Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help
In this paper, we investigate physical human–robot interaction (PHRI) as an important extension of traditional HRI research. The aim of this research is to develop a motor learning system that uses physical help from a human helper. We first propose a new control system that takes advantage of inher...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2008-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320902808143 |
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| _version_ | 1832560815189786624 |
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| author | Shuhei Ikemoto Takashi Minato Hiroshi Ishiguro |
| author_facet | Shuhei Ikemoto Takashi Minato Hiroshi Ishiguro |
| author_sort | Shuhei Ikemoto |
| collection | DOAJ |
| description | In this paper, we investigate physical human–robot interaction (PHRI) as an important extension of traditional HRI research. The aim of this research is to develop a motor learning system that uses physical help from a human helper. We first propose a new control system that takes advantage of inherent joint flexibility. This control system is applied on a new humanoid robot called CB2. In order to clarify the difference between successful and unsuccessful interaction, we conduct an experiment where a human subject has to help the CB2 robot in its rising-up motion. We then develop a new measure that demonstrates the difference between smooth and non-smooth physical interactions. An analysis of the experiment’s data, based on the introduced measure, shows significant differences between experts and beginners in human–robot interaction. |
| format | Article |
| id | doaj-art-7e2cb7ab88d045d5943bd4cfa8b7e36e |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2008-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-7e2cb7ab88d045d5943bd4cfa8b7e36e2025-02-03T01:26:38ZengWileyApplied Bionics and Biomechanics1176-23221754-21032008-01-015421322310.1080/11762320902808143Analysis of Physical Human–Robot Interaction for Motor Learning with Physical HelpShuhei Ikemoto0Takashi Minato1Hiroshi Ishiguro2Adaptive Machine System, Osaka University, Osaka, JapanJapan Science and Technology Agency, ERATO, Asada Synergistic Intelligence Project, Saitama, JapanAdaptive Machine System, Osaka University, Osaka, JapanIn this paper, we investigate physical human–robot interaction (PHRI) as an important extension of traditional HRI research. The aim of this research is to develop a motor learning system that uses physical help from a human helper. We first propose a new control system that takes advantage of inherent joint flexibility. This control system is applied on a new humanoid robot called CB2. In order to clarify the difference between successful and unsuccessful interaction, we conduct an experiment where a human subject has to help the CB2 robot in its rising-up motion. We then develop a new measure that demonstrates the difference between smooth and non-smooth physical interactions. An analysis of the experiment’s data, based on the introduced measure, shows significant differences between experts and beginners in human–robot interaction.http://dx.doi.org/10.1080/11762320902808143 |
| spellingShingle | Shuhei Ikemoto Takashi Minato Hiroshi Ishiguro Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help Applied Bionics and Biomechanics |
| title | Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help |
| title_full | Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help |
| title_fullStr | Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help |
| title_full_unstemmed | Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help |
| title_short | Analysis of Physical Human–Robot Interaction for Motor Learning with Physical Help |
| title_sort | analysis of physical human robot interaction for motor learning with physical help |
| url | http://dx.doi.org/10.1080/11762320902808143 |
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