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

2009 Fiscal Year Self-evaluation Report

• 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: MINAMI Mamoru University of Fukui, 大学院・工学研究科, 教授 (80262608)
• Project Period (FY): 2007 – 2010
• Keywords: 人間機械システム

Research Abstract

安全性の観点からこれまで不可欠とされてきた看護学生同士の注射試技トレーニング(例えば血管注射)でさえも実施することが難しい状況になりつつある.この問題を解決するため,本研究では「看護実習用患者ロボットのための人間感情モデルの確立とカオス制御による個性創出」のための基礎研究を行う.このロボットは皮膚と五感および感情を持ち,さらにカオスにより創出される個性を持つ.

Research Products

• [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
  • 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] 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
  • 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] 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
• [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
  • Year and Date: 20090818-20090821
• [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
  • Year and Date: 20090818-20090821
• [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
  • Year and Date: 20090512-20090517
• [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
  • Year and Date: 20090512-20090517
• [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
  • Year and Date: 20081117-20081121
• [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
  • Year and Date: 20081117-20081121
• [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
  • Year and Date: 20080820-20080822
• [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
  • Year and Date: 20080820-20080822
• [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
  • Year and Date: 20080702-20080705
• [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] 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
• [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: 特許特願2007-86176
  • Filing Date: 2007-03-29