Top > JRM > Upper Body of Dummy Humanoid Robot with Exterior Deformation M ...

single-rb.php

JRM Vol.28 No.4 pp. 600-608
doi: 10.20965/jrm.2016.p0600
(2016)

Development Report:

Views over last 60 days: 1,468

Upper Body of Dummy Humanoid Robot with Exterior Deformation Mechanism for Evaluation of Assistive Products and Technologies

Kunihiro Ogata*, Tomoya Kawamura**, Eiichi Ono*, Tsuyoshi Nakayama*, and Nobuto Matsuhira**

*Research Institute, National Rehabilitation Center for Persons with Disabilities
4-1 Namiki, Tokorozawa City, Saitama 359-8555, Japan

**Department of Engineering Science and Mechanics, College of Engineering, Shibaura Institute of Technology
3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan

Received:
September 9, 2015
Accepted:
June 1, 2016
Published:
August 20, 2016
Creative Commons License
Keywords:
humanoid robots, dummy robots, spinal cord injury, dressing
Abstract
People suffering from tetraplegia are unable to perform many activities of daily living, such as dressing and toileting. The purpose of this study is to develop a dummy humanoid robot to assess assistive products and technologies for patients of tetraplegia. This paper describes the mechanism, motion planning, and sensing system of the dummy robot. The proposed dummy robot has upper-arm mechanisms that simulate the human collarbones based on a functional anatomy. To realize a variety of body shapes, the proposed robot has deformation mechanisms that use linear actuators and rotating servo-motors. The sensing system of the dummy robot can measure clothing pressure before and after exterior deformation is measured, and can hence detect changes in it.
Dummy robot with exterior deformation mechanism

Dummy robot with exterior deformation mechanism

Cite this article as:
K. Ogata, T. Kawamura, E. Ono, T. Nakayama, and N. Matsuhira, “Upper Body of Dummy Humanoid Robot with Exterior Deformation Mechanism for Evaluation of Assistive Products and Technologies,” J. Robot. Mechatron., Vol.28 No.4, pp. 600-608, 2016.
Data files:
References
  1. [1] J. Jongjit, W. Sutharom, L. Komsopapong, N. Numpechitra, and P. Songjakkaew, “Functional Independence and Rehabilitation Outcome in Traumatic Spinal Cord Injury,” The Southeast Asian J. of Tropical Medicine and Public Health, Vol.35, No.4, pp. 980-985, 2004.
  2. [2] S. P. Hetz, A. E. Latimer, and K. A. Martin Ginis, “Activities of daily living performed by individuals with SCI: Relationships with physical fitness and leisure time physical activity,” Spinal Cord, Vol.47, No.7, pp. 550-554, 2009.
  3. [3] D. J. Gosnell, “Assessment and evaluation of pressure sores,” Nurs. Clin. North. Am, Vol.22, No.2, pp. 399-416, 1987.
  4. [4] H. Ishii and A. Takanishi, “Robotic patient simulator for medical skills training,” Trans. of Japanese Society for Medical and Biological Engineering, Vol.51, p. M-105, 2013.
  5. [5] Y. Imamura, T. Tanaka, K. Ayusawa, and E. Yoshida, “Verification of Assistive Effect Generated by Passive Power-Assist Device Using Humanoid Robot,” Proc. of the 2014 IEEE/SICE Int. Symposium on System Integration, pp. 761-766, 2014.
  6. [6] A. Abels and M. Kruusmaa, “Construction of a Female Shape-Changing Robotic Mannequin,” J. of Automation and Control Engineering, Vol.1, No.2, pp. 132-134, 2013.
  7. [7] F. M. Maynard, M. B. Bracken, G. Creasey, J. F. Ditunno, W. H. Donovan, T. B. Ducker, S. L. Garber, R. J. Marino, S. L. Stover, C. H. Tator, R. L. Waters, J. E. Wilberger, and W. Young, “International Standards for Neurological and Functional Classification of Spinal Cord Injury,” Spinal Cord, Vol.35, No.5, pp. 266-274, 1997.
  8. [8] A. C. Buchholz, C. F. McGillivray, and P. B. Pencharz, “Physical Activity Levels Are Low in Free-Living Adults with Chronic Paraplegia,” Obesity Research, Vol.11, No.4, pp. 563-570, 2003.
  9. [9] S. Ikemoto, F. Kannou, and K. Hosoda, “Humanlike shoulder complex for musculoskeletal robot arms,” 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4892-4897, 2012.
  10. [10] I. A. Kapandji, “Anatomie Fonctiionnelle Tome 1, Membre superieur, 6e ed,” MALOINE, 2005 (in French).
    ISBN: 9782224026479.
  11. [11] T. Sugihara, “Solvability-unconcerned Inverse Kinematics based on Levenberg-Marquardt Method,” 2009 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 555-560, Paris, Dec. 9th, 2009.
  12. [12] Y. Ohmura, Y. Kuniyoshi, and A. Nagakubo, “Conformable and Scalable Tactile Sensor Skin for Curved Surfaces,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1348-1353, 2006.
  13. [13] Y. Ohmura and Y. Kuniyoshi, “Humanoid robot which can lift a 30kg box by whole body contact and tactile feedback,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2007 (IROS 2007), pp. 1136-1141, 2007.
  14. [14] M. Maggiali, G. Cannata, P. Maiolino, G. Metta, M. Randazzo, and G. Sandini, “Embedded Distributed Capacitive Tactile Sensor,” Mechatronics 2008, pp. 1-5, 2008.
  15. [15] M. Hayashi, T. Yoshikai, and M. Inaba, “Development of a Humanoid with Dis-tributed Multi-Axis Deformation Sense with Full-Body Soft Plastic Foam Cover as Flesh of a Robot,” InTech, 2008. DOI: 10.5772/6629.
  16. [16] H.-Y. Li, “Research on relationship between materials and internal function design of clothing,” Int. Conf. on Fibrous Materials 2009, pp. 1089-1092, 2009.
  17. [17] M .Tanaka, H. Noguchi, M. Fujikawa, M. Sato, S. Oi, T. Kobayashi, K. Furuichi, S. Ishimaru, and C. Nonomura, “Development of Large Strain Shell Elements for Woven Fabrics with Application to Clothing Pressure Distribution Problem,” Computer Modelling in Engineering and Sciences, Vol.62, No.3, pp. 265-290, 2010.
  18. [18] D. Chen and Y. Gan, “A Study on Clothing Pressure of the Men’s Suit for Comfort Evaluation – Relationship between Clothing Pressure and Clothing Comfort –, ” Clothing Research J., Vol.2, No.1, pp. 61-66, 2004.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Oct. 01, 2024