C-2 An upper-limb power-assist system with perception-assist in accordance with a handling tool and movement

Abstract

This paper describes an upper-limb power-assist robot which assists the perception of the user using visual information as well as the daily motion of the use. In the proposed method, the robot estimates a performing task of the user by monitoring a tool or an object grasped by the user at first.. If the robot has found problems in the user's motion during the task, the robot automatically tries to modify the user's motion to perform the task properly. If the robot has not found any problems in the user's motion, then the ordinal power-assist is carried out by the robot. The effectiveness of the proposed method was evaluated by performing the experiments.