By Topic

Construction of a human/robot coexistence system based on a model of human will-intention and desire

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yamada, Y. ; Toyota Technol. Inst., Nagoya ; Umetani, Y. ; Daitoh, H. ; Sakai, T.

We propose a human-will-based approach to constructing a coexistence system in which a robot is assumed to assist the will power of a subject while reflecting his intention and desire. We discuss the model of human's will associated by the work - psychological mind reading, and identify the advantages of the system in which the robot guides the the subject manipulating along the path intended by him. Then, we describe two major techniques with experimental results: 1) estimation of the human-intended path pattern from the previously assigned one by proposing a modified algorithm of hidden Markov model; and 2) merging of the human's force feeling pattern into the desired one by proposing a field impedance equalizer which allows both the human to express his desirable field-dependent force/speed feeling and the robot to display the impedance along the previously estimated path. Finally, we conclude the study with some comments on future works

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999