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The function of lower-extremity rehabilitation robotics usually includes standing up movements. These standing up movements can cause spasticity in people with disabilities of the lower extremities. In this paper, we review the spasticity and the methods of existing systems for handling the spasticity of people with physical disabilities. We observe and detect the spasticity via the EMG signals of...
A new wearable robot for upper-extremity was designed for handling heavy weights. The human-robot integrated structure constitutes a closed-chain mechanism which allows a proper load distribution between the robot and the human. The kinematic and dynamic models for this human-robot integrated exoskeleton system were presented. Through the load distribution algorithm between the human and the robot,...
The problems in the current healthcare system suggest that patients should be monitored for pain and symptoms suggestive of possibilities of side-effects or adverse drug reactions (ADR) resulting from the prescribed medications. The research conducted by the multi-disciplinary group at the University of Auckland aims to use a Stationary Robotic Medication Management System to design, implement and...
In this paper, a collaborative work between a human worker and an adult-sized humanoid robot (HUBO) is presented. Through the task, HUBO decided its movement just based on captured data from motion capture system (MoCap), which was equipped in provided working environment. Human co-workers did not provide any cues for determining a desired moving velocity or orientation. Whenever human workers changed...
We present a intuitive teleoperation scheme by using human gesture and multimodal multi-user human-robot interface. Further, in order to deal with the dynamic daily environment, we apply haptic point cloud rendering and virtual collaboration and all these functions are achieved by portable hardwares which is called “mobile iSpace”. First, a surrounding environment of a teleoperated robot is captured...
This paper proposes segmentation method in mixed Korean and English printed text which contains touching characters using clustering strategy. At the first step, a vertical projection of image text is determined, and clustering process performed on it. Then the cluster with the smallest mean value used as candidate segmentation point. This process will produce candidate bounding boxes. Furthermore,...
This paper proposes a technology to improve a sound recognition in real-world. The main issue is the change of spectrum which is caused by acoustic devices. The process through research and logical experiment is leads to two solutions which is mono speaker and acoustic path modeling by the rerecording.
A variety of interaction models among agents have been developed, however the research about human attitude toward multiple robot interaction has been out of research focus. While a service robot interacts with more human users, multi-robots interact with humans and even with other robots. In the environment, the interactive behavior of human is affected by multiple robotic interactions. This paper...
In this paper, we try to find the answer of question, “How dense does the projected pattern have to be in order to recognize 3D fingers over 3m distance (indoor watching TV environment)”. To solve this problem, we investigate the structured light pattern projected by the laser light source and taken back through the IR camera. For 3D correspondence matching, a simple block matching algorithm from...
The previously developed radially bounded nearest neighbor (RBNN) algorithm have been shown a good performance for 3D point cloud segmentation in indoor scenarios. In outdoor scenarios however it is hard to adapt the original RBNN to an intelligent vehicle directly due to several drawbacks. In this paper, drawbacks of RBNN are addressed and we propose an enhanced RBNN for an intelligent vehicle operating...
Fast detection of moving vehicle is essential for autonomous driving. In this paper we propose fast vehicle classification algorithm for autonomous vehicle using orientation histogram and segmented line projection, and also works well with in urban environment. The rapidness of our approach stems from the sequential laser data processing and orientation histogram techniques. Whereas accurate classification...
This paper proposes a GPU (graphics processing unit)-based real-time RGB-D (red-green-blue depth) 3D SLAM (simultaneous localization and mapping) system. RGB-D data contain 2D image and per-pixel depth information. First, 6-DOF (degree-of-freedom) visual odometry is obtained through the 3D-RANSAC (three-dimensional random sample consensus) algorithm with image features. And a projective ICP (iterative...
This paper introduce about graph-search based global path planning on uneven elevation maps. An elevation map is an efficient and popular representation for 3-D terrains due to its easy manipulation by a computer. On the elevation map, we investigate three different optimal paths in the aspects of travel distance, travel time, and energy consumption. A distance/time-optimal path is derived by simple...
Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is...
When the robotic exoskeleton is used for gait rehabilitation, the robot should recognize the intention of patients before moving. We can consider recognition of intentions for the robot as recognition of a time (when the patient wants to move) and a behavior (what the patient wants to do). In this paper, the intent-detection method consisting of a gait phase recognizer and a gait pattern generator...
This paper addresses a new robotic system to assist the upper limb movements for the elderly and the disabled in activities of daily living (ADL). The proposed robotic system consists of 1-degree-of-freedom (DOF) under-actuated exoskeleton mechanism for hand grasping, 3-DOF exoskeleton parallel mechanism for wrist motion, and 6-DOF serial mechanism that is attached to the wrist mechanism. Thus, the...
This paper introduces a posture control of smart mobile walker, where the controller adjusts four linear actuators based on the measurement of orientation and ground forces to balance manipulator and to keep wheel contact with ground. It is an important feature for this walker to adapt its pose to uneven terrains such as ramp or slope since it aims to assist elderly and disabled safely. Control scheme...
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