2022 Fiscal Year Annual Research Report
Upper body Based Human-machine Shared Control for Assistive Mobility Devices
| Project/Area Number |
22J13072
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| Allocation Type | Single-year Grants |
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| Research Institution | University of Tsukuba |
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Principal Investigator |
陳 陽 筑波大学, グローバル教育院, 特別研究員(DC2)
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| Project Period (FY) |
2022-04-22 – 2024-03-31
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| Keywords | control interface / assistive robotics / human machine coupling / mobile base / hands-free |
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| Outline of Annual Research Achievements |
The purpose of this research is to develop and evaluate an upper body-based shared control system for assistive mobility devices. In the past year, I focused the main attention on the improvement of the torso control system, which is one of the main parts of this research.
I have investigated two methods for improving the torso control system which I developed in the previous research, the first one focused on a new controller, the second method focused on a new mechanism, both methods aimed to improve the coupling between the human and the robot.
For the second one, I conducted experiments to verify the effectiveness. The preliminary results and methodology were presented in an international conference.
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| Current Status of Research Progress |
Current Status of Research Progress
3: Progress in research has been slightly delayed.
Reason
The research is a bit delayed compared with the original proposal. The biggest reason is that I was trying to solve a challenging robotics problem which delayed the publication of paper. If I was focusing more on the user study, the publication could have already been done.
However, I think the robotics problem that I was dealing with is very meaningful and will have a good impact in the future with my proposed solution.
The second reason of the delay is my internship at a national research institute of Japan, I conducted research and published a paper based on the outcome of internship. I believe this multi-field experience is not only helpful for me to become a better researcher but also beneficial for me to solve the problem in my JSPS research proposal.
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| Strategy for Future Research Activity |
I plan to submit a paper to an international journal as a summary of my research topic related to the torso control. In order to achieve that, a complete user study is required. This is expected to finish before July.
As a further step I will continue my research in the torso control based on my proposal of a new controller.
At the same time, I plan to visit ETHz to conduct a collaboration research to deepen my understanding of control interface and shared control on personal mobility devices. A research paper is expected to be an outcome, I will work closely with a startup, which is helpful for me to understand the practical problem and needs in the real world.
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[Presentation] Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM2022
Author(s)
Y. Chen, L. Sun, M. Benallegue, R. Cisneros, Rohan P. Singh, K. Kaneko, A. Tanguy, G. Caron, K. Suzuki, A. Kheddar, and F. Kanehiro
Organizer
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2022
Int'l Joint Research
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[Presentation] Team JANUS Humanoid Avatar: A cybernetic avatar to embody human telepresence2022
Author(s)
R. Cisneros, M. Benallegue, K. Kaneko, H. Kaminaga, G. Caron, A. Tanguy, R.P. Singh, L. Sun, A. Dallard, C. Fournier, M. Tsuru, C. Yang, Y. Osawa, G. Lorthioir, F. Kanehiro, A. Kheddar
Organizer
RSS 2022 Workshop on "Towards Robot Avatars: Perspectives on the ANA Avatar XPRIZE Competition", New York City, U.S.A., 2022
Int'l Joint Research
