New evaluation framework for human-assistive devices based on humanoid robotics

@article{Ayusawa2016NewEF,
  title={New evaluation framework for human-assistive devices based on humanoid robotics},
  author={Ko Ayusawa and Eiichi Yoshida and Yumeko Imamura and Takayuki Tanaka},
  journal={Advanced Robotics},
  year={2016},
  volume={30},
  pages={519 - 534}
}
This paper presents the new application of a humanoid robot as an evaluator of human-assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot’s mechanical properties. We also… 
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11 Citations
Background Citations
2
Methods Citations
7

11 Citations

Citation Type

Citation Type

Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments
TLDR
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Evaluation of active wearable assistive devices with human posture reproduction using a humanoid robot*
TLDR
A scheme for estimating the supportive torques supplied by a device called stationary torque replacement and conducted measurements of human muscular activity during assisted motion revealed that a humanoid robot closely simulates the actual usage of assistive devices.
Stationary torque replacement for evaluation of active assistive devices using humanoid
TLDR
The proposed method allows the humanoid to estimate torque equivalent to the output supportive torque of the assistive device in static postures retargeted from measured human motions.
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The proposed method features the optimization framework that integrates the walking pattern generation based on the linear inverted pendulum model whose parameters are optimized to ensure both human likeness and feasibility of the generated motions.
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TLDR
A practical contact observer which allows detecting a contact on the body surface of a humanoid robot by estimating the error force due to undesired contact and the point where the contact force was applied by using the 3D geometric mesh model of a robot.
Standard Performance Test of Wearable Robots for Lumbar Support
TLDR
A standard performance test for WRLS is designed that shows that the reference movements are ergonomically plausible to mimic the actual motion of humans and indicate the feasibility of the test itself.
Whole-Body Motion Blending Under Physical Constraints Using Functional PCA
TLDR
This paper presents a method for motion synthesis using Functional Principal Component Analysis (Functional PCA) to generate complex humanoid robot motions in a low-dimensional space while considering physical consistency and introduces a novel framework to synthesize blended motions.
Motion Synthesis Using Low-Dimensional Feature Space and Its Application to Inverse Optimal Control
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