Mitsumasa Yoda

A study on young and elderly people's working area of each arm on a table for dual manipulator with human arm motion characteristics

The purpose of this study is to obtain the age characteristics of the human arm motion area for constructing a manipulator system, which having the same characteristics. In order to explore the basic data for constructing the manipulator, a human arm motion experiment was conducted. In this experiment, the motion of transferring an object on a table was employed as a target motion; especially the data about the characteristics of the area of using the right arm were collected. Before the experiment, dual manipulator system based on human arm size was constructed in order to introduce the characteristics of human arm motion. The analysis of human arm motion revealed that the area where the 50% using of right arm. The subjects of this experiment were elderly people and young people. Comparing the data of young and elderly people, we clarified the age characteristics of the human arm motion area.

Subjective evaluation of motion characteristics of dual manipulator in young and elderly people

In this research, we conduct a subjective evaluation experiment of a dual manipulator, which poses different motion characteristics. There are three motion characteristics, and two of them were age related characteristics. These motions are constructed using the data obtained from previously conducted human arm motion experiment. Another motion is defined as a robot motion characteristic, and newly added to these two motions. Subjects were elderly and young people, and the evaluations of the motions impressions are compared in two different age groups. Results indicated that there are age differences of evaluation between three types of manipulations motions. Elderly people show more reliability and familiarity in a robot motion than that of the other two motions. In addition, elderly people seem to be more influenced by manipulators motion than that of young peoples. Therefore, we need more consideration when we make motion planning of manipulator for elderly people.

Motion Characteristics and Avoidance Motion Algorithm Based on Human Passing Behavior. Results of Experiments under Natural and Laboratory Settings.

In order to detect human characteristics of avoidance motion and construct avoidance motion algorithm, we conducted two experiments. In these experiments, passing behavior was employed as avoidance motion. In the first experiment, we recorded human passing behaviors using VTR on the road under natural settings. The analysis of the VTR recordings revealed that human avoidance motions in passing were categorized as three types. In the second experiment, we conducted human passing experiments in the laboratory. Subjects passed an experimenter who is stood, walked, and ran with short steps. The results of these experiments indicated that human avoidance motion has mainly following two characteristics: (1)the locus agrees well with the catenary, and (2)the walking velocity is costant in passing. The avoidance motion algorithm was constructed based on these characteristics. We will apply these characteristics and the algorithm in the field of mechatronics and robotics, especially to the avoidance motion of a mobile robot.

A Study on Robot Arm with Characteristics of Human Muscle.

The purpose of this study was to develop a robot arm with human arm characteristics. For development of a robot arm that works with man, the robot arm must have characteristics of the human arm. The biceps brachii and triceps brachii of the upper limb were studied. Major characteristics of muscles are elastic factor and damping factor. In order to explore these characteristics of muscles, a human arm experiment was conducted. Using the characteristics obtained from the experiment, a robot arm was manufactured. The size of the robot arm was the same as that of the arm. An electromagnetic actuator system, which was developed to realize characteristics of human muscles, was employed. The actuator has a bobbin with some coils and the moving part that consists of a rare earth metal permanent magnet. The moving part of this actuator is driven by repulsive force in the magnetic field, which is generated by exciting each coil and the magnetism of the moving part. The excitation current is supplied to coils by the driver circuits, which is controlled by a personal computer. It was confirmed that the robot arm has the human arm characteristics.

Development of GAME-ROBOT

At present, it is hoped that a robot which works with human or for human will be developed for various social needs. The aim of this study is in the initial development of human intimate bobot that plays board game with human. This robot is thereby called GAME-ROBOT. Its configuration consists of image processings which are based on personal computer, mecahnical arm and original robot hand. We studied the integration of these parts, their functions and the applications through the execution of Othello game. As a result., GAME-ROBOT was able to play a friendly game with human.