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Assistive System for High-speed and High-accuracy Position Control of a Human Hand Using High-speed Vision and Actuator


Human motion is very flexible for tasks, while it is low in speed and precision, therefore support and assistance of human motion by robots are considered to be desirable.

In this study, in order to achieve such functions, we developed a new portable module for accurately controlling a human hand position and constructed a high-speed and high-accuracy positioning control system using image tracking by a high-speed vision system. In order to evaluate its performance, we executed tracing tests of circle or line trajectory with the system. Finally, we performed a task of catching a falling small ball, which cannot be achieved by a human subject only. Although the task was nearly impossible to make a success of by a human only, the success rate was dramatically improved with the proposed method.



  1. Wataru Tooyama, Shouren Huang, Kenichi Murakami, Yuji Yamakawa and Masatoshi Ishikawa: Development of an Assistive System for Position Control of a Human Hand with High Speed and High Accuracy, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp.230-235 (2016)
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