Yoyo is a toy in.ade of two th.ick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and do.wn b y mo.uing a string tied to it. Humans can play widh a yoyo without difficulty. However, developing a robot system that can play with a yoyo presents a significant challenge to controller design, because the dynamics… (More)
In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of… (More)
This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An imagebased controller which linearizes the dynamics is proposed. Since… (More)
The purpose of this study is to develop a wearable power assist device for hand grasping in order to support Activity of Daily Living (ADL) safely and easily. In this paper, the mechanism of the developed power assist device i s described, and then the effectiveness of this device is discussed experimentally.
In this study, we aim at developing a mechanical device to support human rehabilitation motion of their wrist joint instead of a physiotherapist. Pneumatic parallel manipulator is introduced as a mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator's feature… (More)
This paper describes the relationship between the control performance and the iiiiniber/coiifiguratioii of the image features i n feature-based visual servoing. The performance is evaluated b y two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the… (More)
Stability of feature-based visual seruo controllers proposed so far is local.' The initial features far from the reference may converge to features diflemnt from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential… (More)