Abstract
This chapter addresses a new application of humanoid robot for evaluation of wearable assistive devices. One of the issues for diffusion of assistive devices that has been developed recently is its objective and qualitative evaluation to validate its assistive effects. Human subject experiments that have frequently been used have several drawbacks such as heavy ethical procedures, repeatability, and subjectivity coming from tests with questionnaires. A humanoid robot with humanlike structure and shape has potential to be used as an “active mannequin.” By reproducing human motions based on a technique called retargeting, a humanoid robot can test wearable devices instead of a human. It has advantages as it can repeat the same motions to test the product under the same conditions, and it has no ethical risks. The largest advantage is its capacity of quantitative evaluation by measuring joint torques, which allows direct validation of supportive torque generated by the device. By taking an example of a supportive wear “Smart Suit Lite” supporting the user’s lower back by elastic bands, we will overview the evaluation framework of humanoid-based assistive device evaluation, including human motion retargeting, experimental device evaluation with humanoid HRP-4C, and validation of the accuracy of the results using an identification method.
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Yoshida, E., Ayusawa, K., Imamura, Y., Tanaka, T. (2019). Toward New Humanoid Applications: Wearable Device Evaluation Through Human Motion Reproduction. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_115
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DOI: https://doi.org/10.1007/978-94-007-6046-2_115
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