マスタ・スレーブ同機構型ロボットハンドを用いた触覚情報に基づく人間の複合動作認識

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/09/01

タイトル(英語): Human Combination Motion Recognition based on Haptic Information Using Similarly Structured Master-Slave Robot Hand

著者名: 野崎　貴裕（慶應義塾大学大学院理工学研究科総合デザイン工学専攻），溝口　貴弘（慶應義塾大学大学院理工学研究科総合デザイン工学専攻），鈴木　祐介（慶應義塾大学大学院理工学研究科総合デザイン工学専攻），矢代　大祐（三重大学大学院工学研究科），大西　公平（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Takahiro Nozaki (School of Integrated Design Engineering, Keio University), Takahiro Mizoguchi (School of Integrated Design Engineering, Keio University), Yusuke Suzuki (School of Integrated Design Engineering, Keio University), Daisuke Yashiro (Graduate School of Engineering, Mie University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: ハプティクス，動作認識，バイラテラル制御，ロボットハンド，コサイン類似度，DPマッチング　　haptics，motion recognition，bilateral control，robot hand，cosine similarity，DP matching

要約(英語): In this paper, a motion recognition method that uses haptic information of a human hand is proposed. The haptic information is measured by a master/slave robot hand. This robot has five degrees of freedom, and a bilateral control of the robot is implemented. An operator wears on the master robot hand and operates an object through the slave robot hand. A motion database is prepared to contain haptic information as reference vectors concerning eight kinds of human motion. Then, the motion database utilizes cosine similarity to distinguish the human motion from haptic information acquired by the master robot. Furthermore, the expansion and contraction of time axes are corrected by dynamic programming matching, and combination motion is consequently recognized. The validity of the proposed method is experimentally confirmed.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.9 （2012）

本誌掲載ページ: 858-864 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/9/132_858/_article/-char/ja/