TY - GEN
T1 - Haptic feedback system of the additional hand position for multiple task situations using a wearable robot arm
AU - Iwasaki, Yukiko
AU - Ando, Kozo
AU - Iwata, Hiroyasu
N1 - Funding Information:
ACKNOWLEDGMENT This research is supported by Waseda University Global Robot Academia Institute, Waseda University Green Computing Systems Research Organization and ERATO Inami JIZAI Body Project.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - Wearable robot arm systems have been proposed that enable various tasks that humans can not do with their only two natural arms. However, many of these do not have a somatosensory feedback system so that users have to confirm the robot's state by looking every time. This active confirmation can often be a 'switching cost' of task and reduce the multitasking efficiency performed by natural arms and additional robotic arm. In this paper, we focused on the proprioception among the somatosensation, and propose a 'Position haptic belt' which is a new biofeedback system for a wearable robot arm. The system represents the three-dimensional position of a robot hand by the vibrator's placement and vibration frequency. The prototype we developed is able to identify the robot hand position with an accuracy of about 10 cm, and it is used to conduct a case study to evaluate the usability in multiple task situation. The result suggested that the effectiveness of the somatosensory feedback information of robot hand position, even for the wearable robot arm which can be easily confirmed its state on user's own eyes.
AB - Wearable robot arm systems have been proposed that enable various tasks that humans can not do with their only two natural arms. However, many of these do not have a somatosensory feedback system so that users have to confirm the robot's state by looking every time. This active confirmation can often be a 'switching cost' of task and reduce the multitasking efficiency performed by natural arms and additional robotic arm. In this paper, we focused on the proprioception among the somatosensation, and propose a 'Position haptic belt' which is a new biofeedback system for a wearable robot arm. The system represents the three-dimensional position of a robot hand by the vibrator's placement and vibration frequency. The prototype we developed is able to identify the robot hand position with an accuracy of about 10 cm, and it is used to conduct a case study to evaluate the usability in multiple task situation. The result suggested that the effectiveness of the somatosensory feedback information of robot hand position, even for the wearable robot arm which can be easily confirmed its state on user's own eyes.
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U2 - 10.1109/CBS46900.2019.9114418
DO - 10.1109/CBS46900.2019.9114418
M3 - Conference contribution
AN - SCOPUS:85082172106
T3 - 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
SP - 247
EP - 252
BT - 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019
Y2 - 18 September 2019 through 20 September 2019
ER -