3D Head Pointer: A manipulation method that enables the spatial localization for a wearable robot arm by head bobbing

Oh, Joy; Ando, Kozo; Iizuka, Shuhei; Guinot, Lena; Kato, Fumihiro; Iwata, Hiroyasu

doi:10.1109/ismcr51255.2020.9263775

Cited by 10 publications

(3 citation statements)

References 8 publications

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“…In particular, understanding to which body part users attribute their perception of the wearable robotic limbs (perceptual attribution) under synchronization with multiple body parts is crucial for learning manipulation and designing sensory feedback. Previous studies have suggested using head motion (Iwasaki and Iwata, 2018;Oh et al, 2020;Sakurada et al, 2022) and other entities' motion (Hagiwara et al, 2021) as reference body parts for the weighted average method. However, the perceptual attribution of the weighted average of the hand and foot has not been thoroughly investigated.…”

Section: Users' Perceptual Attribution Of a Wearable Robotic Limb As ...mentioning

confidence: 99%

Investigating the perceptual attribution of a virtual robotic limb synchronizing with hand and foot simultaneously

Sakurada,

Kondo,

Nakamura

et al. 2023

Front. Virtual Real.

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Introduction: Incorporating an additional limb that synchronizes with multiple body parts enables the user to achieve high task accuracy and smooth movement. In this case, the visual appearance of the wearable robotic limb contributes to the sense of embodiment. Additionally, the user’s motor function changes as a result of this embodiment. However, it remains unclear how users perceive the attribution of the wearable robotic limb within the context of multiple body parts (perceptual attribution), and the impact of visual similarity in this context remains unknown.Methods: This study investigated the perceptual attribution of a virtual robotic limb by examining proprioceptive drift and the bias of visual similarity under the conditions of single body part (synchronizing with hand or foot motion only) and multiple body parts (synchronizing with average motion of hand and foot). Participants in the conducted experiment engaged in a point-to-point task using a virtual robotic limb that synchronizes with their hand and foot motions simultaneously. Furthermore, the visual appearance of the end-effector was altered to explore the influence of visual similarity.Results: The experiment revealed that only the participants’ proprioception of their foot aligned with the virtual robotic limb, while the frequency of error correction during the point-to-point task did not change across conditions. Conversely, subjective illusions of embodiment occurred for both the hand and foot. In this case, the visual appearance of the robotic limbs contributed to the correlations between hand and foot proprioceptive drift and subjective embodiment illusion, respectively.Discussion: These results suggest that proprioception is specifically attributed to the foot through motion synchronization, whereas subjective perceptions are attributed to both the hand and foot.

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Section: Users' Perceptual Attribution Of a Wearable Robotic Limb As ...mentioning

confidence: 99%

Investigating the perceptual attribution of a virtual robotic limb synchronizing with hand and foot simultaneously

Sakurada,

Kondo,

Nakamura

et al. 2023

Front. Virtual Real.

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“…The objective is to enable users to manipulate these additional robotic limbs with the same naturalness and freedom as their own limbs. Noteworthy contributions have emerged in this field, including the coordination of WRL movements with human limbs using wearable sensors for overhead tasks [12], the control of external limbs through foot and shoulder sensors for everyday tasks [13,14], the use of eye tracking sensors for precise control of WRLs [15], the utilization of chest and abdominal muscles to control WRLs through electromyography (EMG)-based sensors [16], the classification of human intentions towards external limbs through electroencephalography (EEG) [17,18], the integration of human movement with foot EMG for task assistance [19], and shared control strategies that align human intent with robot autonomy [9,17,20]. These contributions have advanced the control of WRLs, yet challenges still remain, such as limited adaptability to different applications, potential constraints on human movement, and stability-related issues.…”

Section: Introductionmentioning

confidence: 99%

A Mouth and Tongue Interactive Device to Control Wearable Robotic Limbs in Tasks where Human Limbs Are Occupied

Jing,

Zheng,

Zhang

et al. 2024

Biosensors

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The Wearable Robotic Limb (WRL) is a type of robotic arm worn on the human body, aiming to enhance the wearer’s operational capabilities. However, proposing additional methods to control and perceive the WRL when human limbs are heavily occupied with primary tasks presents a challenge. Existing interactive methods, such as voice, gaze, and electromyography (EMG), have limitations in control precision and convenience. To address this, we have developed an interactive device that utilizes the mouth and tongue. This device is lightweight and compact, allowing wearers to achieve continuous motion and contact force control of the WRL. By using a tongue controller and mouth gas pressure sensor, wearers can control the WRL while also receiving sensitive contact feedback through changes in mouth pressure. To facilitate bidirectional interaction between the wearer and the WRL, we have devised an algorithm that divides WRL control into motion and force-position hybrid modes. In order to evaluate the performance of the device, we conducted an experiment with ten participants tasked with completing a pin-hole assembly task with the assistance of the WRL system. The results show that the device enables continuous control of the position and contact force of the WRL, with users perceiving feedback through mouth airflow resistance. However, the experiment also revealed some shortcomings of the device, including user fatigue and its impact on breathing. After experimental investigation, it was observed that fatigue levels can decrease with training. Experimental studies have revealed that fatigue levels can decrease with training. Furthermore, the limitations of the device have shown potential for improvement through structural enhancements. Overall, our mouth and tongue interactive device shows promising potential in controlling the WRL during tasks where human limbs are occupied.

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“…At present, there have been studies involving prototype structure design [5][6][7][8][9], joint control technology [4,6,8,10], human-machine collaborative motion planning [11], SRL operation methods [12][13][14][15][16][17], human-machine dynamics modeling [18][19][20], etc. Current operation methods for SRL include EMG mapping [12], EEG mapping [13], foot mapping [14,15], head mapping [16], and eyeball mapping [17]. Tese operation methods have a common problem of visual area switching.…”

Section: Introductionmentioning

confidence: 99%

Research on Simulation System for Human-SRL Collaborative Motion Planning

Zhang

Liu

2022

Journal of Robotics

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At present, there is a problem of visual area switching in the existing SRL (supernumerary robotic limb) operation methods. In response to this problem, the authors’ previous work proposed a new SRL operation method called relatively independent operation, and proposed a corresponding software architecture. The purpose of this paper is to solve the theoretical problems and engineering realization problems of the human-SRL skeleton algorithm module in the software architecture. Therefore, modeling, data collection, data processing, and visualization of a human-SRL system are studied in this paper. Firstly, a human-SRL skeleton visualization simulation system is developed. The condition setting, the applications, and the core algorithm of the simulation system are introduced. The core algorithm mainly contains four types of important functions, namely skeleton model building functions, human-SRL data collection functions, human-SRL data processing functions, and skeleton visualization functions. Secondly, the implementation principles of these four functions are described: (1) For the skeleton model building functions, a human-SRL skeleton model is proposed which is an integration of a human skeleton model and an SRL skeleton model. The construction methods of these three skeleton models are described. (2) For the remaining functions, how to collect and process human data, SRL data, human-SRL data, and how to visualize a human-SRL skeleton are described. Finally, the visualization effect of the developed simulation system on human-SRL skeleton movement is verified by experiments, which proves the correctness of the functions in the simulation system.

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3D Head Pointer: A manipulation method that enables the spatial localization for a wearable robot arm by head bobbing

Cited by 10 publications

References 8 publications

Investigating the perceptual attribution of a virtual robotic limb synchronizing with hand and foot simultaneously

Investigating the perceptual attribution of a virtual robotic limb synchronizing with hand and foot simultaneously

A Mouth and Tongue Interactive Device to Control Wearable Robotic Limbs in Tasks where Human Limbs Are Occupied

Research on Simulation System for Human-SRL Collaborative Motion Planning

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