Human Combination Motion Recognition based on Haptic Information Using Similarly Structured Master-Slave Robot Hand
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- Nozaki Takahiro
- School of Integrated Design Engineering, Keio University
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- Mizoguchi Takahiro
- School of Integrated Design Engineering, Keio University
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- Suzuki Yusuke
- School of Integrated Design Engineering, Keio University
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- Yashiro Daisuke
- Graduate School of Engineering, Mie University
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- Ohnishi Kouhei
- Department of System Design Engineering, Keio University
Bibliographic Information
- Other Title
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- 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
- マスタ ・ スレーブ ドウ キコウガタ ロボットハンド オ モチイタ ショッカク ジョウホウ ニ モトズク ニンゲン ノ フクゴウ ドウサ ニンシキ
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Abstract
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.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 132 (9), 858-864, 2012
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679634782720
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- NII Article ID
- 10031019660
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 023974352
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed