Virtual Tunnel Generation Algorithm for Perception-Assist with an Upper-Limb Exoskeleton Robot

Yue Hou, Kazuo Kiguchi

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

1 Citation (Scopus)

Abstract

Elderly or physically challenged people whose motor function have declined often have deteriorated environment cognitive abilities. Therefore, power-assist robots with perception-assist function have been proposed to assist such persons. In perception-assist, it is necessary to make a proper virtual tunnel to perform the intended upper-limb task properly. When there are several target objects such as dishes and bowls on the table during the eating task, it is necessary to determine which target is selected by the robot user. In this study, experiments are conducted to measure the daily living behaviors of healthy people in three dimensions, and parameters necessary to automatically generate the virtual tunnel are obtained experimentally. In this paper, an algorithm which automatically generates the virtual tunnel is proposed. The effectiveness of the proposed algorithm was evaluated by conducting experiments.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages204-209
Number of pages6
ISBN (Electronic)9781538673553
DOIs
Publication statusPublished - Jan 14 2019
Event2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 - Shenzhen, China
Duration: Oct 25 2018Oct 27 2018

Publication series

Name2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018

Conference

Conference2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
CountryChina
CityShenzhen
Period10/25/1810/27/18

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization

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