Detachable Body: Validating the Positional Relationship between Head and Arm

Vitvasin Vimolmongkolporn, Yukiko Iwasaki, Fumihiro Kato, Hiroyasu Iwata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The detachable body is the extended concept of the Supernumerary Robotic limbs (SRL), which can detach and attach from the user's body to the environment. This concept enables collaboration and multi-presence. However, in the previous research, the discussion of the positional relationship between modular body components is still unclear regarding the user's work efficiency. Therefore, the experiments were conducted to observe the effect of detached arm position on the work efficiency for effective work using modular bodies like detachable bodies. The first experiment compares work efficiency(time to finish task and distance error) when the positional relationship between the robotics head and arm is kept the same during attached/detached. Secondly, the comparison of the position variations during detached was also investigated. As a result, the time to finish the task in the detached case is significantly higher than in the attached case, suggesting the advantage of the attached case. Also, the tendency indicates that work efficiency dropped in positions over 39 cm horizontally. The overall suggest revamping the system through depth recognition, motor training, and input scaling. Also, the result of the position's variations can be considered as a design parameter to design hardware that improves the usability of the modular body system.

Original languageEnglish
Title of host publication2023 IEEE/SICE International Symposium on System Integration, SII 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350398687
DOIs
Publication statusPublished - 2023
Event2023 IEEE/SICE International Symposium on System Integration, SII 2023 - Atlanta, United States
Duration: 2023 Jan 172023 Jan 20

Publication series

Name2023 IEEE/SICE International Symposium on System Integration, SII 2023

Conference

Conference2023 IEEE/SICE International Symposium on System Integration, SII 2023
Country/TerritoryUnited States
CityAtlanta
Period23/1/1723/1/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computational Mechanics
  • Control and Optimization
  • Modelling and Simulation
  • Surgery
  • Instrumentation

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