Humanoid robot as an evaluator of assistive devices

Abstract

This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear "Smart Suit Lite" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.

New evaluation framework for human-assistive devices based on humanoid robotics

“…4. Based on the pilot studies [4,12], they are also considered to evaluate the effect during the motion around the yaw-axis of waist. In order to represent the SSL bands, several via points per one band are located on the surface of the model of HRP-4.…”

“…Especially when the subject wears the suit-type device, it is of great difficulty to extract the force effects of the device on the body. Humanoid robots with their internal sensors are, instead, expected to complement the conventional evaluation scheme of human subjects with the additional information about internal forces [4], since they are uninfluenced by the above issues.…”

“…Based on some pilot studies [4,12], this paper presents the new application framework of a humanoid robot as an evaluator of assistive devices. In this framework, we utilize several technologies developed in humanoid robotics: a recent humanoid robot with high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of the mechanical properties of a humanoid robot: inertial parameters (mass, center of mass, inertia tensor) of each link, joint friction coefficients, motor constants, and sensor offsets of each joint.…”

Optimization-based motion retargeting integrating spatial and dynamic constraints for humanoid

“…This ability allows a humanoid robot to serve as an entertainer like a dancer of an actor [1], or also to use various machines and devices designed for humans [2]. As an extension of the latter use, a new application has recently been studied: a humanoid robot as an evaluator of human assistive devices [3], [4]. If a humanoid reproduces human motions faithfully, it can be used to test the devices instead of human subjects.…”

Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization

“…Humanoid robots are expected to execute more complicated and practical tasks such as disaster response [16], evaluation of human oriented products as physical human simulator [18], etc. In such applications, anthropomorphic motion optimization faces far more complicated problems combining modeling, kinematics, dynamics, planning, and control.…”