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Development of Intelligent Bed Robot System for the Elderly and the Disabled
Youngmin Kim,Kwang-Hyun Park,Won-Chul Bang,Jeong-Su Han,Min-Jung Kim,Z. Zenn Bien 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2002 International Journal of Assistive Robotics and Me Vol.3 No.2
This paper introduces a new service robot system to give some practical services for the elderly and/or the disabled. Since they suffer great inconvenience to move their body even for simple task, it is necessary to develop a human-friendly service robot system to serve daily-life such as reading a book/newspaper, eating a food and massaging. Intelligent Bed Robot System is developed to centralize active services around the bed, which is utilized as an active living space that serves daily-life, while a conventional bed is usually used only for sleeping.<BR> This paper presents each element and function of this system and confirms usefulness by showing some experimental results related to practical tasks of daily-life.
Sung-Yoon Jung,Jik-Han Jung,Byung-Gu Lee,Dong-Jo Park 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.2
In this paper, we present a robot system to assist the handicapped and the elderly at work places. The proposed system is based on the results of the mobile platform, robot arm, control and wireless communication systems previously developed for the fire-fighting robot. For this purpose, we carried out a survey to select the type and class of the handicapped to be assisted and decided the task for each class. In following, we perform the conceptual design of the robot system and manufacture the prototype robot system. Relying on field tests and modifications, we designed the first version of the robot system conceptually and planned to build the robot system.
Cremers G,Gelderblom G,J,van Lier J 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.1
This paper concerns the simulation of wheelchair use for the purpose of assessment and training. Two studies on this topic are described. The first study explores the possibilities for the development of a multimedia wheelchair simulator. Four goals for application are identified and a possible simulation configuration is presented. In the second study a prototype of a joystick simulator has been developed. This device is primarily designed for young infants commencing wheelchair driving and it features specific dynamic adjustment capabilities.
An Assistant System for Riding a Unicycle
M. Iwase,Y. Kanai,M. Kinoshita,S. Hatakeyama,Y. Kashimura,I. Hanazaki,T. Yokoyama,H. Higaki,K. Fujisawa 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.1
The final purpose of this study is to design a control system to assist in the skill of riding a unicycle. To realize such a system, it is necessary to make a mathematical model and to analyze the dynamics of the unicycle. It is ideal that the dynamics of a unicycle is kept as original as possible even if any automatic support control is required to assist the operator. Thus, this paper presents modeling of the unicycle and a control system design by the controlled Lagrangian to realize this type of controller.
Dynamic User Interface Design in Pervasive Assistive Environment
Mossaab Hariz,Mahmoud Ghorbel,Mounir Mokhtari 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2008 International Journal of Assistive Robotics and Me Vol.9 No.1
This paper describes a novel approach based on the user interface presentation of unknown services within a pervasive environment dedicated to dependant people. The idea is to map the heterogeneity of the environment objects into abstracted service. At the level of the user interface, this will allow the personalization and the adaptation based on user"s requirements. Service provision has to be effective and performed according to current context particularly when focusing on people with special needs. The proposed Service Model (SM) supports the diversity of existing pervasive services and their content, the personalization and adaptation to both user and device profile, and the context-aware discovery in visited environment. We tested our architecture with the use of the TV as an interaction mean to interact with proposed services. The graphical interface deployed on the TV was evaluated by elderly people and resulting ergonomic recommendations. This research activity is ongoing work within the Nuadu project.
Part Ⅰ:Service Robots for the needed
Zeungnam Bien,Jin-Woo Jung,Dae-Jin Kim 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.3
This paper discusses about the service robots for the needed. At first, the motivation of the service robot is emphasized. And then various types of service robots and the design philosophy are addressed. Next, we discuss about those who need the robotic services. Finally the future prospects 9f the service robots will be discussed.
Vision-Based Computer Input Devices for the Disabled
Motohiro Tanaka,Masakazu.Kubo,Shunji Moromugi,Youichi Shimomoto,Yasuhiko Ohgiya,Takakazu Ishimatsu 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2004 International Journal of Assistive Robotics and Me Vol.5 No.4
Those who suffer from ALS disease show impairments in motor functionality that often impedes communicating actions such as uttering voice and pushing buttons. In order to support their communication, this paper presents two kinds of input devices based on vision. A distinct advantage of these devices is that it could be installed without respect to the bed of the patient. This means the devices do not interfere with the nursing care. The first device is applicable to the switching action generated by slight movements of the user"s body, like lips, fingers, or eyes. This device is suitable for ALS patients with serious physical disability. The second device is developed for ALS patients who have ability to move his head intentionally. The head movement is measured by an original compact vision system, and converted into the mouse motion on the computer screed. This device enables fast input operations. Both these devices have been applied to ALS patients, and their effectiveness has been verified.
Design and Control Strategy for a 5 DOF Above-Elbow Prosthetic Arm
Subrata Kumar Kun여,Kazuo Kiguchi,Etsuo Horikawa 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2008 International Journal of Assistive Robotics and Me Vol.9 No.3
This paper presents a five degree of freedom (DOF) prosthetic arm that is designed for above-elbow (AE) amputees to increase their mobility in daily life activities. The mechanical design and control strategy of the prosthetic arm are proposed. The proposed prosthetic arm is assumed to be controlled using a combination of a muscle electromyogram (EMG) based controller and a task oriented kinematics based controller. A fuzzy rule based EMG controller that uses the EMG signals of residual arm muscles is designed to control the prosthesis elbow and hand motion. The residual upper arm and the prosthesis elbow joint kinematics are used as input information for the kinematics based controller to control the prosthesis 2 DOF wrist and forearm motion. An artificial neural network based classifier that classifies the daily life activities based on the joint kinematics has been designed for the kinematics based controller. After the classification, the inverse kinematic technique is applied to calculate the desired wrist and forearm angles in order to realize the classified task. The kinematics of the arm was acquired with a motion capture system while performing the selected activities. The effectiveness of the proposed controller is evaluated through experiments.
Development and Assessment of Real-Time Visual Recognition System for Scrub Nurse Robot
Kentarou Ohnuma,Fujio Miyawaki,Teruyoshi Sadahiro,Kitaro Yoshiitsu,Ken Masamune,Yasuhiro Fukui 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.4
We have been developing the Scrub Nurse Robot (SNR) for endoscopic and laparoscopic surgery. The aim of this study was to develop a real-time visual recognition system (RTVRS) in order for the second version of SNR to be capable of recognizing surgeon"s actions during exchange of surgical instruments.<BR> The RTVRS consisted of 4 digital video cameras, a commercially-available 3D position tracking system (QuickMag Ⅳ), and two PCs. One PC had an action-recognizing algorithm and a timed-automata-based model of surgeon"s actions, both of which we had developed. The other PC had a motion controller of SNR. The algorithm can recognize the surgeon"s actions in real time from the physical movements of the surgeon with three differently-colored makers each on his right wrist, right elbow and the center of his chest. The time series positional data of those markers were obtained in real time with QuickMag Ⅳ. When the action-recognizing algorithm in RTVRS detects the moment that the surgeon starts drawing a surgical instrument after use from the operative field, a signal is produced and sent to the motion controller of SNR. Then it drives SNR to hold out its hand with an instrument needed next toward the surgeon.<BR> We tested if the RTVRS worked properly in a laboratory, and also analyzed how a real surgeon and human scrub nurses behaved in clinical cases. As a result, we confirmed that the RTVRS-driven SNR was capable of giving a surgeon"s stand-in a surgical instrument with satisfactory timing (without making him wait for the instrument) by recognizing his two key actions during exchange of instruments: drawing a surgical instrument from and inserting another into the operative field. However, if the current SNR is used in the clinical cases where a surgical tray is used instead of the tool changer, a counterpart in the SNR system, the SNR will make real surgeons wait slightly longer than the human scrub nurses. Therefore, in order to achieve the clinical use of the SNR, design and mechanism of the device to return and store surgical instruments should be investigated and also the data processing rather than the machine movement in the RTVRS-driven SNR needs to be sped up.