Human intention based physical support robot system in assembling work - extraction of behaviour support trigger from `Work Triangle'

Yasuhisa Hayakawa, Ikuo Kitagishi, Shigeki Sugano

Research output: Contribution to conferencePaper

13 Citations (Scopus)

Abstract

In order to realize human co-operative machinery, the machine's ability of understanding human intention becomes an important issue. This paper proposes a method of extracting human intention from the shape of Work Triangle, which consists of head, and hands of the human. A system, which samples the Work Triangle during assembly work by vision sensors, was constructed. With the system, the patterns of the Work Triangle of different skilled subjects were sampled. A kohonen neural network was used for categorizing the patterns of the Work Triangle. The categorized patterns between skilled and unskilled subjects were examined. The patterns, which only appear in unskilled subjects, were extracted as states of `Needing support'. A physical support prototype system, which carries out supports by the `Needing support' state, was constructed.

Original languageEnglish
Pages930-935
Number of pages6
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Hayakawa, Y., Kitagishi, I., & Sugano, S. (1998). Human intention based physical support robot system in assembling work - extraction of behaviour support trigger from `Work Triangle'. 930-935. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .