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Assistive Control System for Skill Acquisition - Balancing Pendulum
Katsuhisa Furuta,Yuya Kado,Yaodong Pan 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.4
This paper presents our recent research results for the assisitive control system for skill acquisition of a machine operation. Such assistive system for the operator to learn the skill is said Human Adaptive Mechatrnics. The assistive control system developed has force feedback for correcting the operation. The tasks considered are balancing an inverted pendulum, which has been used for skill evaluation. The assisitive control system developed has the structure that can be used for assisting general systems, where the display gives the reference to the operator. A virtual pendulum shown in the display is considered as the object. A human operator manipulates an X-Y stage as the human-machine interface with a haptic function. An assistive controller designed is similar to the Kawato-model in the sense that human is the feed forward and controller is the feedback system. An experiment result shows effectiveness of this system for assistance for getting the skill.
Emotional Level of Sadness for Normal and Dementia Subjects by NIRS
Shinichi Yoshino,Katsuhisa Furuta,Tetsuo Shiotsuki,Yukihito Suzuki,Hideto Shimizu,Hiroki Takase 동국대학교 정보융합기술원 2010 International Journal of Assistive Robotics and Sy Vol.11 No.1
This paper proposes a method to measure the level of sadness by the 52 channels signals of near infrared spectroscopy (NIRS). Normal and dementia subjects are measured while they watch the sad video story. The analysis has been done by using the first principal component of 52 measured signals, and the paper proposes to classify sadness into two classes; sequence of emotional reactions defining ‘dynamic sadness’ and accumulation of sadness defining ‘static sadness’. Both represent the feeling of sadness. They are measured quantitatively by the power over the certain frequencies and the time average of principal components of the measured NIRS signals. The measured signals of the normal subjects show that weight distribution parameters are rather large in the prefrontal cortex area corresponding from 32 to 52 channels, which indicates the subjects understanding the story. This paper shows that the difference of the sad emotion between the normal and dementia subjects is found by using both time average and power of the first principal component of NIRS signals over the whole measurement time. These informations may be used to test brain activities of both normal and dementia subjects. The proposed approach can be used to measure other brain activities using NIRS signals.