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

  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},
  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… 
Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments
An “assistive torque estimation map” is introduced as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot.
Evaluation of active wearable assistive devices with human posture reproduction using a humanoid robot*
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
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.
Towards new humanoid applications : wearable device evaluation through human motion reproduction
This chapter addresses a new application of humanoid robot for evaluation of wearable assistive devices, including human motion retargeting, experimental device evaluation with humanoid HRP-4C, and validation of the accuracy of the results using an identification method.
Optimization Framework of Humanoid Walking Pattern for Human Motion Retargeting
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.
Motion Retargeting for Humanoid Robots Based on Simultaneous Morphing Parameter Identification and Motion Optimization
This paper presents a novel method for retargeting human motions onto a humanoid robot. The method solves the following three simultaneous problems: the geometric parameter identification that morphs
Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot
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
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
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.


Evaluation of assistive devices using humanoid robot with mechanical parameters identification
This paper proposes a framework of the evaluation of passive assistive devices by utilizing identification of the mechanical properties of a humanoid robot, and uses HRP-4C as the humanoid platform.
Humanoid robot as an evaluator of assistive devices
In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects.
Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots
This paper presents preliminary results on generating walking and turning motion of a humanoid robot based on human motion data obtained by using motion capturing system, which looks like a Japanese woman with realistic geometry.
Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body
The development of humanoid robotics platform - 4 (or HRP-4 for short) is presented and design concepts and mechanisms are presented with its basic specification.
The DLR lightweight robot: design and control concepts for robots in human environments
The first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented, and a consistent approach for using these sensors for manipulation in human environments is described.
Motion retargeting for humanoid robots based on identification to preserve and reproduce human motion features
The method enables to compute the joint trajectories of the human corresponding with the retargeted ones of the robot at the same time, by utilizing the geometric identification technique, to minimize the cost function about motion reproduction.
Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances
A framework that achieves the Learning from Observation paradigm for learning dance motions is proposed, which enables a humanoid robot to imitate dance motions captured from human demonstrations.
HAL: Hybrid Assistive Limb Based on Cybernics
The outline of HAL and some of the important algorithms and recent challenges are described and the application fields of HAL are medical welfare, heavy work support and entertainment etc.
Cybernetic human HRP-4C
The design process, mechanical features, and electrical features with specifications of HRP-4C, a humanoid robot with a realistic head and a realistic figure of a human being, are introduced.
Assist force control of Smart Suit for horse trainer considering motion synchronization and postural stabilization
This paper describes the assist force control of semi-active assist system “Smart Suit” for horse trainer. We developed a soft and flexible power assist device named “Smart Suit” for reducing horse