TY - GEN
T1 - An approach to air pressure interface for position control of manipulator
AU - Amma, Yuwa
AU - Murakami, Toshiyuki
N1 - Funding Information:
This work was supported in part by KEIRIN JKA(2017M-138).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/2
Y1 - 2019/2
N2 - Nowadays, a low birthrate and longevity are proceeding in developed countries. Due to the low birthrate and longevity, there is a shortage of caregivers. Therefore, an assistance of nursing care is necessary. Also, according to a multidisciplinary advance of robots, robots increase opportunities for operating in environment in which human intervene. Operating a robot in human presence is a dangerous for human. Therefore, a signal transmission between human and robots is necessary. This paper uses a cuff of sphygmomanometer as an interface of signal transmission. This interface is attached to an arm of user and an air pressure of interface is controlled to constant. An error between pressure command and response caused by a muscle bulge of user is regarded as an intention of user. An integration of error is given to a manipulator as a position command. According to this system, the interface user can operate a position of manipulator based on the user's intention.
AB - Nowadays, a low birthrate and longevity are proceeding in developed countries. Due to the low birthrate and longevity, there is a shortage of caregivers. Therefore, an assistance of nursing care is necessary. Also, according to a multidisciplinary advance of robots, robots increase opportunities for operating in environment in which human intervene. Operating a robot in human presence is a dangerous for human. Therefore, a signal transmission between human and robots is necessary. This paper uses a cuff of sphygmomanometer as an interface of signal transmission. This interface is attached to an arm of user and an air pressure of interface is controlled to constant. An error between pressure command and response caused by a muscle bulge of user is regarded as an intention of user. An integration of error is given to a manipulator as a position command. According to this system, the interface user can operate a position of manipulator based on the user's intention.
KW - Air pressure control
KW - Air pump motor
KW - Mutual signal transmission
KW - Position control
KW - Wearable interface
UR - http://www.scopus.com/inward/record.url?scp=85069051918&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85069051918&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2019.8755121
DO - 10.1109/ICIT.2019.8755121
M3 - Conference contribution
AN - SCOPUS:85069051918
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 54
EP - 59
BT - Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
Y2 - 13 February 2019 through 15 February 2019
ER -