1220 RFIDを用いた重度障害者用リモートコントローラーの開発 : 試作機の性能評価と有効性の検討(OS12-5 生体センシングと治療関連技術,オーガナイズドセッション:12 人間・生物・植物等に関するエンジニアリングの研究)

Many assistive technologies implemented to help the disabled people. The purpose of this research is to design and implement a new mechanism for disabled people which can be used as a helping hand. Generally, disabled people depend on others to live their lives. Our target is to make a robotic system that has different characteristics to help the physically challenged people. The robot will be able to move in any direction. An open-source Android application is used to control the robot via Bluetooth. The robot responds to move commands in the forward, backward, left, and right directions. A disabled person, especially those who cannot walk will be able to send this robot anywhere. The project also implements a robotic arm with pick and place capability. It is able to pick any object and carry it and place it to the required position. The robotic arm is designed such that it can be controlled by a number of different mechanisms, namely a smartphone as the remote control, or human voice command or an RF controller. Disabled people can use any one of these methods according to his or her comfort. The robot also uses an IP camera for video observation as well as video communication with others.

Home automation, through computers, electronics, and telecommunications, is at the service of people with disability in terms of security, comfort, and social bonding. It is based on the ability to interact remotely with the house's equipment, which makes it "Smart". Thus, the fact of being able to activate equipment without moving by utilizing voice or a remote control allows reducing movements and therefore retain a certain autonomy.

In recent years, the issue of how to support the disabled people to live independently above and beyond care services and facilities become important. One of those solutions has the method using the manipulator. The most of manipulators were fastened to a wheelchair in conventional research which have spatial and activity constraints. We have developed Ritsumei-Safe Daily Cooperator (R-SaDaCo), a dual arm manipulator that can be separated from and combined with a wheelchair. The main aim of this robot is to reduce the total amount of care by other people. However, remote control of R-SaDaCo has a problem. It is how to control it without training the operation. In this research, we develop a system of remote control for R-SaDaCo. In this system, sensors are used to measure the natural movement of the user. The user operates R-SaDaCo by using data provided from the sensors. The user experiment is performed to evaluate the effectiveness of this system. As a result, this system is suitable to remote-control R-SaDaCo.

For different purposes, a service robot that can be controlled remotely will play a significant role in the expansion of robotics automation systems. In the developing countries like Bangladesh, everyone is concerned about safety from both natural and human-made situations like Disposal of Bombs, rescuing objects from dangerous places, a useful assistant for handicapped people. In this paper, we propose to make a Robotic Car (RC) which helps to enter an environment of higher risks, grab and move to an appropriate place. For developing this generic model, Raspberry Pi 3 Model B+ is used as the central control unit for the robot. Six Degree of Freedom (DOF) Arm is used to compute as the main factor for grabbing the objects. Radio Frequency (RF) transmitter is the remote handheld controller for the RC. Also, a raspberry pi 0.6MP camera is integrated for live video streaming. The live streaming will provide the actual scenario of the environment to operate, control and navigate the RC. This robot also carries some important sensors like a Gas sensor, Ultrasonic Sonar Sensor and 3-Axis Digital Compass to bring out the scientific task of the robot. This prototype can be both used for educational and research purpose. The performance of the robot can be measured by the transmission of the video streaming, control system success rate for RF controller, outcomes of the sensors and the accuracy of the 6 DOF Arm.

The Crisis of Disability Is Violence

In this research, we aimed at designing a portable and safe dual arm robot to help people, especially for the elder or disable people in their daily life. With the consideration of portable, we limited the weight of the robot to be lower than 7 kg. The weight enables a person to lift the robot, even though by single arm. To overcome this challenging, most of the parts of the robot was designed to be manufactured by plastic. On the other hand, for the safety, we design a new type of passive compliant unit to sense the torque of the joint and buffer the impact of collisions. In each arm of the robot, there were six degrees of freedom, three in the shoulder and one in the elbow. In order to detect and buffer the impact of collision which occurred in any position of the arm, passive compliant unit was installed in both shoulder and elbow. In addition, there was also two degree of freedoms in the wrist joints for the robot to adjust the orientation of the end effector. In order to examine our design, the whole robot was manufactured by 3D printer with ABS material, except the motor, bearing and the screw. Finally, an experiment was conducted to test the proposed dual arm robot’s basic performance. The result showed that the payload of the robot was up to 500 g and the maximum reach is up to 400 mm. In addition, utilized the passive compliant units of the shoulder and elbow, the robot arm was able the buffering impact.

The long-term goal of this work is to build an assistive robot for elderly and disabled people. It is part of the French ANR ARMEN project. The subjects will interact with a mobile robot controlled by a virtual character. In order to build this system, we collected interactions between patients from different medical centers and a Wizard-of-Oz operated virtual character in the frame of scenarii written with physicians and functional therapists. The human-robot spoken interaction consisted mainly of small talking with patients, with no real task to perform. For precise tasks such as “Finding a remote control,” keyword recognition is performed. The main focus of the article is to build an emotion detection system that will be used to control the dialog and the answer strategy of the virtual character. This article presents the Wizard-of-Oz system for the audio corpus collection which is used for training the emotion detection module. We analyze the audio data at the segmental level on annotated measures of acoustically perceived emotion but also at the interaction level with global objective measures such as amount of speech and emotion. We also report on the results of a questionnaire qualifying the interaction and the agent and compare between objective and subjective measures.

本研究開発では頸髄損傷者や筋ジストロフィーなどの重度障害者のための操作・支援装置として, 残される随意機能の1つである舌の動作に着目して, 舌運動で操作可能なマウスピース型の操作装置の開発を行っている. 本稿では, 開発した口腔内リモートコントローラーの仕様を説明すると共に, その性能および操作性について評価を行った.

SUMMARYBrain–computer interfaces (BCI) have been studied to allow handicapped people to communicate and control their environments. However, conventional BCIs require a determination of what objects are displayed as targets in advance. BCI combined with augmented reality (AR) can display suitable choices with consideration of real space and can allow users to control devices intuitively. However, little is known about how AR systems affect the accuracy of BCIs; significant factors that may be affected include the background of AR‐BCI derived from scenery and the change of the number of target choices. In this research, üwe confirm these two effects and develop a new method using a nontarget object when there is a small number of possible targets. The results show that the background has no effect, and that changing the target decreases the accuracy. However, the proposed method improves the accuracy of AR‐BCI.