Lift-up motion generation of nursing-care assistant robot based on human muscle force and body softness estimation.
Ming DingRyojun IkeuraYuki MoriToshiharu MukaiShigeyuki HosoePublished in: AIM (2014)
Keyphrases
- end effector
- body movements
- humanoid robot
- sagittal plane
- joint angles
- health care
- human robot interaction
- inverse kinematics
- human arm
- upper body
- motion planning
- human robot
- degrees of freedom
- position and orientation
- mobile robot
- human body
- motion capture data
- motion control
- motion capture
- vision system
- robot arm
- home care
- force feedback
- sensory feedback
- image sequences
- robot manipulators
- medical care
- control signals
- body shape
- motion analysis
- human users
- robot motion
- parallel robot
- human motion
- static images
- robot behavior
- robotic arm
- human operators
- motion estimation
- autonomous navigation
- path planning
- visual sensor
- robotic manipulator
- multi robot
- tactile sensing
- configuration space
- rigid motion
- optical flow estimation
- human subjects
- autonomous robots
- gait analysis
- body posture
- human teacher
- position control
- force control
- motor control
- motion model
- motion field
- body parts