A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary motion signal from the sensor signal containing tremor components. As a result, the developed human-machine interface makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.
Many people of all ages have sustained cervical cord injury in traffic accidents or sport accidents, and consequently suffered physical impairment. For individuals with paralysis of the lower limb who have also lost the ability to extend the elbow, many motions become difficult to perform in daily life, for example, independently operating a wheelchair or pushing open doors.In the future, wearable assist robots are expected to be incorporated into daily life. In order to be wearable, the assist robot must not limit the user's range of motion while being carried or used, and must be suitable for a wide range of situations. In this study, we developed an assist robot for upper limb movement which can assist wheelchair operation. To achieve this, we constructed a model of the upper limb during wheelchair operation with a manipulating force ellipsoid, and we developed an assistance control method for the upper limb using the device to apply force vectors. The effectiveness of the developed system is demonstrated experimentally.
A robot that supports independent living by assisting with eating and other activities which use the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. The proposed system using adaptive filter estimates tremor frequencies with a time-varying property and individual differences online. In this study, the estimated frequency is used to adjusting the tremor suppression filter which insulates the voluntary motion signal from the sensor signal containing tremor components. These system are integrated into the control system of the Meal-Assist Robot. As a result, the developed system makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.
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