WEKO3
アイテム
Static Hand Gesture Recognition Based on Multi-Feature Extraction with Context for User Intension
http://hdl.handle.net/10228/0002001276
http://hdl.handle.net/10228/000200127641b7340a-d291-470d-8d25-890471c97440
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
10448090.pdf (625 KB)
|
|
| アイテムタイプ | 共通アイテムタイプ(1) | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2025-02-10 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Static Hand Gesture Recognition Based on Multi-Feature Extraction with Context for User Intension | |||||||||||||
| 言語 | en | |||||||||||||
| その他のタイトル | ||||||||||||||
| その他のタイトル | STATIC HAND GESTURE RECOGNITION BASED ON MULTI-FEATURE EXTRACTION WITH CONTEXT FOR USER INTENSION | |||||||||||||
| 言語 | en | |||||||||||||
| 著者 |
Ahmad, Khawaritzmi Abdallah
× Ahmad, Khawaritzmi Abdallah
× Silpani, Dian Christy
× 吉田, 香
WEKO
27669
|
|||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | ICIC International Copyright (c) 2024 | |||||||||||||
| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Dressing is a critical component of Activity of Daily Living (ADLs). The development of assistive technology for dressing tasks is urgently needed from the viewpoint of privacy, for example, to prevent the wearer from being seen in the nude. Despite their importance, these technologies are underutilized in garment donning compared to other ADLs. The reasons for the lack of utilization of assistive technology are that the task is complex, as it involves handling individuals with large individual differences in height and symptoms and requires manipulation of flexible clothing. Addressing these variances presents a formidable academic challenge. Our previous study identified periodic patterns in human movements during robot-assisted dressing and noted individual variability in these patterns. Capitalizing on this finding, we propose a novel control strategy for a robot that adapts to individual needs during dressing, employing the "Assist-As-Needed" (AAN) principle from physical therapy. The proposed control method uses Central Pattern Generators (CPG) that can be synchronously controlled in response to external forces, enabling model-free control without human modeling. We utilize the Rowat-Selverston CPG model, which is recognized for its adaptive response to human motions in human-robot interactions such as with handshaking robots. A simulator of the Rowat-Selverston CPG was created. The output of the CPG was confirmed by inputting the data set obtained in previous studies, and the parameters were adjusted. The CPG output was then applied to the recorded target joint trajectory for the dressing assistance. We prepared a replay of the default trajectory, a trajectory with simple harmonic motion applied, and a trajectory with CPG output applied, and confirmed whether individual adaptation according to the AAN was possible through subject experiments. The experimental results showed that the Rowat-Selverston CPG control method enables individual adaptive dressing assistance according to the AAN principle. This study summarizes these methods and results and contributes to the realization of an individually adaptive system that follows the AAN principle, especially in developing assistive technology. |
|||||||||||||
| 言語 | en | |||||||||||||
| 書誌情報 |
en : ICIC Express Letters, Part B: Applications 巻 15, 号 8, p. 779-786, 発行日 2024-08 |
|||||||||||||
| 出版社 | ||||||||||||||
| 出版者 | ICIC International | |||||||||||||
| 言語 | en | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Human-Robot Interaction | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | AAN principle | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Dressing Assistance Robot | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Rowat-Selverston CPG | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
| DOI | ||||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.24507/icicelb.15.08.779 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 2185-2766 | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/190_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10448090 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 12927 | |||||||||||||
