Human Friendly Mechatronics (eBook)

Eiji Arai, Tatsuo Arai, Masaharu Takano (Autoren)

eBook Download: PDF | EPUB

2001 | 1. Auflage
420 Seiten
Elsevier Science (Verlag)
978-0-08-053419-0 (ISBN)

Infos

The book includes 61 selected papers from 106 presented at the second International Conference on Machine Automation (ICMA2000). The conference focused, for the first time, on human friendly mechantronics which covers machine systems interacting with human beings, psychological, physiological, and physical behaviors of the human being itself, robotics, human-mimetic mechanical systems, commercial application examples and so on. Machine automation has owed a lot to mechatronics technology in the last decades, however, a paradigm shift is desired and emphasized in the 21st century in every aspect of our society, and mechantronics is not an exception. The paradigm shift in mechatronics is a pursuit of productivity and efficiency to the preference of humans, and it is time that a new concept of a human friendly robot must be proposed that is welcome by human users. The book aims to offer the most up-to-date and valuable information on:
&bull,Human Interface & Communication
&bull,Human Support Technology
&bull,Actuator & Control
&bull,Vision & Sensing
&bull,Robotics and Design
&bull,Manufacturing System
We believe this book will bring advanced knowledge and valuable information to the industries as well as to academics and will contribute to the further development in mechatronics and its related fields.

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The book includes 61 selected papers from 106 presented at the second International Conference on Machine Automation (ICMA2000). The conference focused, for the first time, on human friendly mechantronics which covers machine systems interacting with human beings, psychological, physiological, and physical behaviors of the human being itself, robotics, human-mimetic mechanical systems, commercial application examples and so on. Machine automation has owed a lot to mechatronics technology in the last decades, however, a paradigm shift is desired and emphasized in the 21st century in every aspect of our society, and mechantronics is not an exception. The paradigm shift in mechatronics is a pursuit of productivity and efficiency to the preference of humans, and it is time that a new concept of a human friendly robot must be proposed that is welcome by human users. The book aims to offer the most up-to-date and valuable information on: *Human Interface & Communication *Human Support Technology *Actuator & Control *Vision & Sensing *Robotics and Design *Manufacturing System We believe this book will bring advanced knowledge and valuable information to the industries as well as to academics and will contribute to the further development in mechatronics and its related fields.

Inhalt

Front Cover 1
Human Friendly Mechatronics 4
Copyright Page 5
Contents 6
Preface 12
ICMA2000 Conference Committees 14
Editorial Note 15
Part I: ICMA and NTF Lectures 16
Chapter 1. Mobility, Wearability, and Virtual Reality the Elements of User Friendly Human Interfaces, Modern Platforms for Cooperation
Chapter 2. Haptics: A Key to Fast Paced Interactivity 26
Part II: Human Interface and Communication 32
Chapter 3. Micromechatronics for Wearable Information Systems 34
Chapter 4. Monitoring of the User's Vital Functions and Environment in Reima Smart Clothing Prototype 40
Chapter 5. Development of a Wearable Muscle Sound Sensing Unit and Application for Muscle Fatigue Measurement 46
Chapter 6. A Novel Antenna System for Man-Machine Interface 52
Chapter 7. Wild Animals Tracking by PHS(Personal Handy phone System) 58
Chapter 8. Active Visual Feedback Using Head Mounted Display in Human Directed Manufacturing System 64
Chapter 9. Dynamics of Training Simulator for Mobile Elevating Platforms 70
Chapter 10. On Proposal of Function-Behavior-State Framework as Refinement of EID Framework of Human-Machine Interface Design 76
Chapter 11. A Graphical User Interface for Industrial Robot Programming in Non-Repetitive Tasks 82
Part III: Human Support Technology 88
Chapter 12. Development of a Micro Manipulator for Minimally Invasive Neurosurgery 90
Chapter 13. LAN Based 3D Digital Ultrasound Imaging System for Neurosurgery 96
Chapter 14. A Powered Wheelchair Controlled by EMG Signals from Neck Muscles 102
Chapter 15. Autonomous Mobile Robot for Carrying Food Trays to the Aged and Disabled 108
Chapter 16. A New Force Limitation Mechanism for Risk Reduction in Human / Robot Contact 114
Chapter 17. Development and Motion Control of a Wearable Human Assisting Robot for Nursing Use 120
Chapter 18. Development of an Active Orthosis for Knee Motion by Using Pneumatic Actuators 126
Chapter 19. Gait Improvement by Power-Assisted Walking Support Device 132
Chapter 20. A Horseback Riding Therapy System Using Virtual Reality and Parallel Mechanism 138
Chapter 21. Development of a Driving-Support System for Reducing Ride Discomfort of Passenger Cars 144
Chapter 22. Characteristic Mapping of Stance Posture Control Systems from a Control Engineering Standpoint 150
Part IV: Actuator and Control 156
Chapter 23. Micro Actuator with Two Piezoelectric Elements Placed at Right Angles 158
Chapter 24. Study on Driving Force of Vibrational Friction Motor 164
Chapter 25. Design of Ultrasonic Motor for Driving Spherical Surface 170
Chapter 26. Development of Master-Slave System for Magnetic Levitation 176
Chapter 27. Precise Positioning of Optical Fibers Using Stick-Slip Vibration 182
Chapter 28. Simulative Experiment on Precise Tracking for High-Density Optical Storage Using a Scanning Near-field Optical Microscopy Tip 188
Chapter 29. Independence / Cooperative Remote Control Support System for Aerial Photographing 194
Chapter 30. Control Strategies for Hydraulic Joint Servo Actuators for Mobile Robotic Applications 200
Chapter 31. Integration of Micro-Mechatronics in Automotive Applications Using Environmentally Accepted Materials 206
Part V: Vision and Sensing 212
Chapter 32. Robust Estimation of Position and Orientation of Machine Vision Cameras 214
Chapter 33. Deflection Compensation of Flexible Manipulators Using Machine Vision and Neural Networks 220
Chapter 34. Camera Calibration in Machine Automation 226
Chapter 35. Real Time Machine Vision System in Micromanipulator Control 232
Chapter 36. Object Tracking by Fusing Distance and Image Information 238
Chapter 37. Face Detection and Face Direction Estimation Using Color and Shape Features 244
Chapter 38. Contour Based Hierarchical Part Decomposition Method for Human Body Motion Analysis from Video Sequence 250
Chapter 39. Man Chasing Robot by an Environment Recognition Using Stereo Vision 256
Chapter 40. Using Desktop OCR and Adaptive Preprocessing for Recognizing Text on Extruded Surfaces 262
Chapter 41. Road Surface Sensor Using IR Moisture Sensor 268
Chapter 42. Development of a System for Measuring Structural Damping Coefficients 274
Part VI: Robotics 280
Chapter 43. Development of an Anthropomorphic Robotic Hand System 282
Chapter 44. Design of a Humanoid Hand for Human Friendly Robotics Applications 288
Chapter 45. Humanoid Robot "DB" 294
Chapter 46. Teleoperation Master Arm System with Gripping Operation Devices 300
Chapter 47. Stable Grasping and Posture Control for a Pair of Robot Fingers with Soft Tips 306
Chapter 48. An Implementation of Chopsticks Handling Task by a Multi-fingered Robotic Hand 312
Chapter 49. Stability Map for Graspless Manipulation Planning 318
Chapter 50. Motion Planning and Control Method of Dexterous Manipulation Utilizing a Simulation System for a Multi-fingered Robotic Hand 324
Chapter 51. Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance 330
Chapter 52. Inverse Kinematics Analysis of a Parallel Redundant Manipulator by Means of Differential Evolution 336
Chapter 53. Polishing Robot with Human Friendly Joystick Teaching System 342
Chapter 54. Development of High Precision Mounting Robot with Fine Motion Mechanism: Design and Control of the Fine Motion Mechanism 348
Chapter 55. Development of Three Dimensional Measuring System for Making Precise Patterns on Curved Surface Using Laser Drawing 354
Chapter 56. Autonomous Mobile Robot Navigation Based on Wide Angle Vision Sensor with Fovea 360
Chapter 57. Dead Reckoning of Multi-legged Robot–Error Analysis– 366
Part VII: Design and Manufacturing System 372
Chapter 58. User Friendly Environment for the R& D of Controllers in Heavy Machinery
Chapter 59. User Oriented Definition of Product Requirements within Mechatronic Engineering 380
Chapter 60. A Friendly Open PC-Based Working Frame for Controlling Automatic Re-Configurable Assembly Cells 386
Chapter 61. Strategic Management of Adaptive, Distributed, Development of a Mechatronic Product 392
Chapter 62. Development of Adaptive Production System to Market Uncertainty-Autonomous Mobile Robot System- 398
Chapter 63. In-process Visualization of Machining State with Sensor-based Simulation to Support the Recognition Ability of Operators 404
Chapter 64. Mediator-Based Modeling of Factory Workers and Their Motions in the Framework of Info-Ergonomics 410
Author Index 416

Textauszug

Mobility, Wearability, and Virtual Reality; the Elements of User Friendly Human interfaces, Modern Platforms for Cooperation

Ilpo Reitmaa, Science and Technology Counsellor    Embassy of Finland, National Technology Agency Tekes

This paper is a part of the ICMA2000 discussion with views to

• User friendliness

• Benefits of being wireless

• Potential of virtual environments

• Wearability

• and views to all this as an obvious cooperation platform.

JAPAN THE TECHNOLOGY SUPERPOWER

Japan is a technology superpower that has achieved amazing results in the field of electronics, information technology, material technologies, production technologies, robotics, precision mechanics and in combining mechanics and electronics, just to name a few. Simultaneously we know about the Japanese high quality, high work ethics, and about devotion to work whenever a goal is set. Japan is a country of great human power and dedication. The Japanese seem to have world record in kindness. The Japanese also seem to hold a world record in getting organized and having unsurpassable loyalty to work.

WHY USER FRIENDLINESS, WHAT USER FRIENDLINESS?

In this context we are mainly talking about combining electronics to mechanics, about mechatronics, that is. In Japan, at the consumer side this can easily be seen as a multitude of mass produced personal and home devices of unsurpassable quality and cost effectiveness. However the potential of electromechanics (mechatronics, if you like) is not only limited to the perhaps most visible consumer sector. Industrial electromechanics and mechatronics penetrate in all fronts including, manufacturing technologies, robotics, microelectronic and micromechanic devices, to name just a few. So mechatronics, at business level is important both in the business to consumer and in the business to business markets.

Along with this ever spreading of application spectrum two well known phenomena occur, both in electronics and in mechanics and in combining them:

- Size of the devices decreases, and

- Complexity of devices increases.

Along with this development, there is even doubt whether profitable applications for all these new devices and systems any more really exist. That is; do capabilities and visions of electromechanics, IT, and of all our innovations exceed the needs? That is why the popular phrase about user friendliness becomes more serious issue than ever. User friendliness becomes more than a phrase.

Making our devices, systems and services understandable and compatible with human beings is the only way to go if we intend to give room for the internal complexity of our innovations to increase.

There are examples about this at the personal computer (PC) side. Increasing visible complexity combined with deliberate (?) user-unfriendliness has made the most popular personal computer operating system (Windows) to face the question: “can this anymore be the way to go?”. No, complexity must not show. User friendliness is the way to go. Complexity? It must remain inside.

Certainly the user friendliness as a term does call for a definition. There are better experts to do it. To me user friendliness is very practical things like

• Intuitive use

• Functions conforming to assumptions

• Needless manuals

• Forgiving algorithms

• Feeling of confidence

• Repeatability and transparency when operated.

The last item might be the most important: transparency to me meaning ”using” without any particular feeling of ”using”.

User friendliness is not a phrase. It is the necessity, the bottleneck to open, in order to give technology and our new innovations room to flow. The way to go to get technology to become more sophisticated internally, less complicated externally.

USER FRIENDLINESS, EACH DAY IS DIFFERENT

We might wonder why the question of user friendliness has not been solved long ago? Certainly everybody has wished to have devices, systems and services to match the human being from the very beginning, from the early days of engineering sciences?

Yes, technology evolves fast, but basic properties of human beings practically not at all. The basic senses, perception, muscle structure, brain structure, fundamentals of behavior of this two legged creature has remained and will remain basically same for tensthousands of years.

These is no Moore's law for human beings, saying that some doubling in our genetic structure would happen within so-and-so-many years. But, yes, there are valid and proven laws of increasing complexity at the technology side. In this type of circumstances, no wonder that mismatches may occur, daily.

Thus, though the genetic evolution rate of human beings is extremely slow (practically zero in our scale) there are changes in culture, changes in social environment and in human behavioral patterns as well. As an example:

- Early viewers of the very first cinemas were upset and deeply touched by the few minutes experience. On the other hand, today we can watch TV for hours and still easily remain organized about what we see.

This means, interaction with technology changes human behavioral patterns, too.

In Finland it has been demonstrated that the time for Internet browsing has been taken from watching TV. We also can see Internet accessed while walking. Again, along with all those changes in applying technology we get new behavioral patterns.

The actual result of all this? We will get new definitions for user friendliness in each of the new circumstances.

To conclude:

- Rapid development of technology, and

- Zero development of human genetic properties, and

- Gradual developments in social structures, and

- Development generated by human interaction with technology…

…all four mean that we will be facing a complex interfacing question, with at least four elements in it, when we are striving towards user friendliness. All this also means that user friendliness today is different from user friendliness of tomorrow.

When we wake up next morning the solutions to gain user friendliness will be different from what we believe today. Thus, there cannot be any permanent everlasting solution to user friendliness.

From the research and industry point of view, I would call this a benefit. There always some work, actually; a lot of work to be done.

Even more important, from the business point of view, user friendliness can be the competitive advantage for the quick implementers. Advantage for doing business and obtaining market share, that is. All the elements of user friendliness can be a very clear criteria when consumers and customers make decisions.

To conclude: User friendliness means business. User friendliness is dynamic, something today, different tomorrow. Early and up to date user friendliness means competitive advantage. Remember genetics, social situation, effect of human interaction with technology, and the technological complexity. All call for consideration.

WHY WIRELESS?

The well known tendency towards wireless can be explained in many ways. So, why wireless? At its most fundamental level, wireless means uninterruptible 24-hours-a-day of business. When not any more limited by wires, people move, get connected anywhere, at any instant — and become invoiced for that. In the current mobile handset (cell phone and alike) boom this can be seen most clearly.

The utmost urge of human being, being part of something (the network) and on the other hand still being free (to move) becomes realized all with one single personal device and one system solution.

To summarize, in the consumer world wireless means:

• 24 hour business

• Being part of, but simultaneously still…

• Being free

In the industrial environment being wireless brings along other types of benefits. It means faster setup and installation times for industrial systems and extended flexibility. In a production environment, for example, production lines can be configured with reasonable effort.

Wide use of wireless solutions has for long been constrained by safety and security issues because of the common communications path, in the air. However, for example, the proven achievements in mobile phone security is likely to give thrust for believing that wireless can be relied upon in the industrial environment as well. This is going to become interesting. The obvious wireless revolution at the consumer side seems to support the wireless...

Produkt-Details

• Erscheint lt. Verlag: 11.4.2001
• Sprache: englisch
• Themenwelt: Informatik ► Software Entwicklung ► User Interfaces (HCI)
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• ISBN-10: 0-08-053419-8 / 0080534198
• ISBN-13: 978-0-08-053419-0 / 9780080534190