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Regarding mobile support technologies using Personal Mobility units that support independent lifestyles for seniors

IRT Research Initiative at the University of Tokyo, which is the leading agency in the implementation of this project, has developed a technology that enables seniors and persons with physical disabilities to move around freely and safety in the home and outside, in order to support independent day-to-day lifestyles.
TWO of the unique features of IRT Robots that will be active in an aging society are that robots will approach and stay close to people, for example in the home, and that information from the real world and the cyber world can be used actively. One of the core science/technologies will independently control the operations of the Personal Mobility unit even if the user's physical condition changes, so that the individual can move safely and comfortably using simple operations. It can also use external information obtained through the Internet, to provide information that is useful while outside the home or in day-to-day lifestyle situations. Based on these technologies, by using the Personal Mobility unit, users will be able to enjoy futuristic functions; for example, they will be able to go outside with peace of mind even at night, to commute while reading, or to travel to their destination even in unfamiliar areas, by listening to the audio guidance.
THE technologies that were developed for the Personal Mobility unit include: (1) Technology to enable simple operation of the unit; (2) Technology to enable the robot to independently control movement even in crowded or complex situations; (3) Technology for measuring positions even without creating complex maps; (4) Technology for controlling the robot or returning it to a storage area using independent movement; and (5) Technology for realistic communications with persons outside using panorama video images. AT present, the Personal Mobility unit announced plays the role of a platform for the development and testing of elemental technologies. The final robot design will be changed based on future studies, and in keeping with societal acceptance and societal needs.

Outline of Personal Mobility Unit

- Functions and features of technologies that support independent lifestyles for seniors using personal mobility units (single-passenger transport robots).

  1. Technology to enable simple operation of the unit Mobility units for outdoor use are operated by an interface that enables accurate movement based on inward or outward movement of the user's arm; when moving forward or back the unit supports the body's weight and minimizes the burden on the muscles. In the case of the Mobility unit for indoor use, we have developed a technology for operating the unit based on estimations of operating intent; for example, the position of the user's center of balance, or the status of contact with the seat. In this way, the unit can be operated with movement of the body alone, so that hand movements are not needed.
  2. Technology to enable the robot to independently control movement even in crowded or complex situations; In the inverted Mobility Unit for outdoor use, we have developed a technology that controls the tires, swing arm, and seat slider are simultaneously using a 3-D physical model, so that the unit can run with stability even in locations with slopes, steps, or uneven surfaces. We have also incorporated functions that recognize surrounding persons or obstacles using a built-in laser range sensor, to change the route of movement and avoid collisions.
  3. Technology for measuring positions even without creating complex maps In the Mobility Unit for indoor use, we have incorporated functions for embedding positional information into the floor patterns that cannot be recognized by humans, so that the unit can be moved to a specified location in a room based on this information. The unit can also visually recognize the position of a person gesturing with a hand, and move close to that person.
  4. Technology for controlling the robot or returning it to a storage area using independent movement In the Mobility Unit for outdoor use, we have incorporated a function for automatically generating a map of the area surrounding the storage facility using a laser range sensor, estimating the unit's current position, and automatically generating a path to the destination while avoiding any obstacles. With this function, after the user has dismounted from the Mobility Robot the unit can return to the storage facility independently.
  5. Technology for realistic communications with persons outside using panorama video images Using remote operations of the outdoor mobility unit from the indoor Mobility Unit, the user can enjoy a highly realistic experience of a remote location via a panorama video while remaining in his or her own room.
Outdoor Personal Mobility Steering Interface
The interface enables a safe-accurate operation performed by pronation or supination while bracing human body.

Developed device and its operation for outside personal mobility.

Steering interface of indoor‐type personal mobility
Indoor-type personal mobility is equipped with many sensors: 1. to know whether the object on the seat is human body or not, 2. to detect the center of gravity of the human body, the rotation of the seat, and the position of soles, 3. and to enable the driver to steer the robot only by his own body movement.

Posi6on recogni6on with floor pa:ern
Robot position is calculated from visibilities of floor patterns.>

A control algorithms for two-wheeled inverted pendulum vehicle
A new control strategy based on three dimensional physical model realizes stable posture and mobility under uneven road conditions (steps and slopes).
Obstacle avoidance in dynamic environments
The planning method considers the movement of pedestrians explicitly. This enables the robot to move safely in the environment with several people and static obstacles.

Recogni6on of hand beckoning

Tele‐opera6on with high realis6c sensa6on through real 6me panoramic image
Transporting panoramic images in real time enables indoor operator to experience outdoor environment with high realistic sensation. Panoramic image which is equal to humans horizontal field of view, is stitched from three cameras equipped on personal mobility for outdoor use.