Drawing Assist System Considering Nonperiodic Involuntary Movements

Creative activities such as painting and music are a source of satisfaction and fulfillment for many people with disabilities, but some individuals with disabilities cannot satisfactorily enjoy such activities due to their involuntary movements. We developed a drawing assistance system for people with nonperiodic involuntary movements that has a position correction filter which adaptively varies the attenuation in the involuntary movements in real time, and error-drawing prevention with force control. Here we confirmed that the system enables a user to draw or paint based on the user's own senses and motor control, even when experiencing involuntary movement.