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A Wheelchair with connected crawler
Sho Yokota,Pierre Blazevic,Hisato Kobayashi 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2006 International Journal of Assistive Robotics and Me Vol.7 No.2
This paper proposes a mechanism for mobile chair system that has 3 flat stages with crawlers. The wheelchair uses connected motor-driven crawlers instead of conventional wheels. The main features of the system are as follows: 1) the wheelchair can pass over fairly wide gaps, i.e., gaps lying between platform and trains at railway stations, 2) the size can be redueced by folding the stages, 3) the wheelchair can pass over obstacles, it can climb up and down stairs if the stairs are not so steep. This paper explains the structure of the proposed wheelchair system, its control architecture and strategies to pass over gaps and obstacles.
Studyon Human body Motion Interface
Sho Yokota,Hiroshi Hashimoto,Yasuhiro Ohyama,Jin-Hua SHE,Daisuke Chugo,Hisato Kobayashi,Pierre Blazevic 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The joystick is the operation interface of electric wheelchair. The user needs to operate it in accordance with machine’s operational procedure specifications. Therefore the joystick is convenience operation system for the system side rather than the user side We focus on the body motions which humans have, and tryto realize a new type of interface which replaces conventional joystick. There is a body motion which comes from in stinctive adjustment functions to control changes of body shape caused by voluntary actions. We use this kind of motion as an interface and call it HBMI(Human Body Motion Inerface). In this paper, we set a prototype based on the experiment for deriving a suitable measurement to detect human body motion. The evaluation of HBMI by using SD method is also presented.
Hand Pose Estimation from Camera Images of Ring-shaped Markers
Akinori Sasaki,Sho Yokota,Yasuhiro Ohyama,Hiroshi Hashimoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes hand pose estimation from camera images of ring-shaped markers. The ring-shaped markers are employed to more simplify the measurement than measurement with conventional reflective markers. Using results of the pose estimation of the ring-shaped markers, the entire finger poseis estimated with an atomical constraints on finger kinematics.