Intelligent perception assist with optimum force vector modification for An upper-limb power-assist exoskeleton

Kazuo Kiguchi, Manoj Liyanage, Yasunori Kose

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper presents a method of intelligent perception assist (IPA) with optimum force vector modification for an upper-limb exoskeleton robot to assist the perception of the user to interact with environment in addition to power-assist. The exoskeleton assists not only the motion but also the perception of the user. In the case of perception assist, the exoskeleton assists user to interact with the environment by monitoring the user's interaction with the environment. The exoskeleton is equipped with a sonar sensor and a stereo camera to gain information on the user's interaction with the environment. When the user interacts with the environment, if the exoskeleton found any problem in the user's motion, the optimum force vector modification (i.e., the modification of power-assist force vector with the optimum amount of force) is carried out by the exoskeleton to modify the user's motion to solve the problem without giving any uncomfortable feeling to the user due to motion modification. IPA ensures that the user's interaction with the environment can be monitored by the camera all the time by rotating the camera to track the location of the user's hand. The effectiveness of the proposed concept was experimentally evaluated.

Original languageEnglish
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages175-180
Number of pages6
DOIs
Publication statusPublished - Dec 1 2008
Externally publishedYes
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: Oct 19 2008Oct 22 2008

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period10/19/0810/22/08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

Fingerprint Dive into the research topics of 'Intelligent perception assist with optimum force vector modification for An upper-limb power-assist exoskeleton'. Together they form a unique fingerprint.

Cite this