A cooperative control approach between human and robot takes an important role to carry out various tasks in hazardous environments or space. In this case, a robot is operated based on the cooperation between direct human control and autonomous robot control. In this study, a neural network is introduced for cooperating process between human control and robot control in order to optimize the degree of cooperation of human and robot. The degree of participation of human operator into the control is determined based on a reference cooperative model which expresses desired human and robot cooperative form. The experiment has executed the contacting tasks for the various object walls using a two-degrees of freedom Cartesian robot. The results indicate the availability of the proposed cooperating method for the cooperative control of human and robot
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=InoueHiroyuki en-aut-sei=Inoue en-aut-mei=Hiroyuki kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Tsuyama National College of Technology en-keyword=neurocontrollers kn-keyword=neurocontrollers en-keyword=telerobotics kn-keyword=telerobotics END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=112 end-page=117 dt-received= dt-revised= dt-accepted= dt-pub-year=1996 dt-pub=199611 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Application of rubber artificial muscle manipulator as a rehabilitation robot en-subtitle= kn-subtitle= en-abstract= kn-abstract=The application of robot to rehabilitation has become a matter of great concern. This study deals with an exercise for restoration of function being one of important rehabilitation tasks. An exercise of single joint has already been achieved with some automatically controlled machines. Now, the multijoint exercise becomes desirable, which requires the exercise robot with multi ple degrees of freedom to generate more realistic motion pattern. This kind of robot has to be absolutely safe for humans. A pneumatic calculator may be so effective for such a robot because of the flexibility from air compressibility that a rubber artificial muscle manipulator pneumatically driven is applied to construct the exercise robot with two degrees of freedom. Also an impedance control strategy is employed to realize various exercise motion modes. Further, an identification method of the recovery condition is proposed to execute the effective rehabilitation. Some experiments show the availability of proposed rehabilitation robot system
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=TanakaToshihiro en-aut-sei=Tanaka en-aut-mei=Toshihiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=YamanakaTakashi en-aut-sei=Yamanaka en-aut-mei=Takashi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Bridgestone Corporation en-keyword=actuators kn-keyword=actuators en-keyword=manipulators kn-keyword=manipulators en-keyword=patient treatment kn-keyword=patient treatment en-keyword=pneumatic control equipment kn-keyword=pneumatic control equipment END