Construction of a human/robot coexistence system based on a modelof human will-intention and desire

摘要

We propose a human-will-based approach to constructing acoexistence system in which a robot is assumed to assist the will powerof a subject while reflecting his intention and desire. We discuss themodel of human's will associated by the work - psychological mindreading, and identify the advantages of the system in which the robotguides the the subject manipulating along the path intended by him.Then, we describe two major techniques with experimental results: 1)estimation of the human-intended path pattern from the previouslyassigned one by proposing a modified algorithm of hidden Markov model;and 2) merging of the human's force feeling pattern into the desired oneby proposing a field impedance equalizer which allows both the human toexpress his desirable field-dependent force/speed feeling and the robotto display the impedance along the previously estimated path. Finally,we conclude the study with some comments on future works