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On Vibration Feedback Method for Pain Emulation and its Feedback to Human
Aydin Tarik Zengin,Hiroshi Okajima,Nobutomo Matsunaga 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Considering human and robot cooperation and interaction, sensory and emotional feelings can be assumed as the most important point of being safe and secure for human and environment. In our previous study that is focused on imitating human pain sensing system, we designed a multi-layer pain sensing unit to mimic human behaviors in the case of superficial stimulation. Translating data acquired by pain sensing system to human is remained another important issue. In this study, we implemented a translation method from pain signal to subject, providing a vibratory feedback that has the ability to adjust vibration frequency due to actual stimulation. After an overview of pain sensing system and multiple sensor unit structure, we discuss the feedback system providing information about the stimulation applied onto sensor units. Results confirmed that the proposed feedback system translates sufficient information about the stimulation in a human readable format.
Aydin Tarik Zengin,Yutaro Maruno,Hiroshi Okajima,Nobutomo Matsunaga 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Electric-powered wheelchairs have been used as a convenient transport device for elderly and disabled. Recently, a front drive type electric wheelchair that is easy for a disabled person to climb on from a bed has been focused on. However, front-drive-type wheelchairs are hard to run straight and difficult to operate because their over-steering characteristic is strong owing to free casters. If the wheelchair can be driven by an easy control stick operation, it will be a comfortable function for disabled persons. In our previous study, we proposed a front-drive-type wheelchair control method which realizes comfortable functions, i.e. driving with easy stick operation like the traditional rear-drive-type wheelchair. The proposed control system uses ideal model of electric wheelchairs. By using our proposed method, the maneuverability can be improved for realizing easy stick operation. In this paper, we evaluate the effectiveness of our proposed method by simulations and experiments on a slope with electric-powered front-drive-type wheelchair. In particular, straight-ahead stability on slope is analyzed by human driving.
Evaluation of Multilayered Pain Sens or Model of Human Skin
Nobutomo MATSUNAGA,Aydin Tarik ZENGIN,Shigeyasu KAWAJI 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In the coexistence circumstance with humans and robots, sensory and emotional feelings of human should be considered incase of interaction. A typical unpleasant feeling that stems from this interaction is pain. We have developed a new multi-layered pain sensor similar to the laminated structure of human skin, to clarify this feeling which is abstract for robots. The dynamical characteristics of this sensor in either cases of slow and fast stimuli were evaluated in experiments. For both cases, the pain sensor showed a similar reaction with real human measurements.
Direct Yaw Moment Control of Front Drive Type Electric Wheelchair with Free-casters
Yutaro Maruno,Hiroshi Okajima,Aydin Tarik Zengin,Nobutomo Matsunaga 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its over-steering characteristic. If wheelchair can be driven by easy stick operation, it will be a comfortable function for handicap persons. In this paper, we propose a new wheelchair control method which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair. First, dynamic model of the wheelchair is outlined. Next, yaw rate control method based on internal model control (IMC) is proposed. Finally, the effectiveness of proposed method is confirmed by driving simulations on slope.