J1602-2-1 作業に応じた認知アシストを行うパワーアシストシステム(機械の知能化:異分野からのアプローチ(2))

Abstract

This paper describes an upper-limb power-assist robot which assists the perception of the user using visual information as well as the daily motion of the user. In the proposed method, the robot estimates a performing task of the user by monitoring a tool or an object grasped by the user at first. If the robot has found some problems in the user's motion during the task, the robot tries to modify the user's motion to perform the task properly. If the robot has not find any problems in the user's motion, then the ordinal power-assist is carried out by the robot. The effectiveness of the proposed method was evaluated by performing the experiments.