variable Parameters2021

    • Author(s)
      Takanobu, Hideaki ; Goto, Keita ; Misaki, Daigo ; Suzuki, Kenji
    • Organizer
      2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021
    • Related Report
      2021 Annual Research Report
  • [Presentation] 手首周りの身体性を取り入れたインタフェースの操作のためのニューラルネットワークの活用に関する研究2021

    • Author(s)
      加来裕貴, Satoshi Miura, 宮下朋之
    • Organizer
      第22回計測自動制御学会 システムインテグレーション部門講演会(SI2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] Towards Fast Data-Driven Smooth Path Planning with Fair Curves2020

    • Author(s)
      Parque, V., Miyashita, T.
    • Organizer
      2020 IEEE 44th Annual Computers, Software, and Applications Conference, COMPSAC 2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Estimation of Grasp States in Prosthetic Hands using Deep Learning2020

    • Author(s)
      Parque, V., Miyashita, T.
    • Organizer
      2020 IEEE 44th Annual Computers, Software, and Applications Conference, COMPSAC 2020
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research

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Published: 2020-04-28   Modified: 2024-01-30  

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