Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-030-70451-3_2

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Publishing type：Research paper (international conference proceedings)  

In this research, to obtain satisfactory control performance of ultrasonic motor (USM) in position control, a hybrid intelligent method based on PID control using neural networks (NNs) combined with Artificial Bee Colony (ABC) algorithm is proposed. Using the proposed intelligent control method, the gains of PID control are auto-tuned to minimize the errors in position control. The proposed method is with simple structure and easy to be implemented in estimation. It is designed to compensate the nonlinearity and characteristic changes in position control. The proposed hybridization of NN and ABC makes the intelligent scheme superior in usefulness and effectiveness. In this paper, the control performance and effectiveness of the proposed method were confirmed and studied according to experimental results on an existing USM servo system.

DOI： 10.1007/978-3-030-46032-7_7

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

In this paper a novel control scheme in which the variable gain type PID controller is constructed combined with a Neural Network (NN) optimized by a Particle Swarm Optimization (PSO) algorithm. To improve the control performance, overcoming the disadvantages caused by low rigidity, response delay, fluctuations in pneumatic servo systems (PSSs), the proposed method is designed to minimize error by the intelligent scheme based on PID control using the optimized gains tuned by the PSO type NN. Different from the conventional fixed gain type PID control, which requires gain tuning according to some rules, or trials and errros, or experience, the proposed is with the advantages from PSO type NN to search proper gain values automatically. According to the experimental results in this paper, the optimal or "near optimal" gains were confirmed. The effectiveness of the proposed scheme is confirmed by experiments using the existent pneumatic servo system.

DOI： 10.1109/lS3C50286.2020.00148

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In this paper, a scheme of intelligent control method using differential evolution (DE) type neural network (NN) for Ultrasonic Motor (USM), which is expected to be applied on a meal-assistance robot. Owing the application of USM in the robot designed with orthogonal structure, excellent control performance in stability and safety with work quietness is expected. To obtain the high accurate control an optimization algorithm of DE was introduced to the NN type PID control for USM. The proposed intelligent method was investigated by the experiments on an existent USM servo system in this paper. The response of the proposed method with converngence of the proposed model was confirmed. With the proposed method, the servo of USM can be expected to use on meal-assistance robots and life support robots in medical and welfare environment.

DOI： 10.1109/IS3C50286.2020.00147

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Publishing type：Research paper (scientific journal)   Publisher：Society of Physical Therapy Science  

DOI： 10.1589/rika.35.283

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/taai48200.2019.8959888

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Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

In this research, a novel type of intelligent control method based on Neural Network (NN) combined with Artificial Bee Colony (ABC) algorithm to construct an auto-tuning of variable gain PID control is proposed for the control of Ultrasonic Motor (USM). The proposed method is based on PID control with simple structure and capable to improve the control performance on USM’s characteristic changes and nonlinearity of USM. Meanwhile, the proposed method is flexible and robust than the traditional fixed gain type PID control owing to the introduction of NN and ABC algorithms. NN is effective in the compensation of nonlinearity of USM. ABC is attractive in its simplicity in estimation and derivative-free characteristics. Their combination makes the proposed intelligent scheme effective and easy to be applied in various applications. In this paper, the control performance and effectiveness of the proposed method was studied according to simulation results in position control of USM.

DOI： 10.1145/3325291.3325387

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Other Link： https://dblp.uni-trier.de/db/conf/acit2/acit2019.html#MuSYNT19

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.compeleceng.2019.02.016

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer  

Based on the scheme of predictive fuzzy control combined with neural network (NN) for pneumatic servo system, the learning of NN using Particle Swarm Optimization (PSO) is studied according to experimental investigation in this research. A group of positioning experiments using existent pneumatic servo system were designed to confirm the effectiveness and efficiency of the NN’s learning employing PSO in the imaginary plant construction for the pneumatic system in predictive fuzzy control. The analysis in the study was implemented comparing the results of traditional back-propagation (BP) type NN and the PSO type NN.

DOI： 10.1007/978-3-030-04946-1_32

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Other Link： https://dblp.uni-trier.de/db/series/sci/sci810.html#MuSYGNT19

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>An algorithm for a mobile robot that avoids collision with humans by slowing down and stopping in L-shaped corner is constructed in this research. First, experiments of collision avoidance of a human with another human while walking in an L-shaped corner are conducted, and the characteristic of avoidance behavior of the human is analyzed. We propose a collision avoidance motion of the mobile robot based on the results. Experiments in which a mobile robot avoids collision with a human and the human evaluates the generated motion of the robot using psychological evaluation are conducted. The effectiveness of the proposed method is clarified from psychological aspects.</p>

DOI： 10.1299/jsmermd.2017.1P2-L04

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Language：Japanese   Publisher：一般社団法人 産業応用工学会  

In conventional eye gaze input system under natural light, since eye gaze direction is estimated by extracting center of mass of black eye (iris and pupil), the accuracy of the estimation is not satisfactory because part of black eye is hidden behind eyelid. In this study, we propose a practical method to calculate eye gaze direction using a particle filter and a neural network under the condition that a computer and a USB camera are used to cut costs and easy to set up. In the proposed method, outer corner and inner corner of eye are detected, and position of black eye is projected by the particle filter taking the effect of eyelid into consideration. In addition, the neural network is used to estimate eye gaze direction from positions of outer corner and inner corner of eye, and black eye. To examine the effectiveness of the proposed method, experiments in which human subjects follow a moving target on the screen by eye movement are conducted, and accuracies of the estimation are compared between the proposed method and the conventional method. As the results, it is confirmed that the accuracy of the proposed method is superior to that of the conventional method, which shows the effectiveness of the proposed method.

DOI： 10.12792/jjiiae.5.1.25

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Language：Japanese   Publisher：一般社団法人 産業応用工学会  

Inexperienced or elderly drivers of electric carts feel anxious in the situation where they need fine driving technique such as approaching and entering elevators. In this research, a driving support system is proposed when a driver on an electric cart will enter a box space like elevators so that the driver can enter the box space easily feeling relieved. In the driving support system, low speed mode, which transits from normal speed range of an electric cart to low speed range, is applied when the electric cart enters a specific region for driving support. The region for driving support is introduced to the front of the entrance of the box space, which is determined by trajectories generated when normal drivers enter the space under normal condition and severe condition. The effectiveness of the proposed support system is clarified experimentally through psychological evaluations.

DOI： 10.12792/jjiiae.5.1.18

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Language：Japanese   Publisher：ライフサポート学会  

DOI： 10.5136/lifesupport.28.85

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：Japanese Society for Engineering Education  

DOI： 10.20549/jseeja.2016.0_402

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

In this study, as a fundamental approach to realize orthotic device for patients with osteoarthritis of the knee considering screw home movement, bending and extension movements of lower thigh of able-bodied persons are analyzed and inherent screw home movement is examined. The analyzed extension movement of lower thigh with screw home movement is mathematically modeled and the structure of an orthotic device is proposed based on the model. It is confirmed by the simulation based on FEM analysis that the force acting on the leg when using the proposed orthotic device is helpful to realize normal screw home movement and valgus rotation, which is expected to be useful for patients with osteoarthritis of the knee.

DOI： 10.1299/jbse.16-00275

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Language：Japanese   Publisher：The Society of Life Support Engineering  

<p>In this study, an interface with which a human can obtain information on remote circumstances from a mobile robot using eye-gaze input is considered. With this system, information on the remote circumstances is acquired by a camera installed on the mobile robot, and an image is displayed to a user. The position of human attention in the image is recognized by the eye-gaze input system, and the orientation of the robot and camera is adjusted based on the recognition so that the position of human attention is at the center of the image, which means that the user can recognize his/her target easily. In the eye-gaze input system, particle filter processing is applied to detect the movement of the dark part of an eye (iris and pupil) to improve recognition by the system. The desirable movement speed of the image is examined through psychological evaluations while the orientation of the camera and the mobile robot is adjusted. The results show that desirable speeds exist for pitch and yaw angles. In addition, human experiments were conducted to recognize an object in remote circumstances using the proposed method and speeds. The results show that the trajectory of eye-gaze movement becomes smooth and the user can recognize the object easily, which shows the effectiveness of the proposed method.</p>

DOI： 10.5136/lifesupport.27.143

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Language：Japanese   Publisher：日本福祉工学会  

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Language：Japanese   Publisher：公益社団法人日本工学教育協会  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this research, a mobile robot system moved by intuitive gesture instructions using the flick motion is suggested. The flick motion is commonly used in operating smart phones and involves sudden and rapid motion of the hand. One of the aim of this research is to move the robot quickly using this flick motion. At first, a flick motion is measured and the characteristic of the movement is analyzed. Next, a model to move a mobile robot in response to flick movement is proposed. In the model, the velocity of the hand is converted into virtual force, and the virtual force moves an object with virtual mass and viscosity. Another aim is introduction of a mechanism automatically switching the flick instruction and the following instruction. For the purpose, the switcher using the neural network is learned in advance to distinguish between the movement of the flick instruction and the following instruction. The experiment was conducted to examine the usefulness of the proposed system. As the results, flick instructions and following instructions were changed automatically and were able to operate a robot to the aim position comfortably.

DOI： 10.1299/transjsme.15-00035

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Language：Japanese   Publisher：日本福祉工学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Small-size embodied interaction robots are required for use in home. These robots are expected to shake hands with human to promote embodied interaction. Therefore, in this paper, we develop a small-size handshake robot system for a generation of a handshake approaching motion. The handshake approaching motion has two motions. The first motion is a handshake request motion that the robot stretches its hand to a human as requesting a handshake. The other motion is a handshake response motion in which the robot responds a handshake when the human requests a handshake to the robot. In this robot system, a human hand position is estimated by using an image processing which is combined with a 3D arm model, and handshake approaching motions are generated using the estimated hand position. The effectiveness of the small-size handshake robot system is demonstrated by sensory evaluation of these handshake approaching motions. © 2013 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.79.2383

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Language：Japanese  

DOI： 10.1299/kikaic.79.2383

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Language：Japanese   Publisher：Japan Ergonomics Society  

In this study, velocity adjustment of robots through the use of degree adverbs was investigated. First, the relative values that humans assign to degree adverbs were experimentally quantified, after which a method to convert these values to actual velocity adjustments of robots was proposed. As an evaluation of the proposed method, experiments in which participants attempted to adjust the velocity of a one-dimensional robot from an initial value to a target value by accelerating and decelerating the robot were conducted. The results indicated that the target velocity could be achieved for both the acceleration and deceleration using four or less adjustment steps, which demonstrates the effectiveness of the proposed method.

DOI： 10.5100/jje.48.324

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Language：Japanese  

DOI： 10.5100/jje.48.324

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Language：English   Publisher：Japan Society of Kansei Engineering  

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the omni-directional mobile robot by rotating his or her head. The mobile robot can realize intended movement by following the movement of the laser spot on the floor. By projecting an instructive point to be followed by the mobile robot, the user can clearly recognize the relation between the direction being faced and the desired position of the mobile robot. In addition, the user can convey a motion trajectory to the mobile robot continuously. Kansei transfer function is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and autonomous motion mode to the target, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations.

DOI： 10.5057/kei.11.51

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.47.155

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Language：Japanese   Publisher：日本福祉工学会  

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Publisher：The Japan Society of Mechanical Engineers  

A handshake is an embodied interaction to display closeness using physical contact. In the case of a handshake between a human and a robot, robots can now smoothly communicate and coexist with humans without eliciting feelings of aversion in humans. To enable such a handshake, we proposed a model that simulates a handshake approach motion by analyzing the human-human handshake motion. With this model, a robot generates a handshake motion when a handshake is requested by a human. However, embodied interaction between a human and a robot can be promoted if, instead, a robot requests a handshake from a human. Therefore, in this paper, we propose a handshake request motion model with which a robot requests humans for a handshake. In this model, a robot stretches its hand out to a human to request a handshake. Furthermore, a gaze presentation is generated based on the analysis of the handshake between humans. A handshake robot system with the proposed model is developed, and the effectiveness of the model is experimentally demonstrated.

DOI： 10.1299/kikaic.77.1429

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Language：English   Publishing type：Research paper (international conference proceedings)  

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and parameter adjustment mode for the Kansei controller, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147624

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Language：Japanese   Publisher：The Society of Life Support Engineering  

Accidents of electric carts by the elderly persons increase rapidly. One of the reasons of them is lack of recognition of risks in surrounding circumstance. To prevent such accidents, an automatic support system of driving electric carts is considered. In the proposed system, when a step or a gap in front of an electric cart is detected by a laser range finder installed to the cart, a method named &quot;low speed mode&quot;, which changes the region between maximum speed and minimum speed into lower speed level, is introduced. Time margin for the operation to avoid upcoming risks can be expected using &quot;low speed mode&quot;. Impressions of drivers to the speed change when shifting from normal speed mode to low speed mode are examined by the psychological evaluations. Furthermore, experiments are conducted to examine whether the speed change can play the role to warn the upcoming risks to the driver.

DOI： 10.5136/lifesupport.22.41

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Language：Japanese   Publisher：The Society of Life Support Engineering  

Accidents of electric carts by the elderly persons increase rapidly. One of the reasons of them is lack of recognition of risks in surrounding circumstance. To prevent such accidents, an automatic support system of driving electric carts is considered. In the proposed system, when a step or a gap in front of an electric cart is detected by a laser range finder installed to the cart, a method named "low speed mode", which changes the region between maximum speed and minimum speed into lower speed level, is introduced. Time margin for the operation to avoid upcoming risks can be expected using "low speed mode". Impressions of drivers to the speed change when shifting from normal speed mode to low speed mode are examined by the psychological evaluations. Furthermore, experiments are conducted to examine whether the speed change can play the role to warn the upcoming risks to the driver.

DOI： 10.5136/lifesupport.22.41

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Language：Japanese   Publisher：ライフサポート学会  

電動カートが前方にある道路の段差や溝、崖などに落下する事故を防止するため、電動カートの前方の段差をレーザーレンジファインダー(LRF)センサーにより検出し、搭乗者の操作に対して適切な速度調整を行う「微速モード」という支援方法を提案した。まず、周囲環境に存在する複数の段差障害物のLRFセンサーによる検出に関するアルゴリズムを構築した。次いで、通常速度から低速度域へ速度を移行することによる操縦支援法である「微速モード」の概念を提案した。実際の電動カートを用いた走行実験を行い、被験者に微速モードを体験してもらった際の効果を心理学的評価手法により検討した。その結果、微速モードのパラメータの組合せによっては心理的に好ましく、搭乗者に段差障害物の危険の接近を知らせる効果があることが明らかになった。

DOI： 10.5136/lifesupport.22.41

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Language：Japanese   Publisher：日本感性工学会  

An algorithm to produce handing motion from a robot to a human receiver is proposed in this paper. The algorithm includes three elements to generate cooperative motion of the robot to the human. The first is an introduction of a delay time into the start of robot&#039;s motion and its recovery. The second is a control law of the robot which is based on imitation of the motion of the human. The third is a trajectory generation to realize relative positional relation between the robot and the human at the moment of handing an object over. In addition, a system to support positioning of the robot to the desirable target position where handing over an object will be conducted to decrease human load is also introduced.

DOI： 10.5057/jjske.J11-090520-8

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

In order for a robot to co-exist and operate with humans, not only must the robot be safe for the humans but it must perform comfortable motions. In this research, we had humans and robots cross operating paths and focused on avoidance motions at the places where the two would collide had they been allowed to continue. At this time, we considered having only the robot avoid the collision by slowing and/or stopping. Evaluation experiments were conducted using computer graphics to clarify the affects that the distance between humans and robots and the acceleration of the robot.

DOI： 10.5057/jjske.J11-090520-11

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Language：Japanese   Publisher：日本福祉工学会  

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Language：Japanese   Publisher：日本福祉工学会  

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：愛媛大学工学部  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. In human cooperative movement and supporting movement, motion trajectory changes with human feeling to the other. In this research, we propose an algorithm to generate the handing motion of the hander with politeness. The utility of the proposed algorithm is examined using computer simulation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

A motion of an arm robot handing an object out to a human, taking a time delay at the beginning and the position of the object to be grasped into account, is presented in this paper. The motion algorithm of the robot is constructed considering the following points. The first is the cooperation to the human receiver. The second is an introduction of a time delay at the beginning and a function which reduces the time delay gradually. The third is the realization of the desirable relative position between the robot hand and human hand. To confirm the effectiveness of the proposed motion algorithm, the experiments in which an arm robot holds a cylindrical object out to a human and the human receives the object are conducted. The experimental results show that the generated motion trajectories of the human receivers are very smooth and that the motions of the robot are psychologically acceptable to the human receivers.

DOI： 10.1299/kikaic.75.1680

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

A motion of an arm robot handing an object out to a human, taking a time delay at the beginning and the position of the object to be grasped into account, is presented in this paper. The motion algorithm of the robot is constructed considering the following points. The first is the cooperation to the human receiver. The second is an introduction of a time delay at the beginning and a function which reduces the time delay gradually. The third is the realization of the desirable relative position between the robot hand and human hand. To confirm the effectiveness of the proposed motion algorithm, the experiments in which an arm robot holds a cylindrical object out to a human and the human receives the object are conducted. The experimental results show that the generated motion trajectories of the human receivers are very smooth and that the motions of the robot are psychologically acceptable to the human receivers.

DOI： 10.1299/kikaic.75.1680

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Language：Japanese   Publisher：日本感性工学会  

For the realization of the motion of a robot holding an object out to a human, which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristics of the robot using voice instruction. Acurved path is considered as an adjustable characteristic of the motion in addition to the conventional characteristics such as velocityprofile, maximum velocity, and receiving point. The effectiveness of introducing the curved path is discussed in this research. Thecurved path is characterized by two parameters: one is the offset, which is maximum deflection from straight path, and the other is theposition of the offset. These parameters can be adjusted by the human using the voice instruction. It is clarified from the actualparameter adjustment by human subjects that the curved path is one of the important characteristics affecting human psychology, andthe desirable values of the offset and the position of the offset show individual differences.

DOI： 10.5057/jjske.8.207

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Language：Japanese   Publisher：社団法人日本経営工学会  

Recently, cell manufacturing systems are being adopted at many factories. In such manufacturing systems, workers are required to retrieve various parts from different places during the assembly process. Therefore, it is expected that more effective manufacturing can be realized using automatic parts supply systems for the workers. One of the effective methods is a handing-over motion done by a robot as a method of automatic parts supply. The handing-over motion of the robot must not only be physically safe, but also psychologically comfortable. In addition, there are individual preferences for the most comfortable handing-over motion. In particular, when a robot hands over parts to a particular worker (cooperator), the motion characteristics of the robot should be the most comfortable for him or her. It is considered that a human-machine interface, via which the cooperator adjusts the motion characteristics of the robot, is necessary. Therefore, in this paper, we propose a human-machine interface which is used to adjust the motion characteristics for a handing-over robot system that supplies parts. Firstly, a prototype handing-over robot system in which the cooperator can adjust the motion characteristics of the robot (maximum velocity, peak of velocity profile and handing position) by a human-machine interface using a speech recognition is developed. Using this robot system, cooperators can realize the most comfortable handing-over motion by adjusting the motion characteristics of the robot. Then the differences between the motion characteristics of unskilled and skilled cooperators are analyzed using the robot system. From the analysis, we propose a human-machine interface giving consideration to the differences. Furthermore, a handing-over robot system that adapts the proposed human-machine interface was developed. The effectiveness of the proposed human-machine interface is demonstrated by evaluation.

DOI： 10.11221/jima.59.214

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

When a human gives instructions to a robot, simple and intuitive instruction method is needed. In this research, we suggest an interface to give robot instructions by the movement of the human head. The intersection point between the table top and the extension line of the head direction is treated as the instruction point and the interface system where the robot follows the movement of the instruction point is constructed. Furthermore, the &quot;&lt;I&gt;Kansei&lt;/I&gt;&quot;transfer function whose input is the instruction point and the output is the reference point of the robot motion is introduced. The human instructions are converted to smooth movements of the reference point using the &quot;&lt;I&gt;Kansei&lt;/I&gt;&quot;transfer function. The parameter of the &quot;&lt;I&gt;Kansei&lt;/I&gt;&quot;transfer function were experimentally examined for their influence on human emotion and sensitivity.

DOI： 10.5057/jjske2001.7.701

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

When a human gives instructions to a robot, simple and intuitive instruction method is needed. In this research, we suggest an interface to give robot instructions by the movement of the human head. The intersection point between the table top and the extension line of the head direction is treated as the instruction point and the interface system where the robot follows the movement of the instruction point is constructed. Furthermore, the "<I>Kansei</I>"transfer function whose input is the instruction point and the output is the reference point of the robot motion is introduced. The human instructions are converted to smooth movements of the reference point using the "<I>Kansei</I>"transfer function. The parameter of the "<I>Kansei</I>"transfer function were experimentally examined for their influence on human emotion and sensitivity.

DOI： 10.5057/jjske2001.7.701

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Other Link： https://jlc.jst.go.jp/DN/JALC/00319136223?from=CiNii

Language：Japanese   Publisher：Japan Society of Kansei Engineering  

For the realization of the motion of a robot holding an object out to a human, which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristics of the robot using voice instruction. Acurved path is considered as an adjustable characteristic of the motion in addition to the conventional characteristics such as velocityprofile, maximum velocity, and receiving point. The effectiveness of introducing the curved path is discussed in this research. Thecurved path is characterized by two parameters: one is the offset, which is maximum deflection from straight path, and the other is theposition of the offset. These parameters can be adjusted by the human using the voice instruction. It is clarified from the actualparameter adjustment by human subjects that the curved path is one of the important characteristics affecting human psychology, andthe desirable values of the offset and the position of the offset show individual differences.

DOI： 10.5057/jjske.8.207

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this research, an interface to instruct robots by the movement of the human head is presented. In the proposed interface, a robot moves in cooperation with the movement of the human head. The intersection point between the extension line of the head direction and a plane on which robots work is regarded as the instruction point and an interface system in which the robot follows the movement of the instruction point is constructed. In addition, the "Kansei" transfer function is introduced with its input being the instruction point and output being the reference point of the robot motion so that the cooperative movement of the robot can be smooth and acceptable to human psychology. The parameters of the "Kansei" transfer function are determined by the relative position of the robot to the human, and the distribution of the desirable parameters is expressed using B-spline surface. The effectiveness of the proposed interface is confirmed through the experiments.

DOI： 10.5057/ER080310-2

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. The human&apos;s cooperative movement and support movement have changes in the generated trajectory with cherishing a desire. In this research, we propose an algorithm to generate the handing motion of the hander with psychological intention. The utility of the proposed algorithm is examined by adapting to the actual arm robot and by evaluating the generated motion psychologically.

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DOI： 10.20965/jrm.2008.p0650

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

The characteristics of velocity adjustment, in response to instruction using degree adverbs, were examinedfrom the viewpoints of image and demonstration by human hand point to point motion. It became clear from the survey that imaginative amount of velocity adjustment to the degree adverb changed with the strength that the degree adverb implied. It was experimentally verified that the amount of velocity adjustment in human hand point to point motion also changed with the strength that degree adverb implied, and that the characteristics of velocity profile in point to point motion, that is, the bell-shaped velocity pattern and the velocity peak position in the movement time, did not change with the change of degree adverb. The relationship between the imaginative amount and the demonstrated amount showed almost linear when normalized with the result of "fast".

DOI： 10.5057/jjske2001.7.545

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Other Link： https://jlc.jst.go.jp/DN/JALC/00312570512?from=CiNii

Language：Japanese   Publisher：Japan Society of Kansei Engineering  

The characteristics of velocity adjustment, in response to instruction using degree adverbs, were examinedfrom the viewpoints of image and demonstration by human hand point to point motion. It became clear from the survey that imaginative amount of velocity adjustment to the degree adverb changed with the strength that the degree adverb implied. It was experimentally verified that the amount of velocity adjustment in human hand point to point motion also changed with the strength that degree adverb implied, and that the characteristics of velocity profile in point to point motion, that is, the bell-shaped velocity pattern and the velocity peak position in the movement time, did not change with the change of degree adverb. The relationship between the imaginative amount and the demonstrated amount showed almost linear when normalized with the result of &quot;fast&quot;.

DOI： 10.5057/jjske2001.7.545

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Language：Japanese   Publisher：一般社団法人日本機械学会  

In this study, we propose an object-handing robot system with a multimodal human-machine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzuy inference in order to take into consideration the ambiguities of human speech.

DOI： 10.1299/kikaic.73.1408

CiNii Books

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Language：Japanese   Publisher：日本人間工学会  

In this study, the authors propose a handing robot system with a human-machine interface which is composed of a speech recognition unit. In this robot system, the motion characteristics of the robot, which are maximum velocity, peak of velocity profile, and handing position, can be adjusted by the voice orders in order to realize the most comfortable motion of the robot. In this human-machine interface, the cooperator can use adverbs in voice orders. This permits the cooperator to realize efficient adjustments, because the adjusting value of each motion characteristics is determined by adverbs. In particular, adjusting values corresponding to adverbs are estimated by fuzzy inference taking the ambiguities of human speech into consideration. Furthermore, the effectiveness of the proposed handing robot system was demonstrated by experiments.

DOI： 10.5100/jje.43.10

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, we propose an object-handing robot system with a multimodal human-machine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzuy inference in order to take into consideration the ambiguities of human speech.

DOI： 10.1299/kikaic.73.1408

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Language：Japanese   Publisher：Japan Ergonomics Society  

In this study, the authors propose a handing robot system with a human-machine interface which is composed of a speech recognition unit. In this robot system, the motion characteristics of the robot, which are maximum velocity, peak of velocity profile, and handing position, can be adjusted by the voice orders in order to realize the most comfortable motion of the robot. In this human-machine interface, the cooperator can use adverbs in voice orders. This permits the cooperator to realize efficient adjustments, because the adjusting value of each motion characteristics is determined by adverbs. In particular, adjusting values corresponding to adverbs are estimated by fuzzy inference taking the ambiguities of human speech into consideration. Furthermore, the effectiveness of the proposed handing robot system was demonstrated by experiments.

DOI： 10.5100/jje.43.10

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Language：English   Publisher：The Society of Instrument and Control Engineers  

A design is presented for acceptable handing motion of arm-robots utilizing a transfer function, that linearly transforms a synchronized trajectory to the hand movement of the receiver which is emotionally acceptable to human psychology. The transfer function is named the "Kansei" transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, an effective method is for robots to make their motions gentle when taking care of humans. First, the human motion of handing an object to another human constrained to a sagittal plane is analyzed and its features are extracted. Then, the possibility of applying the clarified features to the handing motions of a robot is examined. It is found that the movement characteristic of the hander can be approximated by linearly transforming the movements of the receiver, that is, the relationship of the two movements can be expressed by a transfer function. The second order lag element with suitable parameters is sufficient to describe the relationship. The parameters of the transfer function are experimentally determined and the resulting transfer function is tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers are realized by adjusting parameters in the transfer function.

DOI： 10.9746/ve.sicetr1965.43.946

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.402

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

In this study, we propose an object-handing robot system with a multimodal human-machine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate motion of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzzy inference in order to take into consideration the ambiguities of human speech.

DOI： 10.1299/jsmec.49.1033

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.Supplement_380

J-GLOBAL

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

This paper presents a control scheme of pneumatic servo systems for practical use, in which a two-layer neural network is used to construct the inverse system of the plant, and disturbance to the plant is estimated. The influence of the disturbance is eliminated by subtracting the estimated disturbance from the output of the controller. To improve the learning ability of the NN, sigma modification method, which is one of the robust parameter adjusting methods of the robust adaptive control, is introduced. To confirm the effectiveness of the proposed control scheme, experiments using an existent pneumatic servo system were conducted. The experimental results showed that the external force was estimated well by the disturbance estimation mechanism, and the influence of the external force to the plant output was eliminated immediately after the external force was applied. In addition, high-speed learning of NN could be realized using the switching sigma modification method.

DOI： 10.1299/jsmec.49.189

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

Synchronous control Of Mutual position for two vertical-type pneumatic servo systems is discussed for practical use in this study. In the proposed control system, a fuzzy controller is used in each pneumatic servo system so that the output of each plant can follow the reference input. A PD controller is introduced to realize the synchronization of both pneumatic servo systems, in which the outputs from this controller are the inputs for revision to both plants. A fuzzy virtual reference generator that can adjust the reference input to both fuzzy controllers adaptively by fuzzy rules is constructed to improve the transient performances of both axes. In addition, the adjustment controller produces a representative value of both cylinder outputs, which is used to synthesize the inputs to the fuzzy virtual reference generator, in order to reach a compromise between the follow-up ability to the reference input in each axis and synchronization of both axes. The applicability of the proposed method is confirmed by experiments using two existent vertical-type pneumatic servo systems.

DOI： 10.1299/jsmec.49.197

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.39

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.Supplement_380

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

In a handing-over motion from a robot to a human, the robot should be generated a smooth trajectory which is emotionally accepted by human. In this paper, we propose a handing-over robot system based on an approaching trajectory model. In this model, the path is generated by the minimum jerk trajectory with via a point, and the velocity profile is generated using the minimum jerk model. Using this approaching trajectory model, the smooth trajectory of robot is generated. Furthermore, the characteristics of the trajectory which are maximum velocity, peak of velocity profile and shape of path, are adjusted by voice orders in order to realize the most comfortable trajectory of the robot. The effectiveness of the proposed handing-over robot system is demonstrated by the experiments.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

It is expected that robots will play an important role in social welfare and service for the older citizens. These robots should display an emotional aspect to make them more acceptable to humans. Humans shake hands in order to greet each other and display a feeling of closeness. A handshake is the embodied interaction with contact by which humans can directly share embodied rhythms. In this paper, we develop a handshake robot system for embodied interaction. The robot can generate the handshake approaching motion that is acceptable to human emotion by using secondary delay elements from the trajectory of a human hand. The effectiveness of this handshake robot is demonstrated by sensory evaluation. © 2006 IEEE.

DOI： 10.1109/ROMAN.2006.314484

Scopus

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

A design of acceptable handing motion of arm-robots utilizing a transfer function, which is linearly transforming a synchronized trajectory of hand movement of receiver to the emotionally acceptable one for human minds, is presented. The transfer function was named as "Kansei"transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, it is one of the effective methods for the robots to make its motion gentle when taking care of humans. First, human motion of handing an object to another human constrained in the vertical plane was analyzed and its features were extracted. Then, possibility of applying the clarified features to handing motions of a robot was examined. It was found that the movement characteristic of the hander could be approximated by linearly transforming the movement of the receiver, that is, the relationship of those two movements can be expressed by a transfer function. The second order lag element with suitable parameters was sufficient to describe the relationship. The parameters of the transfer function were experimentally determined and the resulting transfer function was tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers on Kansei basis are realized by adjusting parameters in the transfer function.

DOI： 10.5057/jjske2001.6.2_79

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JALC/00287563199?from=CiNii

Language：Japanese   Publisher：Japan Society of Kansei Engineering  

A design of acceptable handing motion of arm-robots utilizing a transfer function, which is linearly transforming a synchronized trajectory of hand movement of receiver to the emotionally acceptable one for human minds, is presented. The transfer function was named as &quot;Kansei&quot;transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, it is one of the effective methods for the robots to make its motion gentle when taking care of humans. First, human motion of handing an object to another human constrained in the vertical plane was analyzed and its features were extracted. Then, possibility of applying the clarified features to handing motions of a robot was examined. It was found that the movement characteristic of the hander could be approximated by linearly transforming the movement of the receiver, that is, the relationship of those two movements can be expressed by a transfer function. The second order lag element with suitable parameters was sufficient to describe the relationship. The parameters of the transfer function were experimentally determined and the resulting transfer function was tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers on Kansei basis are realized by adjusting parameters in the transfer function.

DOI： 10.5057/jjske2001.6.2_79

CiNii Books

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Language：Japanese   Publisher：一般社団法人日本機械学会  

In this paper, we propose a recognition method combining three-dimensional CAD information with image processing. In this recognition method, images are made from three-dimensional CAD figures by rendering, which is processed using the practical position of a light source and reflectance of an object. Then the object is recognized by comparing input images taken from a CCD camera with the images, which are made from three-dimensional CAD information. In particular, this recognition method can recognize similar objects, which have different shapes of holes in the same position and different surface curvatures, because it compares the surface information of the object with that of the three-dimensional CAD figure.

DOI： 10.1299/kikaic.71.2233

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：日本人間工学会  

DOI： 10.5100/jje.41.57

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

DOI： 10.5057/jjske2001.5.2_37

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose a recognition method combining three-dimensional CAD information with image processing. In this recognition method, images are made from three-dimensional CAD figures by rendering, which is processed using the practical position of a light source and reflectance of an object. Then the object is recognized by comparing input images taken from a CCD camera with the images, which are made from three-dimensional CAD information. In particular, this recognition method can recognize similar objects, which have different shapes of holes in the same position and different surface curvatures, because it compares the surface information of the object with that of the three dimensional CAD figure.

DOI： 10.1299/kikaic.71.2233

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Language：Japanese   Publisher：Japan Ergonomics Society  

This study proposes a handing over robot system in which motion characteristic of the robot can be adjusted easily by a cooperator using human hand signs. In this robot system, motion characteristics of the robot, such as maximum velocity, peak of velocity profile and handing position, are ordered with shape of the cooperator&#039;s hand. In addition, adjusting values of these characteristics are ordered with the moved distance of the cooperator&#039;s hand. In particular, the cooperator can estimate adjusting values with the experientially acquired motion by applying fuzzy inference to determination of adjusting values. Using these human hand signs, the cooperator can easily adjust the motion characteristics of the robot to be the most comfortable for his or her individual preferences.

DOI： 10.5100/jje.41.57

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INT INST INFORMATICS & SYSTEMICS  

The robots that supports human cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robot to make the gentle movement to take care of others. In this report, it is paid attention to the movement that a robot hands an object to the human in accordance with the human movement. First of all, the analysis of the handing motion between two humans in 3-dimensional space was conducted, and its feature is considered. Then, the possibility of the application of the clarified feature to the robot movement was examined. It was found that the movement characteristic of the hander could be approximated by changing the movement of the receiver using linear transformation (that is, it can be expressed by a transfer function). Obtained transfer function could be expressed with a second order lag element. Next, the handing motion from the robot to the human was carried out based on the same form as the experimentally clarified transfer function under several parameter values. As the results, human acceptable but specific features were caused in the handing motions of the robot by changing the parameters, and it was confirmed that the motion can give human different impressions. This transfer function was named "KANSEI" transfer function.

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：INT INST INFORMATICS & SYSTEMICS  

In this study, we propose a handing robot system with a human-machine interface which is composed a speech recognition and an image processing. Using this human-machine interface, cooperator can order to the handing robot system using voice orders and human hand gestures. In this robot system, motion characteristics of the robot, which are maximum velocity, peak of velocity profile and handing position, can be adjusted by the cooperator's voice. Further, cooperator can order handing objects using the voice orders with hum hand gestures. In these voice orders, the cooperator can use adverbs. Using adverbs, the cooperator can realize efficient adjustments, because the adjusting value of each motion characteristics is determined by adverbs. In particular, adjusting values corresponding to adverbs are estimated using a fuzzy inference in order to consider ambiguities of humans.

Web of Science

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

In an interface that enables an intelligent machine to bring a thing to a human in response to the human's manipulation, the intelligent machine's approaching motion is required to take account of the human's state of mind to serve effectively as his or her companion. In this paper, the patterns of intelligent machine motion are determined by adopting transfer functions that consider finger position directing operation to input, the target positions of intelligent machine to output. By changing transfer function or adjustable parameters, different human psychological influences are expected. Motion properties of the intelligent machine, which is appropriate for human states of mind, are examined using SD method. As a result, it is clarified that human emotions to the intelligent machine motion are represented by the factor of "mild". In addition, two patterns of transfer function and parameter that can form desirable movements considering human psychology are identified.

DOI： 10.5057/jjske2001.4.2_1

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：一般社団法人日本機械学会  

In this paper, we construct a handing over robot system with consideration of individual preferences. In this robot system, a cooperator can adjust motion characteristics of the robot to satisfy his or her individual preferences. The robot recognizes the shape of the cooperator&#039;s hand as the order using image processing. Then, the robot changes the motion characteristics according to the cooperator&#039;s order. By accomplishing the adjustments, the handing over motion of the robot becomes the most comfortable for the cooperator. Experimental results using this robot system show that there are remarkable individual differences in the motion characteristics, which are satisfied cooperator&#039;s individual preferences. Thus, the effectiveness of this handing over robot system, in which the cooperator can adjust motion characteristic of the robot, has been confirmed.

DOI： 10.1299/kikaic.70.1107

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：一般社団法人日本機械学会  

A pneumatic servo-system has essentially non-linear elements such an compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. On the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause and consequent clause in the fuzzy controller are optimized by the genetic algorithm. In this method, it is possible to realize excellent control performance, because the antecedent clause and consequent clause in the fuzzy controller are optimized simultaneously. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.

DOI： 10.1299/kikaic.70.700

CiNii Books

J-GLOBAL

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Publisher：Japan Society of Kansei Engineering  

When intelligent machines coexist with humans, it is important that the intelligent machine&#039;s movement in response to human instruction is acceptable by the human state of mind. When a human instructs an intelligent machine with his or her finger, we focus on a simple and easy interface via which conversion of the finger indication to intelligent machine motion is realized by a transfer function. In this paper, we evaluate relations between the transfer functions and human feelings using Semantic Differential method. The results of the SD method show that there are typical forms of transfer functions and parameters to generate comfortable motion for humans. Desirable transfer functions are the first-order or the second-order delay elements in which the parameters must be chosen so that the maximum velocity of generated intelligent machine motion exists in the range of 71-77% of the maximum velocity of instruction movement. In addition, human feelings to the intelligent machine motion generated by human instructions are represented by the factors of &quot;lively&quot;, &quot;mild&quot;, and &quot;interest&quot;.

DOI： 10.5057/kei.5.1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A pneumatic servo-system has essentially non-linear elements such an compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. On the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause and consequent clause in the fuzzy controller are optimized by the genetic algorithm. In this method, it is possible to realize excellent control performance, because the antecedent clause and consequent clause in the fuzzy controller are optimized simultaneously. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.

DOI： 10.1299/kikaic.70.700

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

We propose a handing robot system with a man-machine interface which are composed voice recognition and image processing. In this man-machine interface, cooperator can order to the handing robot system using orders by voice and human hand gestures. In this robot system, motion characteristics of the robot, which are maximum velocity, peak position of velocity and handing position, can be adjusted by the cooperator's voice. Further, cooperator can order handing objects are ordered by the voice with hand gestures. In these orders by voice, the cooperator can use adverbs. Using adverbs, the cooperator can realize effective adjustments, because adjusting value of each motion characteristics is determined by adverbs. Therefore, this robot system reduces a burden of human and can be still more human friendly.

Web of Science

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we construct a handing over robot system with consideration of individual preferences. In this robot system, a cooperator can adjust motion characteristics of the robot to satisfy his or her individual preferences. The robot recognizes the shape of the cooperator&#039;s hand as the order using image processing. Then, the robot changes the motion characteristics according to the cooperator&#039;s order. By accomplishing the adjustments, the handing over motion of the robot becomes the most comfortable for the cooperator. Experimental results using this robot system show that there are remarkable individual differences in the motion characteristics, which are satisfied cooperator&#039;s individual preferences. Thus, the effectiveness of this handing over robot system, in which the cooperator can adjust motion characteristic of the robot, has been confirmed.

DOI： 10.1299/kikaic.70.1107

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

In an interface that enables an intelligent machine to bring a thing to a human in response to the human&#039;s manipulation, the intelligent machine&#039;s approaching motion is required to take account of the human&#039;s state of mind to serve effectively as his or her companion. In this paper, the patterns of intelligent machine motion are determined by adopting transfer functions that consider finger position directing operation to input, the target positions of intelligent machine to output. By changing transfer function or adjustable parameters, different human psychological influences are expected. Motion properties of the intelligent machine, which is appropriate for human states of mind, are examined using SD method. As a result, it is clarified that human emotions to the intelligent machine motion are represented by the factor of &quot;mild&quot;. In addition, two patterns of transfer function and parameter that can form desirable movements considering human psychology are identified.

DOI： 10.5057/jjske2001.4.2_1

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

We construct a handing over robot system with consideration of individual preferences. In this robot system, a human (cooperator) can adjust motion characteristics of planar two-degrees-of-freedom robot to satisfy his or her individual preferences. The robot recognizes the shape of the cooperator's hand as the order using image processing. Then, the robot changes the motion characteristics, such as the maximum velocity, the position of the velocity peak, the handing over position and the initial position, according to the cooperator's order (that is preference). By accomplishing the adjustments, the handing over motion of the robot will become the most comfortable for the cooperator. Furthermore, this proposed robot system uses a bell-shaped velocity pattern based on the minimum jerk model, which can reproduce the point-to-point motion of human hands. Therefore, the motion of this robot becomes similar to human's hand motion, and a more human friendly robot can be realized.

DOI： 10.1299/jsmec.46.1075

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Language：English   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

In the planning of robots, the avoidance of humans working in the same work space, considering human emotions, was examined experimentally. We adopt the control law that the robot's evasive motion should follow the motion of an approaching human hand at a constant interval (referred to as the following distance). First, the relationship between human emotions and the motion parameters of robots (that is, the following distance and velocity of motion in the task direction) were experimentally clarified first using the rating scale method. The results show that appropriate combinations of motion parameters exist, and that the emotion "Pleasant" was representative of the emotions. Second, the control law of the robot's avoidance motion, in which the following distance is adjusted based on fuzzy inference with respect to the emotion "Pleasant", was proposed. The effectiveness of the proposed method was experimentally confirmed using an existing two-degree-of-freedom robot.

DOI： 10.1299/jsmec.46.270

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A pneumatic servo-system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. 0n the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause in the fuzzy controller is optimized by the genetic algorithm. In the genetic algorithm, a penalty function which regulates an excessive overshoot and a vibration of the plant output is proposed. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.

DOI： 10.1299/kikaic.69.69

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：一般社団法人日本機械学会  

A pneumatic servo-system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. 0n the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause in the fuzzy controller is optimized by the genetic algorithm. In the genetic algorithm, a penalty function which regulates an excessive overshoot and a vibration of the plant output is proposed. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.

DOI： 10.1299/kikaic.69.69

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Synchronized control of mutual position for two vertical type pneumatic servo systems is discussed from the viewpoint of practical use in this study. In the proposed control system, fuzzy controller is used in each pneumatic servo system to follow the reference input. An adjustment controller is constructed in synthesizing the input to a fuzzy virtual reference generator to consider the difference in characteristics of the both axes. A PD controller is introduced to realize the synchronization of both pneumatic servo systems, in which the outputs are the inputs of revision to both plants. The fuzzy virtual reference generator that can adjust the reference input to both fuzzy controllers adaptively by fuzzy rules is constructed to improve the control performances of both axes. The applicability of the proposed method is confirmed by experiments using existent vertical type pneumatic servo systems.

DOI： 10.1299/kikaic.68.3612

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：一般社団法人日本機械学会  

When robots coexist with humans, it is important that robot&#039;s movement in response to human instruction is acceptable for human state of mind. When human gives instructions to a robot with his or her finger, we pay attention to a simple and easy interface in which conversion of finger indication to robot&#039;s motion is realized by a transfer function. In this paper, we evaluate relations between the transfer functions and human emotions using SD method. The results, of SD method show that there are typical forms of transfer functions and parameters to generate comfortable motion for human. Desirable transfer functions are the first or the second order lag elements in which the parameters must be chosen so that the maximum velocity of generated robot motion exists in the range of 71-77% of the maximum velocity of instruction movement. In addition, human emotions to the robot motion generated by human indication are represented by the factors of &quot;lively&quot;, &quot;mild&quot;, and &quot;interest&quot;.

DOI： 10.1299/kikaic.68.3697

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

When robots coexist with humans, it is important that robot&#039;s movement in response to human instruction is acceptable for human state of mind. When human gives instructions to a robot with his or her finger, we pay attention to a simple and easy interface in which conversion of finger indication to robot&#039;s motion is realized by a transfer function. In this paper, we evaluate relations between the transfer functions and human emotions using SD method. The results, of SD method show that there are typical forms of transfer functions and parameters to generate comfortable motion for human. Desirable transfer functions are the first or the second order lag elements in which the parameters must be chosen so that the maximum velocity of generated robot motion exists in the range of 71-77% of the maximum velocity of instruction movement. In addition, human emotions to the robot motion generated by human indication are represented by the factors of &quot;lively&quot;, &quot;mild&quot;, and &quot;interest&quot;.

DOI： 10.1299/kikaic.68.3697

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：一般社団法人日本機械学会  

Synchronized control of mutual position for two vertical type pneumatic servo systems is discussed from the viewpoint of practical use in this study. In the proposed control system, fuzzy controller is used in each pneumatic servo system to follow the reference input. An adjustment controller is constructed in synthesizing the input to a fuzzy virtual reference generator to consider the difference in characteristics of the both axes. A PD controller is introduced to realize the synchronization of both pneumatic servo systems, in which the outputs are the inputs of revision to both plants. The fuzzy virtual reference generator that can adjust the reference input to both fuzzy controllers adaptively by fuzzy rules is constructed to improve the control performances of both axes. The applicability of the proposed method is confirmed by experiments using existent vertical type pneumatic servo systems.

DOI： 10.1299/kikaic.68.3612

CiNii Books

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Language：Japanese   Publisher：一般社団法人日本機械学会  

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes a non-linear auto-tuning controller for a pneumatic servo system. The pneumatic servo system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. Therefore, we propose a two-degress-of-freedom control system in which a non-linearity is compensated by neural networks. This proposed control system uses two controllers. One is a reverse system controller, which improves the tracking performance for the reference input, and the other is a feedback controller, which restrains the non-linear disturbance input. In particular, the reverse system controller identifies the plant automatically by a two layers neural network, and the feedback controller compensates for the non-linearity with a three layers neural network. Further, the effectiveness of the proposed control system is confirmed by experiments using the existent pneumatic servo system.

DOI： 10.1299/kikaic.68.2053

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J-GLOBAL

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Language：Japanese   Publisher：一般社団法人日本機械学会  

This paper describes a non-linear auto-tuning controller for a pneumatic servo system. The pneumatic servo system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. Therefore, we propose a two-degress-of-freedom control system in which a non-linearity is compensated by neural networks. This proposed control system uses two controllers. One is a reverse system controller, which improves the tracking performance for the reference input, and the other is a feedback controller, which restrains the non-linear disturbance input. In particular, the reverse system controller identifies the plant automatically by a two layers neural network, and the feedback controller compensates for the non-linearity with a three layers neural network. Further, the effectiveness of the proposed control system is confirmed by experiments using the existent pneumatic servo system.

DOI： 10.1299/kikaic.68.2053

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a control scheme for pneumatic servo system for a practical use, in which a neural network is used to estimate disturbances caused by non-linearity of the system. In the proposed control scheme, the inverse system is directly constructed by the neural network based on an approximated linear model of the plant, which is given as known information. The estimation of the disturbances is realized by subtracting the output signal of the controller from the output signal of the neural network. The effectiveness of the proposed control scheme is confirmed by experiments carried out using the existent pneumatic servo system for practical use. That is, stable output response and excellent positioning accuracy are realized in spite of the substantial non-linearity of the plant.

DOI： 10.1299/kikaic.68.1834

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Language：Japanese   Publisher：一般社団法人日本機械学会  

This paper presents a control scheme for pneumatic servo system for a practical use, in which a neural network is used to estimate disturbances caused by non-linearity of the system. In the proposed control scheme, the inverse system is directly constructed by the neural network based on an approximated linear model of the plant, which is given as known information. The estimation of the disturbances is realized by subtracting the output signal of the controller from the output signal of the neural network. The effectiveness of the proposed control scheme is confirmed by experiments carried out using the existent pneumatic servo system for practical use. That is, stable output response and excellent positioning accuracy are realized in spite of the substantial non-linearity of the plant.

DOI： 10.1299/kikaic.68.1834

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

A learning method for acquiring the appropriate fuzzy rules using error back propagation to improve the control performance of the pneumatic servo system is presented in this paper. In h proposed method, two criteria are defined and are adjusted so as to minim ze em using error back propagation. These criteria are defined on the fuzzy rules, that is, shapes of membership functions of antecedent clause and real values of consequent clause in the fuzzy controller. Two differentiating coefficients of the plant, used in error back propagation with respect to those criteria, are estimated by the newly established neural network. Moreover, sigmoid function is introduced for the connection of the neural network to compensate for the effect of non-linearity of the system. The method was applied to an existent vertical type pneumatic servo system and proved its effectiveness for practical use.

DOI： 10.1299/jsmec.45.449

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

We propose a handing robot system whose motion characteristic can be adjusted easily by a cooperator using human hand gestures. In this robot system, motion characteristics of the robot, which are maximum velocity, peak position of velocity and handing position, are ordered by shape of the cooperator's hand. Further, adjusting values of these characteristics are ordered by a moved distance of the cooperator's hand. Using these human hand gestures, the cooperator can adjust easily the motion characteristic of the robot to the most comfortable for own emotion. In particular, fuzzy inference is applied for determination of adjusting values. Therefore, the cooperator can estimate adjusting values by an experiential moved motion.
In this proposed handing robot system, the cooperator can complete the adjustment in a short time. Therefore, this robot system reduces a burden of human and can be still more human friendly.

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Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

Avoidance plannings of robots considering human emotions are discussed in this paper. When a robot avoids a human in the same workspace, two conditions should be satisfied in the avoidance motion. That is, the robot should keep desirable distance to the human and the motion trajectory should have smooth profiles, which gives human good impressions. From this point of view, a simple control rule of a robot in which the robot follows human motion keeping a desirable distance (following distance) is adopted first. Relation between the following distance and task speed of the robot, and human emotion is psychologically evaluated using a two dimensional robot. Next, an improved control method in which the results of the psychological evaluation are used for determining the following distance is considered using fuzzy inference. The effectiveness of the control method is experimentally clarified.

DOI： 10.5687/iscie.13.12_545

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

We propose a handing robot system whose motion characteristic can be adjusted easily by a cooperator. in this robot system, an image processing is used as a man-machine interface. The robot recognizes the shape of the cooperator's hand as the order and changes motion characteristics as follows. Firstly, the characteristics of the cooperator's hand using the contour are recognized by the image processing. Nest, the shape of the cooperator's hand as the order is recognized by these characteristics. Finally, the robot changes motion characteristics, that is. the maximum velocity, the position of the velocity peak and the initial position by the cooperator's order. Further. the handing position is determined by the position of the cooperator's hand. Therefore, the cooperator can adjust the motion characteristic to the most comfortable for own emotion.
This proposed robot system uses a bell shaped velocity pattern based on the minimum jerk model which can reproduce point-to-point motion of human hands. Therefore, the motion of this robot becomes like human's and the robot can be still more human friendly.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：一般社団法人日本機械学会  

We experimentally analyzed the motion that human try to stop an object accelerated by gravity with his or her hand as smooth as possible. The trajectories of human hand motion observed in the experiments were reproducible and showed smooth profiles after the sufficient attempts. Changes in softness of human hand in the attempt were approximated by variable impedance model. The approximated changes of impedance parameters were divided into three phases, in which human changes his or her control modes. Moreover, human control performance was investigated from the view point of passivity. The results showed that the system was passive throughout the motion, and that the profiles of the passivity showed bell-shaped, which is peculiar to human smooth control performances. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.188

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

For the coexistence of human and robots, it is important for robots to have not only a physical safe but also a psychological safe. When we consider avoidance motion of robots from an unexpected human approach, it is necessary for robots to have comfortable motion that can ease a psychological burden. In this research, we adopt a control strategy in which a robot follows human motion at an interval of desirable distance in front of the human firstly. Next, we evaluate human emotions to the avoidance motion of the robot that follows the strategy using SD method. The results of SD method show that the adopted control strategy is excellent when the distance and motion speed of given task are appropriate simultaneously, and that human emotions to the avoidance motion are represented by the factors of “speed” and “agreeability”. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.3366

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

We experimentally analyzed the motion that human try to stop an object accelerated by gravity with his or her hand as smooth as possible. The trajectories of human hand motion observed in the experiments were reproducible and showed smooth profiles after the sufficient attempts. Changes in softness of human hand in the attempt were approximated by variable impedance model. The approximated changes of impedance parameters were divided into three phases, in which human changes his or her control modes. Moreover, human control performance was investigated from the view point of passivity. The results showed that the system was passive throughout the motion, and that the profiles of the passivity showed bell-shaped, which is peculiar to human smooth control performances. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.188

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：一般社団法人日本機械学会  

For the coexistence of human and robots, it is important for robots to have not only a physical safe but also a psychological safe. When we consider avoidance motion of robots from an unexpected human approach, it is necessary for robots to have comfortable motion that can ease a psychological burden. In this research, we adopt a control strategy in which a robot follows human motion at an interval of desirable distance in front of the human firstly. Next, we evaluate human emotions to the avoidance motion of the robot that follows the strategy using SD method. The results of SD method show that the adopted control strategy is excellent when the distance and motion speed of given task are appropriate simultaneously, and that human emotions to the avoidance motion are represented by the factors of “speed” and “agreeability”. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.3366

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Language：Japanese   Publisher：一般社団法人日本機械学会  

The performance of a pneumatic servo-system is affected by compressibility of air, friction between cylinder and piston. Due to these non-linear factors, it would be difficult to accomplish the satisfactory control performance by using PID or adaptive control theory. Fuzzy control is one of effective control theory for such non-linear plant. However, synthesis of fuzzy rule including stability has not been well established yet. On the contrary, Neural network is excellent in learning performance. In this paper, we consider a learning method to acquire the appropriate fuzzy rules using error back propagation to improve control performance of pneumatic servo system. In the method, two criterions are defined and the fuzzy rules are adjusted so as to minimize them respectively using error back propagation. Moreover, differentiating coefficient of the plant used in error back propagation is acquired by newly established neural network. The method is applied to the vertical type pneumatic servo systems to prove it&#039;s effectiveness.

DOI： 10.1299/kikaic.65.1476

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The pneumatic servo-system has non-linear elements such as compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plant. However, the conventional fuzzy control has troubles in the shortage of adaptability and learning ability. Moreover, it seems difficult to attain the satisfactory control performance only by using the qualitative information of the plant. In this paper, we propose the new control scheme with fuzzy inference. In the proposed method, we compose the controller with the linear approximate model of the plant, which is one of the available information of the plant. In addition, the unknown controller parameters are identified by the fuzzy identifier and the shape of the membership function is automatically tuned to consider the effect of non-linearity. The effectiveness of the proposed scheme is confirmed by experiments using the existent pneumatic servo-system. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.65.4737

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：一般社団法人日本機械学会  

The pneumatic servo-system has non-linear elements such as compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plant. However, the conventional fuzzy control has troubles in the shortage of adaptability and learning ability. Moreover, it seems difficult to attain the satisfactory control performance only by using the qualitative information of the plant. In this paper, we propose the new control scheme with fuzzy inference. In the proposed method, we compose the controller with the linear approximate model of the plant, which is one of the available information of the plant. In addition, the unknown controller parameters are identified by the fuzzy identifier and the shape of the membership function is automatically tuned to consider the effect of non-linearity. The effectiveness of the proposed scheme is confirmed by experiments using the existent pneumatic servo-system. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.65.4737

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The performance of a pneumatic servo-system is affected by compressibility of air, friction between cylinder and piston. Due to these non-linear factors, it would be difficult to accomplish the satisfactory control performance by using PID or adaptive control theory. Fuzzy control is one of effective control theory for such non-linear plant. However, synthesis of fuzzy rule including stability has not been well established yet. On the contrary, Neural network is excellent in learning performance. In this paper, we consider a learning method to acquire the appropriate fuzzy rules using error back propagation to improve control performance of pneumatic servo system. In the method, two criterions are defined and the fuzzy rules are adjusted so as to minimize them respectively using error back propagation. Moreover, differentiating coefficient of the plant used in error back propagation is acquired by newly established neural network. The method is applied to the vertical type pneumatic servo systems to prove it&#039;s effectiveness.

DOI： 10.1299/kikaic.65.1476

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

For the coexistence of human and robots, psychological safety of human beings must be considered in the robot's movement of the avoidance for the unexpected human approaches. The robot's movement of the avoidance must be reassuring and acceptable for human and must not have rapid and abrupt changes, which give human fright and horror. In order to realize the robot's avoidance motion taking human emotions into account, it is necessary to evaluate human emotions against the robot's motions and to be converted to the strategy of robot's control. The fuzzy control based on the fuzzy evaluation is one of effective method to realize them. In the fuzzy evaluation, the results of the subjective evaluation such as the rating scale method are directly converted to fuzzy control rules. The effectiveness of the proposed method is confirmed by the experiments using the existent two-degrees of freedom robot.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PERGAMON PRESS LTD  

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Language：Japanese   Publisher：一般社団法人日本機械学会  

In this study, the robot system which follows the movement of the human hand is suggested. In the system, the movement of the human hand is obtained using the Kinect sensor, and the three-dimensional position of the human hand is send to the robot. The robot generates the reference trajectory based on the position which has been sent from the Kinect sensor. The position of the human hand is converted into the smooth motion using KANSEI transfer function as the reference position, and the robot follows the smooth reference position. As a result, the system which followed the movement of the hand smoothly is realized.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

本研究では,直交する交差軌道上における移動ロボットの人間との衝突回避運動に着目し,人間心理に好ましい運動生成について検討する.ロボットの回避運動生成は,軌道変化を伴わず,通常速度からの等加速度減速および交差点手前での停止を有する速度変化により行われる.このときの停止距離と減速時の加速度に注目し,移動ロボットの運動が人間に与える印象の変化を調べ,人間心理に好ましい回避運動を検討する.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

Robots that share workspaces with human are expected in the field of services in the home and office, medicine, and so on. In this research, the neck movement was used for as instructions method for the robot. Furthermore, &quot;KANSEI&quot; transfer function is introduced to convert human instructions into acceptable movement for human emotions. Here, it is thought that the parameter of &quot;KANSEI&quot; transfer function is related to the moving direction and relative position between a human and the robot. The parameter values of the &quot;KANSEI&quot; transfer function is adjusted based on the moving direction and the relative position between human and the robot.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

A robot system cooperation with human instruction using finger movement is proposed in this research. A two-dimensional robot moves in cooperating with the motion of human finger which corresponds to the instruction by a human to move the robot in the system. By adopting this method, smooth movement trajectory of human finger can be reflected to the motion characteristics of the robot, which is acceptable to human psychology, and the motion trajectory of the robot can adjusted by the human arbitrary in real time. Four modes are considered to make this proposed system more practical one as follows. Mode 1 is implementation of cooperating movement, mode 2 is interrupt of the cooperating motion, mode 3 is adjustment of the gain between the movement of the finger and the movement of the robot, and mode 4 is initialization of the size of the gain.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

For the realization of handing motion of a robot which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristic of the robot by using voice and gesture of hand. In particular, we discuss desirable path of handing motion of the robot. A fluent curved line like human generates in handing motion is considered as a candidate of path of the robot. Both the maximum amount of offset from the straight line between the initial position and the handing position and the position where the maximum offset occurs in the fluent curved line are determined as the parameters that human can adjust. The effectiveness of adopting the fluent curved line is examined experimentally and the appropriate value of those two parameters are clarified.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

Robots should move as being accepted emotionally to support human cooperatively. To form such a movement, it is one of the effective methods for the robots to make the gentle movement when cooperating with humans. In this paper, it is paid attention to the movement that a human-similar robot arm hands an object to a human cooperatively. In an interface that enables the robot arm to hand a thing to a human in response to the human hand approaching motion to receive it, &quot;Kansei&quot; controller is introduced to make &quot;Kansei&quot; transfer function between human hand movement and movement of the end-effecter of the arm robot have desired ability which can generate acceptable handing motion to human psychology.

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Language：Japanese   Publisher：一般社団法人日本機械学会  

CiNii Books

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Language：Japanese   Publisher：一般社団法人日本機械学会  

ロボットと人間の手渡し運動を考えた時, 人間がロボットの手渡し運動に対して心地よいと感じる運動特性には個人差があるため, 人間が自ら音声指示によりロボットの動作特性を調整し, 個人にとって好ましい運動特性を実現するためのシステム構築した。

DOI： 10.11511/jacc.46.0.687.0

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本研究では,直交する交差軌道上における移動ロボットの人間との衝突回避運動に着目し,人間心理に好ましい運動生成について検討する.ロボットの回避運動生成は,軌道変化を伴わず,通常速度からの等加速度減速および交差点手前での停止を有する速度変化により行われる.このときの停止距離と減速時の加速度に注目し,移動ロボットの運動が人間に与える印象の変化を調べ,人間心理に好ましい回避運動を検討する.

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In order for a robot to co-exist and operate with humans, not only must the robot be safe for the humans but it must perform comfortable motions. In this research, we had humans and robots cross operating paths and focused on avoidance motions at the places where the two would collide had they been allowed to continue. At this time, we considered having only the robot avoid the collision by slowing and/or stopping. Evaluation experiments were conducted using computer graphics to clarify the affects that the distance between humans and robots and the acceleration of the robot.

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In this study, the robot system which follows the movement of the human hand is suggested. In the system, the movement of the human hand is obtained using the Kinect sensor, and the three-dimensional position of the human hand is send to the robot. The robot generates the reference trajectory based on the position which has been sent from the Kinect sensor. The position of the human hand is converted into the smooth motion using KANSEI transfer function as the reference position, and the robot follows the smooth reference position. As a result, the system which followed the movement of the hand smoothly is realized.

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Robots that share workspaces with human are expected in the field of services in the home and office, medicine, and so on. In this research, the neck movement was used for as instructions method for the robot. Furthermore, "KANSEI" transfer function is introduced to convert human instructions into acceptable movement for human emotions. Here, it is thought that the parameter of "KANSEI" transfer function is related to the moving direction and relative position between a human and the robot. The parameter values of the "KANSEI" transfer function is adjusted based on the moving direction and the relative position between human and the robot.

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Language：Japanese  

A robot system cooperation with human instruction using finger movement is proposed in this research. A two-dimensional robot moves in cooperating with the motion of human finger which corresponds to the instruction by a human to move the robot in the system. By adopting this method, smooth movement trajectory of human finger can be reflected to the motion characteristics of the robot, which is acceptable to human psychology, and the motion trajectory of the robot can adjusted by the human arbitrary in real time. Four modes are considered to make this proposed system more practical one as follows. Mode 1 is implementation of cooperating movement, mode 2 is interrupt of the cooperating motion, mode 3 is adjustment of the gain between the movement of the finger and the movement of the robot, and mode 4 is initialization of the size of the gain.

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Language：Japanese  

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Robots should move as being accepted emotionally to support human cooperatively. To form such a movement, it is one of the effective methods for the robots to make the gentle movement when cooperating with humans. In this paper, it is paid attention to the movement that a human-similar robot arm hands an object to a human cooperatively. In an interface that enables the robot arm to hand a thing to a human in response to the human hand approaching motion to receive it, "Kansei" controller is introduced to make "Kansei" transfer function between human hand movement and movement of the end-effecter of the arm robot have desired ability which can generate acceptable handing motion to human psychology.

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Language：Japanese  

For the realization of handing motion of a robot which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristic of the robot by using voice and gesture of hand. In particular, we discuss desirable path of handing motion of the robot. A fluent curved line like human generates in handing motion is considered as a candidate of path of the robot. Both the maximum amount of offset from the straight line between the initial position and the handing position and the position where the maximum offset occurs in the fluent curved line are determined as the parameters that human can adjust. The effectiveness of adopting the fluent curved line is examined experimentally and the appropriate value of those two parameters are clarified.

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ロボットと人間の手渡し運動を考えた時, 人間がロボットの手渡し運動に対して心地よいと感じる運動特性には個人差があるため, 人間が自ら音声指示によりロボットの動作特性を調整し, 個人にとって好ましい運動特性を実現するためのシステム構築した。

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<p>An algorithm for a mobile robot that avoids collision with humans by slowing down and stopping in L-shaped corner is constructed in this research. First, experiments of collision avoidance of a human with another human while walking in an L-shaped corner are conducted, and the characteristic of avoidance behavior of the human is analyzed. We propose a collision avoidance motion of the mobile robot based on the results. Experiments in which a mobile robot avoids collision with a human and the human evaluates the generated motion of the robot using psychological evaluation are conducted. The effectiveness of the proposed method is clarified from psychological aspects.</p>

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In this paper, we propose a human-machine interface which is used to adjust motion characteristics for a handing-over robot system to supply parts. Firstly, a prototype handing-over robot system in which cooperator can adjust motion characteristics of the robot by a human-machine interface using speech recognition, is developed. Using this robot system, differences between motion characteristics of immature and master cooperators, is analyzed. From the analysis, we propose a human-machine interface with consideration of the difference. Further a handing-over robot system which is adapted the proposed human-machine interface, is developed. The effectiveness of the proposed human-machine interface is demonstrated by evaluation.

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In this research focuses on the development of a supporter for osteoarthritis of the knee. At first, as approach of this study, the movement of the knee joint of a healthy person is measured. From provided measurement data, the movement of the general knee joint is modelled. A model with 3 degree-of-freedom is used to reproduce the rotation generated in synchronism with the operation to stretch or bend the knee. Based on a provided model, the supporter reproducing the movement of the general knee joint is designed. In order to reproduce the complex movement of rotation movement to synchronization with the flexion and extension of the knee, the mechanism using the curve-shaped cylinders are suggested. It was confirmed that the movement of the general knee joint could reappear by a designed supporter by simulation using the 3D CAD.

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