著者

山川 雄司 遠山 渉 黄 守仁 村上 健一 石川 正俊

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.84, no.858, pp.17-00364-17-00364, 2018 (Released:2018-02-25)

参考文献数

19

被引用文献数

2

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Human motion is very flexible for performing various tasks but has low speed and low precision; therefore, support and assistance of human motion by robots is desirable in some situations. In this study, in order to achieve such functions, we developed a new portable module for accurately controlling the position of a human hand and constructed a high-speed, high-accuracy positioning control system using image tracking via a high-speed vision system. In order to evaluate its performance, we executed tracing tests of constant position, circular or linear trajectory. Finally, we performed the task of catching a falling small ball, as a significantly difficult positioning task. Although this task was nearly impossible to perform with the human hand alone, the success rate was dramatically improved by using the proposed method.