Natural behavior based teleoperation for dual robot manipulators mounted on a wheelchair

In recent years, the issue of how to support the disabled people to live independently above and beyond care services and facilities become important. One of those solutions has the method using the manipulator. The most of manipulators were fastened to a wheelchair in conventional research which have spatial and activity constraints. We have developed Ritsumei-Safe Daily Cooperator (R-SaDaCo), a dual arm manipulator that can be separated from and combined with a wheelchair. The main aim of this robot is to reduce the total amount of care by other people. However, remote control of R-SaDaCo has a problem. It is how to control it without training the operation. In this research, we develop a system of remote control for R-SaDaCo. In this system, sensors are used to measure the natural movement of the user. The user operates R-SaDaCo by using data provided from the sensors. The user experiment is performed to evaluate the effectiveness of this system. As a result, this system is suitable to remote-control R-SaDaCo.