Waseda Bioinstrumentation #1
The robots have been subjectively evaluated using questionnaires. The purpose of this research is to objectively measure the psychical effect of a robot on humans. The psychical effects appear in the tension level, emotion and consciousness. We consider that they are measurable by the physiological parameters and the motions. Therefore, we developed the bioinstrumentation system WB-1(Waseda Bioinstrumentation system no.1) that can measure the physiological parameters and the arms motion, in 2005.
The bioinstrumentation system WB-1 consists of the motion capture, elecrocardiograph, digital plethysmograph, respirometer, and sudorometer. It weighs 2.2[kg], and is driven by batteries. The details are as follows.
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The motion capture is the mechanical type and has a serial link mechanism with a potentiometer at each joint. It has 24-DOFs which consists of 6-DOFs from the back origin to the shoulder and 6-DOFs from the shoulder to the wrist in order to follow the movement of the shoulder’s rotation center.
Each measured data is filtered. And then, they are converted from analog data to digital data by a PIC and are sent to a PC by RS232.
Fig.3.1 System chart
Part of this reserch was conducted at the Humanoid Robotics Institute (HRI), Waseda University. We would like to thank Italian Ministry of Foreign Affairs General Direction for Cultural Promotion and Cooporation, for its support to the establishment of the ROBOCASA laboratory and for the realization of the two artificial hands. And part of this was supported by a Grant-in-Aid for the WABOT-HOUSE Project by Gifu Prefecture. Finally, We would like to express thanks to ARTS Lab, NTT Docomo, SolidWorks Corp., Advanced Reserch Institute for Science and Engineering of Waseda University, Prof. Hiroshi Kimura for this supports to our reserch.