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A Study of Human-Human Cooperative Characteristic in Moving an Object
Shahriman Bin Abu Bakar,Ryojun Ikeura,Ahmad Faizal Bin Salleh,Takemi Yano 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
One of the most important things to take into consideration when designing human cooperative robot is to make the robot move as smooth as possible during the cooperative task. This is to ensure that human can work with robot with high degree of smoothness that would ensure the task is completed without stress and fatigue to human. Since robot does not know the feeling of human, we need to replicate the human motion characteristic into the robot. In human-human cooperative task normally to achieve good cooperative task, human will use auditory, visual and touch senses among others.
Study of Visual Assist Effect to Vertical Plane Hand Movement during Human-Human Cooperative Task
Shahriman Bin Abu Bakar,Ryojun Ikeura,Yuichiro Handa,Takemi Yano,Hideki Sawai 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
At present the majority of autonomous robots are mostly used in factories where speed and accuracy are given highest priority. In our research, we are focusing in the area where the robot that cooperate with human to lift or carry a human subject. In this area the robots are required to interact with human and move in such a fashion where it will move with human-like motion so that the human subject that is being move will not feel intimidated. In order to design robot that have smooth human like motion capability during human robot interaction in cooperative task, we need to understand how human-human understand each other ,how and what kind of information are exchange between them that enable human-human to be able to accomplish to move object with smooth qualities. Based on this, we need to design a system that is available to be used not only by robotic experts but by general population so that anybody can use this system for their care giving purpose. In this paper we conduct a study of how human-human utilize their sense in moving and stopping an object and we analyzed the smoothness of the motion by analyzing the hand jerk characteristic during the said task.