DeMaMech: EU-Japan Collaboration in Higher Education Student Exchange Program

Offer of Research Topic

Offer from	University	The University of Tokyo
	Faculty/Department/Institute	Department of Precision Engineering, School of Engineering
	Group Name	Intelligent Systems Division
Research Theme		Modeling of Human Manipulation Skills
Brief Explanation		Humans can achieve complicated assembly operations by dealing with the reaction forces. Humans do force control and change their hands’ impedance parameters for successful operations. The appropriate changes of the parameters are considered as human manipulation skills. In this study, a mathematical model of the skills is developed to implement the skills on robots.
Research Steps		1. Literature survey (one month) 2. Constructing a system to measure the positions and the reaction forces during human demonstrations of assembly operations (one month) 3. Develop a mathematical model of human manipulation skills (two months) 4. Analysis of the developed model using a robot simulator (one month)
Period		5 months, but can be extended as a 10-month project, by including hardware experiments.
Necessary Background, Knowledge, Skills		Fundamental knowledge about force control and probabilistic modeling. Computer programming skills. If necessary, some references can be specified.
Further Information
Contact Person		Prof. Dr. Tamio Arai (aria-tamio@prince.pe.u-tokyo.ac.jp)