Upper body Based Human-machine Shared Control for Assistive Mobility Devices

2023 Fiscal Year Annual Research Report

• Project/Area Number: 22KJ0415
• Allocation Type: Multi-year Fund
• Research Institution: University of Tsukuba
• Principal Investigator: 陳 陽 筑波大学, グローバル教育院, 特別研究員(PD)
• Project Period (FY): 2023-03-08 – 2024-03-31
• Keywords: control interface / assistive mobility / hands-free / shared control

Outline of Annual Research Achievements

The purpose of this research is to develop and evaluate shared control system for assistive mobility devices. In the past year, my work is manily devided into two parts, the first part is to evaluate the torso-based control interface which I developed in the previous year with 10 healthy participants, the experiment results showed the effectiveness of proposed interface. The methodology and result was submitted to top journal and currently under review. The second part was to investigate new shared control methods for a holonomic wheelchair, this work is done when I visited ETH in Switzerland. The works is still ongoing and will be submitted to a journal in the future.

Research Products

• [Int'l Joint Research] ETHz(スイス)
  • Country Name: SWITZERLAND
  • Counterpart Institution: ETHz
• [Journal Article] A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer (2024)
  • Author(s): R. Cisneros, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P Gergondet, A Tanguy, Rohan P. Singh, L. Sun, Y. Chen, et. al
  • Journal Title: International Journal of Social Robotics Volume: 1 Pages: 1-28
  • DOI: 10.1007/s12369-023-01096-9
  • Peer Reviewed
• [Journal Article] A Neck Orthosis With Multi-Directional Variable Stiffness for Persons With Dropped Head Syndrome (2024)
  • Author(s): Torrendell Santiago Price、Kadone Hideki、Hassan Modar、Chen Yang、Miura Kousei、Suzuki Kenji
  • Journal Title: IEEE Robotics and Automation Letters Volume: 1 Pages: 1～8
  • DOI: 10.1109/LRA.2024.3402180
  • Peer Reviewed
• [Journal Article] Biosignal-based Control of a Robotic Gait Training Lifter (2024)
  • Author(s): Xiaoxi Zhang, Hideki Kadone, Tomohiro Konishi, and Modar Hassan, Yang Chen, Kenji Suzuki
  • Journal Title: Proc. of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2024 Volume: - Pages: -
  • Peer Reviewed
• [Journal Article] A Neck Orthosis with Multi-Directional Stiffness for Resistance Training (2024)
  • Author(s): Santiago Price Torrendell, Hideki Kadone, Modar Hassan, and Yang Chen, Kenji Suzuki
  • Journal Title: Proc. of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2024 Volume: - Pages: -
  • Peer Reviewed
• [Journal Article] WeMo: A Prototype of a Wearable Mobility Device Adapting to User’s Natural Posture Changes (2023)
  • Author(s): Chen Yang、Kuwahara Takashi、Nishimura Yuki、Suzuki Kenji
  • Journal Title: Sensors Volume: 23 Pages: 7683～7683
  • DOI: 10.3390/s23187683
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Presentation] Torso Control Interface with Compliant Coupling for Standing Mobility Devices (2024)
  • Author(s): Y. Chen, D. Paez-Granados, M. Hassan, and K. Suzuki
  • Organizer: ICRA 2024 Workshop on "Assistive Systems: Lab to Patient Care", 2024
  • Int'l Joint Research
• [Presentation] Enhancement of Team JANUS’ cybernetic avatar system for exploration and skill transfer (2023)
  • Author(s): R. Cisneros, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, C. Fournier, Rohan P. Singh, Y. Chen, et.al
  • Organizer: ICRA 2023 Workshop Toward Robot Avatars
  • Int'l Joint Research