Design and development of 6 DoFs detachable robotic head utilizing differential gear mechanism to imitate human head-waist motion

Vitvasin Vimolmongkolporn, Fumihiro Kato, Takumi Handa, Yukiko Iwasaki, Hiroyasu Iwata

研究成果: Conference contribution

抄録

This paper proposed a design of a detachable robotic head that can imitate human motion in a remote environment. Firstly, the biomechanics of the human body parts related to human vision are studied: neck and waist. After that, the design parameters are extracted from the neck and waist as the design requirement. Then, the mechanical design of the detachable robotic head is split into three parts: neck, waist, and detachable mechanism. The gear differential mechanism is used further to develop the motion range of the proposed design. Consequently, a prototype is made from a 3d-printed part to test the functionality of the design. The evaluations are separated into three sections. First, the range of motion shows that the proposed design can guarantee the human motion range and provide more motion range in the remote environment. Secondly, the frequency response shows that the detachable head can handle the natural headshaking motion of the human at 1.5 Hz in horizontal and 2 Hz vertical head shaking. However, both do not reach the vigorous voluntary headshaking. Also, the maximum latency between the user and the robot is 25 ms, which is low enough for human perception. Last, the angular error between the user and the robot is tested in trackability. As a result, the error is less than 1.6 degrees, and this means the proposed design can imitate human head motion without feeling dislocated.

本文言語English
ホスト出版物のタイトル2022 IEEE/SICE International Symposium on System Integration, SII 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ467-472
ページ数6
ISBN(電子版)9781665445405
DOI
出版ステータスPublished - 2022
イベント2022 IEEE/SICE International Symposium on System Integration, SII 2022 - Virtual, Narvik, Norway
継続期間: 2022 1月 92022 1月 12

出版物シリーズ

名前2022 IEEE/SICE International Symposium on System Integration, SII 2022

Conference

Conference2022 IEEE/SICE International Symposium on System Integration, SII 2022
国/地域Norway
CityVirtual, Narvik
Period22/1/922/1/12

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 生体医工学
  • 制御およびシステム工学
  • 機械工学
  • 制御と最適化

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