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Sensorless Assistive Torque Design for a Lower Extremity Exoskeleton |
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Kai-Tai Song, Yun-Chih Liao, You-Lin Jian Jian(National Chiao Tung University, Taiwan) |
| For improving mobility of the elderly, it is desirable to use a lower limb exoskeleton to enhance strength and endurance for their daily life activities. This paper presents a novel design of assist torque generation and compliant motion of a knee joint for an exoskeleton robot. Based on a sensorless approach, a method is suggested to estimate the external torque and generate the assistance torque of the attached DC motor. The developed lower limb exoskeleton joint provides assistive torque in order to comply with motion of the user. In comparison with existing lower limb exoskeletons, the pro |
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Indirect Adaptive Nonlinear Self-Balancing and Station Keeping for Omnidirectional Riding Chair |
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Ching-Chih Tsai(National Chung Hsing University, Taiwan) |
| This paper presents indirect adaptive self-balancing and station keeping control methods using recurrent Wavelet Fuzzy CMAC (RWFCMAC) for an omnidirectional ball-driven chair in presence of significant system uncer-tainties. By backstepping, sliding-mode control and RWFCMAC, the self-balancing controller is synthesized to follow the rider’s inclination angles in both two axes (x-z and y-z axis), and the station-keeping controller is designed to allow the rider to maintain the vehicle at the same place. |
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Robust Facial Emotion Recognition Using a Temporal-Reinforced Approach |
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Kai-Tai Song, Chao-Yu Lin(National Chiao Tung University, Taiwan) |
| In this paper, a temporal-reinforced approach to enhancing emotion recognition from facial images is presented. Shape and texture models of facial images are computed by using active appearance model (AAM), from which facial feature points and geometrical feature values are extracted. The extracted features are used by relevance vector machine (RVM) to recognize emotional states. We propose a temporal analysis approach to recognizing likelihood of emotional categories, such that more subtle emotion, such as degree and ratio of basic emotional states can be obtained. Furthermore, a method is de |
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Behavior-Based Manipulator Programming Based on Extensible Agent Behavior Specification Language |
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Hsien-I Lin, C. H. Cheng(National Taipei University of Technology, Taiwan) |
| Endowing a robot with skills to perform manipulative tasks has an important role in developing an intelligent robot. To manipulate objects, a robot needs perception and action skills. However, designing the programming framework to integrate a variety of skills in a robot system is a challenging task and significantly influences the robot performance. In this paper, we present a behavior-based manipulator programming framework which is based on Extensible Agent Behavior Specification Language (XABSL) to manage behaviors in a robot system. To achieve the flexibility and re-usability of robot |
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Fastening Torque Control for Robotic Screw Driver under Uncertain Environment |
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Chwan Hsen Chen(Yuan Ze University, Taiwan) |
| In automatic screw tightening task, the fastening torque and the angular displacement of the screw have to be closely monitored in order to maintain good product quality. Most automatic screw fastening stations use torque sensors to monitoring the fastening process, and traditional strategy in automatic screw fastening is to limit the maximum value of the fastening toque. However, recent studies show that the relation between the fastening torque and the thread-in depth can be utilized to justify the fastening quality, especially for multi-layered workpiece screw fastening and for self-tapping |
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Human-Robot Interaction with Multi-Human Social Pattern Inference on a Multi-Modal Robot |
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Shih-Huan Tseng, Tung-Yen Wu, Ching-Ying Cheng, Li-Chen Fu(National Taiwan University, Taiwan) |
| To enable service robots enter a multi-human office environment, it is important to find a group of human users’ social patterns and then to provide a proper service to them in time. In this paper, some nonverbal social signals are fast detected in social environments. Then, robot can find the spatial social patterns of human users. Those patterns are indicated to human-to-human, human-to-robot or multi-human-to-robot interaction. Experimental results shows that our robot successfully find the aforementioned users’ social patterns. |
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