Browsing by Author "Young, Kuu-young"

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Development of a Comfort-Based Motion Guidance System for a Robot Walking Helper
(1970-01-01)
Young, Kuu-young
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Cheng, Shu-Ling
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Ko, Chun-Hsu
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Tsou, Hao-Wei
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電子工程學系及電子研究所
In research on providing motion assistance for elderly care, the robot walking helper is considered to be able to maintain their vitality. For its practicality, one issue of interest is its feasible path planning for guidance. Inspired by the concept of including human factors for path planning previously proposed, in this paper, we develop such a motion guidance system for the robot walking helper. We first selected the human factors most vital for the elderly and also public via an Internet survey, and then developed a corresponding path planning algorithm and control strategy for its realization. Experiments are conducted to demonstrate the effectiveness of the proposed system. Key contributions of the paper lie on (a) one of the few studies that include human factors into path planning of the robot walking helper and (b) a more thorough consideration on comfort with both physical and psychological factors corresponding to elderly and public preference included.
Intention deduction from demonstrated trajectory for tool-handling task
(2013)
Chan, Hoa-Yu
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Young, Kuu-young
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Fu, Hsin-Chia
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資訊工程學系
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電子工程學系及電子研究所
When the robot comes to a home-like environment, its programming becomes very demanding. The concept of learning by demonstration is thus introduced, which may remove the load of detailed analysis and programming from the user. Following this concept, in this article, we propose a novel approach for the robot to deduce the intention of the demonstrator from the trajectories during task execution. We focus on the tool-handling task, which is common in the home environment, but complicated for analysis. The proposed approach does not pre-define-motions or put constraints on motion speed, while allowing the event order to be altered and allowing for the presence of redundant operations during the demonstration. We apply the concept of cross-validation to locate the portions of the trajectory that correspond to delicate and skillful maneuvering, and apply an algorithm based on dynamic programming previously developed to search for the most probable intention. In experiments, we applied the proposed approach for two different kinds of tasks, the pouring and coffee-making tasks, with the number of objects and their locations varied during demonstrations. To further investigate our method's scalability and generality, we also performed intensive analysis on the parameters involved in the tasks.
Manipulating a multi-DOF robot manipulator for tasks in home-like environments
(2012)
Hsieh, Mu-Cheng
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Tseng, Po-Ying
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Jan, Ming-Shiun
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Young, Kuu-young
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電子工程學系及電子研究所
As more robots are expected to enter the families to provide assistance soon, many challenging problems shall emerge, when facing the uncertain and varying environments, rather than the organized environments in factories. To date, robots still demand human\'s assistance when working in home-like environments. To enhance their usefulness, one issue of much interest is how we can effectively operate them for task execution. If not for detailed analysis and program coding, one appealing alternate is to provide a kind of manipulative system for the user to manipulate the robot naturally and efficiently. That motivates us to develop a dextrous manipulation system for multi-DOF robot manipulators based on using the 6-DOF force-reflection joystick. To demonstrate its effectiveness, the developed manipulation system is utilized to govern the robot manipulator for the tasks of water pouring and screw fastening.
Motion constraint design and implementation for a multi-functional virtual manipulation system
(2010-04-01)
Hsieh, Mu-Cheng
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Young, Kuu-young
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電機工程學系
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Department of Electrical and Computer Engineering
Simulation systems nowadays are applied to various tasks, and thus demand a versatile manipulative system for the user to interact with the corresponding simulated environments. To make a single manipulative device applicable to more different kinds of tasks, the concept of virtual mechanisms has been previously proposed, in which virtual motion constraints are constructed via the software to constrain the manipulative device to move within a limited workspace that corresponds to task requirements. Motivated by the idea, in this paper, we propose a systematic approach to design and implement the virtual motion constraints for a multi-functional virtual manipulation system. The motion constraints are generated from sets of virtual walls to deal with the compliance task. And, a pixel-based method is proposed for smooth force rendering between the walls. In experiments, we apply the proposed virtual manipulation system to emulate an omni-directional wrench and a manual gearshift system, based on using a 2-DOF force-reflection joystick. We also evaluate the responses of the users during the manipulation of these two virtual mechanisms, which implicate the proposed system is able to capture the main features of various kinds of manipulative devices. (C) 2010 Elsevier Ltd. All rights reserved.
Motion Constraint Design for a Multi-Functional Virtual Manipulation System
(2008)
Hsieh, Mu-Cheng
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Young, Kuu-young
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電控工程研究所
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Institute of Electrical and Control Engineering
Simulation systems nowadays are applied for various tasks, and thus demands a versatile manipulative system for the user to interact with the corresponding simulated environments. To make a single manipulative device applicable for different tasks, the concept of virtual mechanism has been previously proposed, in which virtual motion constraints are constructed via the software to constrain the manipulative device to move within a limited workspace that corresponds to task requirements. Motivated by the idea, in this paper, we propose a systematic approach to design and implement the virtual motion constraints for a multi-functional virtual manipulation system. The motion constraints are generated from sets of virtual walls, built of different shapes and physical properties, to deal with the compliance task, which involves both position and force management. An algorithm on how to properly assemble the walls and a graphics-based method for smooth force rendering between them are proposed for given compliance tasks. For demonstration, in experiments, we implement a virtual omni-directional wrench based on using a 2-DOF force-reflection joystick.
Robot Motion Governing Using Upper Limb EMG Signal Based on Empirical Mode Decomposition
(2010)
Liu, Hsiu-Jen
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Young, Kuu-young
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電機工程學系
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Department of Electrical and Computer Engineering
This paper presents a simple and effective approach to govern robot arm motion in real time using upper limb EMG signals. Considering the non-stationary and nonlinear characteristics of the EMG signals, in the design for feature extraction, we introduce the empirical mode decomposition (EMD) to decompose the EMG signals into intrinsic mode functions (IMFs). Each IMF represents different physical characteristic, so that the muscular movement can be recognized. We then integrate it with a so-called initial point detection method previously proposed to establish the mapping between the upper limb EMG signals and corresponding robot arm movements in real time. In addition, for each individual user, we adopt a fuzzy approach to select proper system parameters for motion classification. The experimental results show the feasibility of the proposed approach with accurate motion recognition.