Hideki Sawai

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We developed a 1 DOF power assist robot for lifting objects. We hypothesized that human's perception of weight due to inertial force might be different from the perceived weight due to gravitational force for lifting an object with a power assist robot. We established psychophysical relationships between the actual weights and the power-assisted weights for(More)
This paper presents design guidelines for power assist robots for lifting heavy objects in industries. A 1-DOF power assist robot system was developed and human’s weight perception was included in the dynamics and control. The robot system was simulated and subjects lifted objects of different sizes with the robot under three distinct lifting schemes –(More)
In this paper, we designed a 1DOF power assist system for lifting objects. Human’s vertical lifting force, comprises of inertial force and gravitational force, was considered as the desired dynamics of the system. We hypothesized that human’s perception of object weight due to inertial force might be different from the perceived weight due to gravitational(More)
In this paper, we designed and controlled a 1 DOF power assist robot for lifting objects based on human operator's unimanual and bimanual weight discrimination. At first, we established psychophysical relationships between the actual weights and the power assisted weights for the objects lifted with the power assist robot. We also determined the excess of(More)
To extend the performance of TDNNs (time-delay neural networks) to all phoneme recognition and word/continuous speech recognition, the authors present several techniques. First, they show that it is possible to scale up the TDNN to a large phonemic TDNN aimed at discriminating all phonemes without loss of recognition performance and without excessive(More)
We designed a 1 DOF power assist robot for lifting objects based on human's weight perception. We hypothesized that human's perception of object weight due to inertial force might be different from the perceived weight due to gravitational force for lifting an object with a power assist robot. In this paper, we particularly studied human's load force(More)
A power assist system reduces the weight of an object lifted with it. But, the human operator cannot differentiate between the perceived weight and the actual weight and eventually applies excessive load force. This faulty force programming (excessive load force) results in faulty motions of the power assist system and jeopardizes its maneuverability, ease(More)
We constructed a 1 DOF power assist robot for lifting objects of different sizes. We hypothesized that human's perception of weight due to inertia might be different from the perceived weight due to gravity when lifting an object with the power assist robot. In this article, we particularly looked at human's load force features, weight perception and(More)