JPH11277473A

JPH11277473A - Manual work assistant manipulator control system

Info

Publication number: JPH11277473A
Application number: JP12263798A
Authority: JP
Inventors: Kiyoaki Kakihara; 清章柿原
Original assignee: Individual
Current assignee: Individual
Priority date: 1998-03-27
Filing date: 1998-03-27
Publication date: 1999-10-12

Abstract

PROBLEM TO BE SOLVED: To realize a coordinate work of the upper arm manual work of a human being and a manipulator (robot), to effect assistance correction by a manipulator for a manual oscillation due to a physically handicapped person and an aged person, to effect a correction and assists work for letter writing and a manual work through a coordinate work of a human being and a robot, and to realize a coexisting and coordinate work in a way that a human being will is respected as much as possible. SOLUTION: The hand of a physically handicapped human being 1 and a clamp of a manipulator 3 incorporating a dynamic sensor 2 are intercoupled through a swinging hold device 4. Even when the physically handicapped person writes letters as he trembles, trembling operation is absorbed and corrected by the manipulator 3 and handwriting as letters realizes accurate handwriting where handwriting as letters represents only voluntary movement of a user.

Description

【発明の詳細な説明】この発明は、人間の上腕とマニピュレーター（ロボッ
ト）との共同作業を実現し、機能低下に対する補正・補
助作業を実現する物である。従来の技術では、人間作業
にマニピュレーターが全く置き換わる状態のシステムで
あり、意志に応じて共存・共同作業する物ではなく、人
間としての機能・意志を出来る限り尊重したいと言う要
望に答えるべく、システム構築する事が目的である。例
えば手振れのある人間（１）によって操作されたペンの
筆跡は、振れを伴った物となるが、その振れ動作を動的
力センサー（２）にて検出し、マニピュレーター（３）
の運動補助を加え、振持器（４）にて連結させて共同作
業させる事により、利用者の随意しか現れない正確な手
書き作業の動きを実現する。この動きの具体的説明とし
て、基本点をゼロ地点として、マイナス方向への手振れ
動作をマニピュレーターによりプラス方向にゼロ地点ま
で引き戻し、逆にプラス方向への手振れ動作に対して
は、マニピュレーターによりマイナス方向にゼロ地点ま
で引き戻す運動制御を行い、利用者の随意運動しか現れ
ない正確な手書きを実現できる。本発明はその強い目的
意識・要望を実現するものであり、高齢化社会における
高齢による機能低下補助、障害者の機能補正に対し、役
立てる事も可能である。DETAILED DESCRIPTION OF THE INVENTION The present invention realizes joint work between a human upper arm and a manipulator (robot), and realizes correction / assistance work for functional deterioration. In the conventional technology, the manipulator is completely replaced by human work. The purpose is to build. For example, the handwriting of a pen operated by a person (1) having camera shake becomes an object accompanied by shake, and the shake operation is detected by a dynamic force sensor (2), and the manipulator (3)
By performing the joint work by linking with the shaker (4), the movement of the handwriting work that appears only by the user is realized. As a specific explanation of this movement, with the basic point as the zero point, the hand movement in the minus direction is pulled back to the zero point in the plus direction by the manipulator, and conversely, the hand movement in the plus direction is moved in the minus direction by the manipulator. By performing motion control to bring the user back to the zero point, it is possible to realize accurate handwriting in which only the voluntary motion of the user appears. The present invention realizes the strong sense of purpose and demands, and can be used for assisting functional deterioration by elderly people in an aging society and correcting functions of persons with disabilities.

[Brief description of the drawings]

【図１】本発明機能を使用したシステム構想図の上面
図。FIG. 1 is a top view of a system conceptual diagram using a function of the present invention.

【図２】本発明装置を使用したシステム構想図の側面
図。FIG. 2 is a side view of a system conceptual diagram using the apparatus of the present invention.

[Explanation of symbols]

（１）高齢者又は障害者（２）動的力センサー（３）マニピュレーター（４）振持器 (1) Elderly or disabled person (2) Dynamic force sensor (3) Manipulator (4) Shaker

Claims

[Claims]

1. A movement target is detected from a hand movement of a worker,
Obtain the motor function of the assisted manipulator and realize the voluntary movement.