bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of Wearable Chair Using Pneumatic Passive Elements
Authors: Mitsuda Takashi ,   Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan, Wakabayashi Masato , Kawamura Sadao
Published: April 2016

This paper proposes a wearable chair that reduces the burden on the lower limbs in standing and details the orthosis we developed. The wearable chair consists of a seat, thigh link, lower thigh link and a pair of shoes. These components are connected by pneumatic passive elements and switched from free motion to fixed position by vacuum pressure. Users can sit at any place or time by fixing the joints. The pneumatic passive elements are flexible and lightweight compared to conventional passive device. Results of experiments on walking and weight support using the chair are described.
Book Extraction for Remote Book Browsing Robot
Authors: Tomizawa Tetsuo ,   Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 305-8573, Japan, Ohya Akihisa , Yuta Shin’ichi
Published: April 2016

Our purpose is the realization of a system able to access objects at remote sites by integrating Internet technologies and robotic engineering developments such as mobile robots. Concretely, we are developing a system that uses a robot for browsing remote books via the Internet. To extract books, the robot must recognize the book’s pose-feature (position, angle, and thickness). This paper describes the sensor developed for recognizing the position of books and planning book extraction in a general library environment, and reviews experimental results.
Development of Genbu: Active-Wheel Passive-Joint Snake-Like Mobile Robot
Authors: Kimura Hitoshi ,   Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Shimizu Keisuke , Hirose Shigeo
Published: April 2016

Snake-like robots of the Genbu series (Genbu 1,2,3) consist of multiple modules, equipped with active wheels, connected to each other by passive joints. These robots are categorized as Active-Wheel Passive-Joint articulated mobile robots (AW-PJ type). AW-PJ type robots have high-speed mobility and high-durability on rough terrain in spite of several problems, such as stuck condition, due to the passive joints. These are good properties for fire-fighting robots or planetary rovers. Genbu 3, developed in this study, could climb a 280mm vertical wall whereas the diameter of the wheel is 250mm. This paper describes the design concepts and the original mechanisms of Genbu 3. Automatic stuck detection algorithm and stuck avoidance methods are discussed. Para-skid steering is also described. Results of experiments with Genbu 3 are presented and discussed in order to verify these methods.
Special Issue on Motion Control and its Applications in Robot Technology (RT)
Authors: Kawaji Shigeyasu ,   Professor, Dr. Eng., Oaki Junji ,   Senior Research Scientist
Published: April 2016

Robot Technology (RT) now surpasses information technology (IT) in strategic importance. With robot applications leading to expansion beyond manufacturing into the bioindustrial, medical/welfare, and lifesciences fields, conversion from an industrial to a solutions business is critical. This requires that we define new robot concepts that push the envelope beyond conventional consideration into intellectualization that functions throughout the real world through robotic technologies. This further emphasizes the importance of motion control as a major robotic innovation. Advances in high-function hardware, flexible information processing, and real-time image processing are expected to launch new trends in addition to the above. This special issue presents papers and technical reports featuring a wide academic and industrial repertoire. Topics cover aspects of motion viewed through RT. We thank Prof. Kazuhiro Kosuge of Tohoku University, the contributors, and the reviewers who made this special issue possible. Thanks also go the editor-in-chief of the Journal of Robotics and Mechatronics, Prof. Makoto Kaneko of Hiroshima University, who provided the opportunity for editing this special issue.
Tracking Control of Omni-Directional Vehicles Using Two Wheels Caster Type Odometer
Authors: Ushimi Nobuhiro ,   Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan, Yamamoto Motoji , Mohri Akira
Published: April 2016

This paper proposes a tracking control method for Omni-Directional Vehicles (ODVs) along desired trajectories using a new type of odometer, called a Two Wheels Caster Type (TWCT) odometer, specially designed for ODV dead-reckoning. Driving wheels of conventional ODVs slip easily. When an odometer is connected directly to a driving wheel shaft, such a slip causes large dead-reckoning error. The TWCT odometer we proposed is attached independently to the driving wheel of the ODV to avoid the influence of the slip. The TWCT odometer passively follows the omni-directional motion of the ODV. The current position and orientation of the ODV are estimated accurately by dead-reckoning from TWCT odometer measurement. The proposed control method uses the estimated current position and orientation that allow accurate tracking control of the ODV along a desired trajectory. Tracking control is improved by the TWCT odometer. Experimental results show effectiveness of the proposed control method using the TWCT odometer.
Development of Active Support Splint Driven by Pneumatic Soft Actuator (ASSIST)
Authors: Sasaki Daisuke ,   Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan, Noritsugu Toshiro , Takaiwa Masahiro
Published: April 2016

In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. McKibben type pneumatic rubber muscles are on the both sides of rotary-type soft actuators for relieving a restrained feeling when the device is not operated. In this paper, the structure of ASSIST is described, and then the effectiveness of this splint is experimentally discussed based on the experiments for movable range assist for the wrist.
Realization of All 7 Motions for the Upper Limb by a Muscle Suit
Authors: Kobayashi Hiroshi ,   Dept. of Mechanical Engineering, Science University of Tokyo, 1-3 Kagurazaka, Shinjuku, Tokyo 162-8601, Japan, Shiiba Taichi , Ishida Yujiro ,   JST, PRESTO21, 4-1-8 Honchou, Kawaguchi, Saitama, Japan
Published: April 2016

A “muscle suit” that provides muscular support for those paralyzed or otherwise unable to move unaided is being developed. The absence of a metal frame and use of McKibben artificial muscles makes the suit lightweight enough for practical use. We propose an armor-like suit and abduction motion is realized. Because it is difficult to implement all upper limb motion in an armor-like suit, we use mechanical joints and a hard frame and all motion is achieved for the upper limb.
Special Issue on Hyper Performance Robotics and Mechatronics
Authors: Takanobu Hideaki ,   Dept. of Mechanical Systems Engineering, Kogakuin University, 1-24-2 Nishi-shinjuku, Shinjuku, Tokyo 163-8677, Japan, Morita Toshio ,   Dept. of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
Published: April 2016

This special issue presents important research results in the field of robotics and mechatronics under the key concept of Hyper Performance – performance in which special techniques lead to performance that surpasses the conventional ones. Originality is indispensable to research. Generally, originality in robotics and mechatronics lies both in the research focus and in the quality of specifications and functions such as size, velocity, and power. In this line, this special issue views studies demonstrating excellent performance in terms of specifications and functions. This issue includes outlines of hyper performance robotics and mechatronics, and research on under-actuated system and medical applications. Each contribution has been highly evaluated on its own individual merits and provides insights on hyper performance. We feel certain that readers will find these articles both interesting and informative in defining hyper performance in specifications and functions. We thank Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University, the members of the editing committee, and the secretariat of the Journal of Robotics and Mechatronics for their invaluable efforts in editing this issue. We also thank the reviewers who took time out of their busy schedules to provide insightful comments. Without the support of all these people, this special issue would not have been possible.
Stiffness Analysis and Experimental Validation for the 6-Dof Jaw Opening-Closing Training Parallel Robot WY-5 (Waseda Yamanashi 5)
Authors: Carbone Giuseppe ,   LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43 - 03043 Cassino (Fr), Italy, Takanobu Hideaki , Ceccarelli Marco , Takanishi Atsuo , Ohtsuki Kayoko , Ohnishi Masatoshi , Okino Akihisa ,   Department of Mechanical Systems Engineering, Kogakuin University, 1-24-2 Nishi-shinjuku, Shinjuku-ku, Tokyo 163-8677, Japan,   Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan,   Yamanashi University, 1110 Shimokato, Tamaho-cho, Nakakoma-gun, Yamanashi 409-3898, Japan,   Okino Industries, Ltd., 3-11-4 Iwadokita, Komae-shi, Tokyo 201, Japan
Published: April 2016

In this paper a mouth opening and closing training robot named as WY-5 (Waseda Yamanashi version 5) is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is carried out as based on the proposed formulation. Experimental tests are carried out in order to validate the proposed model that can be used for design/control purposes in order to improve the performance of WY-5.
A Novel Fluidic Bellows Manipulator
Authors: Bertetto Andrea Manuello ,   Dipartimento di Ingegneria Meccanica, University of Cagliari, Piazza D’Armi, 1-09123 Cagliari, Ruggiu Maurizio
Published: April 2016

A not-conventional manipulator is presented in this paper. The device consists of a bellows-like flexible and continuum structure actuated by fluid. Two balloons, placed inside of a hollow cylindrical flexible body, separated by a floating spine, may deform the flexible body thus moving the manipulator end-effector on a single plane according to an opportune inflating sequence. The description of the device, its assembling procedure and experimental characterization in terms of end-effector workspace, characteristic force-position curve, response in dynamics are addressed. Furthermore a general mathematical analysis of the robots based on the bellows-like structure is presented. The model approximates the flexible structure of the device as a series of rigid links connected by a couple of revolute and prismatic joints. The model was accurately validated by comparing the forward kinematics, static and inverse dynamics of the manipulator built with data from the analytical model.
Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom
Authors: Takeda Yukio ,   Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Kamiyama Kouji , Maki Yoshihisa , Higuchi Masaru , Sugimoto Koichi ,   Honda Motor Co., Ltd.
Published: April 2016

We propose a new structure for spatial in-parallel actuated mechanisms with six degrees of freedom in which the output link’s position and orientation are decoupled. Number synthesis of the position submechanism, a partial mechanism for the position-orientation decoupled mechanism, was conducted, and fifteen mechanisms were clarified. Basic equations for kinematic analysis were derived for four of the obtained mechanisms, and procedures to analyze their forward/inverse displacement were investigated. Their workspaces and swing angles were numerically evaluated based on these equations. Experimental results using an experimental position-orientation decoupled mechanism were presented to support these theoretical results.
Development of a 3D Vision Range Sensor Using Equiphase Light Section Method
Authors: Kumagai Masaaki ,   Tohoku Gakuin University, 1-13-1 Chuo, Tagajo, Miyagi 985-8537, Japan
Published: April 2016

Many autonomous and industrial robots require three-dimensional (3D) environmental sensors. Stereovision or laser range finders are often used to detect distance to obstacles or targets. We propose 3D measurement system using active stereovision based on light section and phase shift. A special light source consisting of a rotating cylinder and a lamp projects planes of lights whose intensities vary sinusoidally over time. Each plane phase differs from those of other planes, so we distinguish which plane sectioned the target from the phase. Images from the video camera are processed into phases of each pixel that indicate distance to measured targets. This needs only simple calculation for phase detection and simultaneously operates multiple systems. The basic principle and expansion for practical use are proposed and experimental results are detailed using a trial, verifying the proposal’s effectiveness.
High-Integration Micromotor Using Electro-Conjugate Fluid (ECF)
Authors: Yokota Shinichi ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan, Kawamura Kiyomi , Takemura Kenjiro , Edamura Kazuya ,   New Technology Management Co., Ltd., 2-9-1-306 Higashi-Shinkoiwa, Katsushika-ku, Tokyo 124-0023, Japan
Published: April 2016

Electro-conjugate fluid (ECF) is a dielectric fluid, that produces a powerful jet flow (ECF jet) when high DC voltage is applied between electrodes inserted in the fluid, realizing a new simplified, lightweight micromotor. We previously developed a disk-plate type ECF micromotor with inner diameter of 9mm. Here we discuss a high-integration ECF micromotor with an inner diameter of 5mm to improve output power density, designing and fabricating ECF micromotors with 4-layer and 8-layer disk-plate rotors, then measured motor performance. Experimental results confirm motors had higher power density than previous ECF micromotors, with output power density 2.3 times higher than previous.
Development of a Hydraulically-Driven Flexible Manipulator for Neurosurgery
Authors: Okayasu Haruna ,   Graduate school of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan, Okamoto Jun , Iseki Hiroshi , Fujie Masakatsu G. ,   Faculty of Advanced Techno-Surgery, Institute of Advanced Biomedical Engineering & Science, Graduate school of Medicine, Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan,   Dept. of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to facilitate the introduction of surgical instruments, spatulas which push tissues aside and retain the approach path to the affected area as well as workspace for the insertion of such instruments are necessary. Therefore, a new type of hydraulically-driven flexible manipulator for neurosurgery has been developed. Including an attached balloon and using only physiological saline for the drive system, the safety of the brain tissue, especially in terms of pressure, is assured as is the simplicity of the mechanism. In addition, this provides the advantage of MRI compatibility. Following several positive evaluations, the effectiveness of this manipulator has been proven as a new type of medical device.
Autonomous Mobile Surveillance Based on RTK-GPS in Urban Canyons
Authors: Meguro Jun-ichi ,   Advanced Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjyuku-ku, Tokyo 162-0044, Japan, Hirokawa Rui , Takiguchi Jun-ichi , Hashizume Takumi ,   Mitsubishi Electric Corp. Kamakura Works, 325 Kamimachiya, Kamakura, Kanagawa 247-0065, Japan
Published: April 2016

This paper describes an autonomous mobile surveillance used in plants in high-rise buildings. This consists of a wireless LAN, a base station, and an autonomous vehicle. The vehicle uses GPS/INS navigation using network-based Real-Time Kinematic GPS (RTK-GPS) with Positioning Augmentation Services (PASTM, Mitsubishi Electric Corporation 2003), an Area Laser Radar (ALR), a slave camera, and an Omni-Directional Vision (ODV) sensor for surveillance and reconnaissance. The vehicle switches control modes – normal, road tracking, and crossing recognition – based on vehicle navigation error. A field test shows that the vehicle tracks a planned straight paths within 0.10m accuracy and planned curved paths within 0.25m even without RTK fixed solutions. Field experiments and analysis prove that the proposed navigation provides sufficient navigation and guidance accuracy under poor satellite geometry and visibility, and that the panorama image database with absolute positioning is useful for surveillance.
Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture
Authors: Taira Tetsuya ,   School of Science for Open and Environmental Systems, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama City, Kanagawa 223-8522, Japan, Yamasaki Nobuyuki
Published: April 2016

This paper describes the development of a modular humanoid robot based on our proposed functionally distributed modular robot architecture. Our proposed architecture features three key concepts, 1) a modular humanoid robot, 2) a functionally distributed module, and 3) a transparent layered software model. Our humanoid robot is designed as a modular robot system consisting of several functionally distributed modules with exclusive mechanical parts, electronic parts, and software for elemental functions such as leg, arm, and vision. Depending on many purposes of researchers and users, our humanoid robot can be used as some kinds of humanoid robots or several autonomous robots, e.g., a wheel robot, an arm robot, or a head robot. We developed the prototype modular humanoid robot consisting of five functionally distributed modules such as two arm modules, a wheel module, a head module, and a main module for evaluating our proposed architecture.
Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility
Authors: Kishi Kousuke ,   Mechanical Engineering Research Laboratory, Hitachi, Ltd., Kan Kazutoshi , Fujie Masakatsu G. , Sudo Kenichi , Takamoto Shinichi , Dohi Takeyoshi ,   Department of Mechanical Engineering School of Science and Engineering, Waseda University,   Advanced Research Laboratory, Hitachi, Ltd.,   Cardiovascular Surgery, Kyorin University School of Medicine,   Dept. of Cardiothoracic Surgery, Graduate School of Medicine, The University of Tokyo,   Graduate School of Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo
Published: April 2016

We propose a surgical manipulator system supporting surgical treatment and intraoperative disease diagnosis. Manipulators fit vertical-magnetic-field open-configuration magnetic resonance (MR) imagers, and surgical tools on the end of the manipulator arm are interchangeable. We evaluated maneuverability using slave manipulators through a surgical input device consisting of a pair of master devices and a console. We conducted basic suturing tasks in training material that mimics human tissue and thin blood vessels.
A Dynamic Body Model of the NematodeC. eleganswith Neural Oscillators
Authors: Suzuki Michiyo ,   Department of Artificial Complex Systems Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Goto Takeshi , Tsuji Toshio , Ohtake Hisao ,   Department of Biotechnology, Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan
Published: April 2016

The nematode Caenorhabditis elegans (C. elegans), a relatively simple organism in structure, is one of the most well-studied multicellular organisms. We developed a virtual C. elegans based on the actual organism to analyze motor control. We propose a dynamic body model, including muscles, controlled by a neural circuit model based on the actual nematode. The model uses neural oscillators to generate rhythmic movement. Computer simulation confirmed that the virtual C. elegans realizes motor control similar qualitatively to that of the actual organism. Specified classes of neurons are killed in the neural circuit model corresponding to actual unc mutants, demonstrating that resulting movement of the virtual C. elegans resembles that of actual mutants.
Implementation of Face Recognition Processing Using an Embedded Processor
Authors: Kondo Hiroyuki ,   System Core Technology Div., Renesas Technology Corp., 4-1 Mizuhara, Itami, Hyogo 664-0005, Japan, Nakajima Masami , Bober Miroslaw , Kucharski Krzysztof , Yamamoto Osamu , Shimizu Toru ,   Information Technology Centre Europe B.V. (ITE) Visual Information Laboratory, 20 Frederick Sanger Rd, Surrey Research Park, Guildford, Surrey, GU12SE, U.K.,   Institute of Radioelectronics, Warsaw University of Technology, ul. Nowowiejeska 15/19, 00-665 Warsaw, Poland,   System Core Technology Div., Renesas Technology Corp., 5-22-2 Josuihon-cho, Kodaira, Tokyo 187-0022, Japan
Published: April 2016

Embedded processors are conventionally difficult to use in face recognition in the security and robotic fields because of the tremendous amount of processing required. We implemented face recognition processing with a multicore based embedded processor having low power consumption and high performance. The single-chip multiprocessor is manufactured using a 0.15μm process with two M32R cores, 512KB of SRAM, and peripheral circuits integrated on a single-chip. It has a power supply voltage of 1.5V, a frequency of 600MHz, and power consumption of 800mW.
Vertical Planar Underactuated Manipulation Using a Gravity Compensation Mechanism
Authors: Ono Yoshiki ,   Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan, Morita Toshio ,   Dept. of Mechanical Engineering, Keio University
Published: April 2016

We propose generating and erasing equilibrium points for passive joints, together with an underactuated manipulator having both vertical and horizontal planar type. This manipulator implements three degrees of freedom (DOF) by combining a passive two-DOF mechanical gravity canceller and an active base joint. Equilibrium points are erased and adjusted by angular variation of the base joint so equilibrium points are erased when gravity torque is zero. If gravity torque is not zero, equilibrium points depend on angular variation of the base joint. Experimental results show position control of the distal link through the mechanical gravity canceller is effective for underactuated manipulation.
Probabilistic Human Modeling Based on Personal Construct Theory
Authors: Motomura Yoichi ,   Digital Human Research Center, The National Institute of Advanced Industrial Science and Technology / CREST, JST, Kanade Takeo
Published: April 2016

We have initiated a project for constructing a mathematical model of human cognitive and psychological functions, executable on a computer. To this end, we propose probabilistic modeling based on the Personal Construct Theory, a basic theory used in cognitive/evaluative structure models for individuals. After extracting a skeleton structure using the Evaluation Grid, Bayesian network model is constructed though data learning. By executing a probabilistic reasoning algorithm on the constructed model, our proposal is applied to user-adaptable information systems, information recommendation, car navigation systems, etc.
Sequential Human Behavior Recognition for Cooking-Support Robots
Authors: Fukuda Tsukasa ,   College of Eng. Syst., Grad. School of Syst. and Info. Eng., University of Tsukuba, Tsukuba, Ibaraki 305-8573, Japan, Nakauchi Yasushi , Noguchi Katsunori , Matsubara Takashi ,   Dept. of Computer Science, National Defense Academy, Yokosuka 239-8686, Japan
Published: April 2016

Recent advances in information technology are making electric household appliances computerized and networked. If our environments could intuit our activities, e.g., by sensors, novel services taking anticipated actions into account would become possible. We propose activity recognition that infers a subject’s next action based on previously observed behaviors. We developed a cooking-support robot that suggests by voice and gesture what the subject may want to do next. Experimental results confirmed feasibility of the inference and the quality of support.
Characteristics of Frictional Sliding Motion in Releasing Manipulation
Authors: Zhu Chi ,   Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan, Aiyama Yasumichi , Arai Tamio , Kawamura Atsuo ,   Institute of Engineering Mechanics and Systems, Tsukuba University,   Department of Precision Engineering, School of Engineering, The University of Tokyo
Published: April 2016

Focusing on freely frictional sliding motion and based on mathematical analysis and physical concepts, it is clarified that the translational and rotational motions stop simultaneously, and the direction of final motion depends on the final configuration and geometric properties of an object but is independent of initial velocity. One extreme case of initially translation-dominant motion is intensively investigated with simplified approach. A series of important properties and motion monotonicity of sliding motion are obtained. Based on the above results, an inverse problem to determine the necessary initial translational and rotational velocity becomes very easy and straightforward.
Position Control of Needle Tip Based on Physical Properties of Liver and Force Sensor
Authors: Kobayashi Yo ,   Graduate school of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan, Okamoto Jun , Fujie Masakatsu G. ,   Dept. of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

Medical procedures such as RFA and cryosurgery require needle insertion, which is difficult because it can easily result in organs being deformed and displaced. In addition, Because deflection occurs more easily with thin needles, needle deflection must be considered. We developed an intelligent robot for needle insertion, incorporating visual feedback, force control, and organ-model-based control. Two experiments were evaluating hepatic properties for organ-model-based robot control. And a dynamic viscoelastic test was done to show dynamic hepatic properties as a differential equation. Their nonlinearity was supported by a creep test. And, this paper shows the deflection correction with (a) the force sensor only, (b) liver model only, (c) both force sensor and liver model is done to control the position of the needle tip. The experimental result shows that using (c) gives optimal effectiveness among the proposed approaches.
Agent System for Operating Web-Based Sensor Nodes via the Internet
Authors: Fukatsu Tokihiro ,   National Agricultural Research Center, 3-1-1 Kannondai, Tsukuba, Ibaraki 305-8666, Japan, Hirafuji Masayuki , Kiura Takuji
Published: April 2016

Web-based sensor nodes, which have a Wireless LAN and a Web server for remote monitoring, could be used with little effort by users thanks to their easy installation, monitoring, and management. To realize a sensor network with high scalability, fewer legacy problems, and general versatility, we propose an agent system for operating Web-based sensor nodes via the Internet. The agent system handles many kinds of sensor nodes flexibly and uniformly with the agent program and configuration files. Constructing all agent objects based on the Internet enhances the expansion of operation, control, and scale. By making the agent system architecture, algorithm, and implementation, we demonstrate the capabilities and reliability of this useful sensor network.
Vibro-Tactile Interface for Enhancing Piloting Abilities During Long Term Flight
Authors: Cardin Sylvain ,   Virtual Reality Laboratory, Ecole Polytechnique Fédérale de Lausanne (EPFL), IC ISIM VRLAB, Station 14,  CH-1015, Lausanne, Switzerland, Vexo Frédéric , Thalmann Daniel
Published: April 2016

Heading perception of an aircraft becomes uneasy under disturbing spatial disorientation for a single pilot performing the daily tasks inherent to a long term flight. Sleepiness, movements and other activities introduced by vital function necessity reduce the attention and the awareness of the current aircraft situation. This paper presents the development of a system which aims at decreasing the attention needs for maintaining an aircraft’s attitude and take corrective action when the autopilot goes off bound. An embedded system has been integrated in the pilot’s clothing. It sends vibro-tactile feedback to the pilot when his aircraft becomes off balance. The system also dynamically localizes the position of the actuators in order to insure a feedback constant in space independently form the pilot posture and movements. A series of tests have been conducted to validate the interest of this localization by showing a slight improvement in the response time needed to take corrective action. By increasing the pilot’s own feeling about his plane’s orientation, the system provides a complementary tool to improve exhausting long flight conditions.
Analysis and Synthesis of Facial Color for Facial Image Synthesis in a Virtual Arm Wrestling System
Authors: Yamada Takashi ,   Faculty of Education, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa 760-8522, Japan, Watanabe Tomio ,   Department of Systems Engineering, Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan
Published: April 2016

An arm wrestling system using a 4-DOF force display with a virtual human opponent is developed, incorporating affect display of facial color and expression, targeting training and rehabilitation support applications. First, a 4-air cylinder 4-DOF force display system is developed for arm wrestling with human operators. Using this system, changes in facial skin temperature as an index of emotion and facial color associated with circulation dynamics in response to the force display, are simultaneously measured and analyzed. Second, based on this analysis, a synthetic method for affect display of the virtual face using facial color and expression for use with the force is proposed, demonstrating its effectiveness through sensory evaluation. Finally, the results are combined to develop an arm wrestling prototype with a virtual human opponent. This paper is the full translation from the transactions of JSME Series C, Vol.70, No.693, 2004.
Predictability of Rest-to-Rest Movements in Haptic Environments with 3D Constraints
Authors: Goncharenko Igor ,   3D Inc., 1-1 Sakaecho, Kanagawa-ku, Yokohama 221-0052, Japan, Svinin Mikhail , Kanou Yutaka , Hosoe Shigeyuki ,   Bio-Mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan
Published: April 2016

We present a networked system with interchangeable constraints for studying skillful human movements via haptic (PHANToM-based) displays. The unified interface easily links different physical models with 2D and 3D static spatial constraints and graphical content related to the models. We analyzed motions based on data recorded by a history unit with a frequency of 100Hz. Theoretical and experimental kinematic profiles compared for several cases of basic reaching rest-to-rest tasks included curve-constrained motions with different curvatures, flexible object control, and cooperative two-arm movements. Experimental patterns exhibit the best agreement with optimal control models based on jerk and force-change minimization criteria.
Verification of Haptic Illusions Using a Haptic Interface and Consideration on its Mechanism
Authors: Hara Masayuki ,   Graduate School of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan, Higuchi Takahiro , Ohtake Ayaka , Huang Jian , Yabuta Tetsuro ,   Department of Health Promotion Science, Tokyo Metropolitan University, 1-1 Minami-Ohsawa, Hachioji, Tokyo 192-0397, Japan,   Department of Mechanical Engineering and Material Science, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
Published: April 2016

In these days, a haptic interface, which is a force/tactile display device, is attracting great interest in virtual reality. With regard to this technology, researchers have reported ways to construct virtual environment and development of new devices with a unique mechanism but rarely explored the relationships between human perception and virtual dynamics. This paper suggests that it is necessary to clarify the relationships to provide more realistic force/tactile sensation for users. The main purpose of this study is to evaluate the force sensations displayed by haptic interfaces. This study focused on two haptic illusion phenomena, which are a haptic horizontal-vertical illusion and a size-weight illusion. Results of experiments using the haptic interface verified that such haptic illusions are reproducible in virtual reality. This implies that perceptual experiments can be realized using haptic interfaces, which may have potential to discover new haptic illusions. Further, this paper attempts to study the size-weight illusion by using functions of the haptic interface such as position and force sensing functions and propose a new hypothesis on the size-weight illusion. These results demonstrate that the effectiveness of haptic interfaces for perceptual experiments.
Epoxy-Based Multichannel Microelectrode for Insect Biopotential Recording
Authors: Kuwana Yoshihiko ,   National Institute of Agrobiological Sciences, 1-2 Ohwashi, Tsukuba, Ibaraki 305-8634, Japan
Published: April 2016

Microelectrodes are being developed in order to record action biopotentials of insects. Silicon was conventionally used as the electrode material and microelectrodes were fabricated by anisotropic etching and reactive ion etching. Because electrode microprobe shape and size were very difficult to control, we propose a novel pin-shaped multichannel microelectrode. Epoxy-based UV photoresist must be used as the electrode material to facilitate the control of the microelectrode shape and size. Analysis of the electrical properties of this electrode showed that it has properties excellent enough to record insect biopotentials.
New Portable Pointer for Positional Data Acquisition
Authors: Ioi Kiyoshi ,   Department of Systems Design Engineering, School of Engineering, Kinki University, 1 Takaya-Umenobe, Higashihiroshima, Hiroshima 739-2116, Japan, Sato Yasushi , Miyoshi Shinya
Published: April 2016

We present a new portable pointer for positional data acquisition to aid the physically handicapped. Our device is usable anywhere and anytime because it is rarely affected by environmental conditions such as light and noise. After giving a background, we explain its basic coordinate acquisition and propose concrete pointing that indicates the desired object and method to obtain accurate coordinates from points pointed at. We detail experimental pointer results and confirm that it accurately acquires coordinates of a desired object. We conclude with confirmation of the pointer’s usefulness and discuss projected work.
Development of Novel Linear Motion Mechanism with Load Sensitive Transmission
Authors: Yuan Jianjun ,   Dept. of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

In more and more robotic applications, it is strongly desired that each actuator provides a wide range of speed, and has more capability to adapt to larger changes of load at the same time. In this paper, we discuss the proposal and development of a novel linear motion mechanism with load sensitive transmission, which consists of certain key components such as rubber rollers and flat springs. The developed mechanical model provides long stroke linear motion and has its ratio changed automatically in response to the continuously variable coaxial pressing load. This compact mechanism has the ability to absorb sudden coaxial load shock and is equipped with overload protection; it stops its advance if the load exceeds a certain value while the motor continues to rotate to keep it from overheating. Having the characteristics of light weight, compact dimensions, large ranges of load and speed, load sensitivity, and long stroke linear motion, it is expected that this mechanism can be used in linear moving robotic application in future.
Motion Control of Ultra-High-Speed Manipulator with a Flexible Link Based on Dynamically Coupled Driving
Authors: Maruyama Tomoari ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Xu Chunquan , Ming Aiguo , Shimojo Makoto
Published: April 2016

We have developed a golf robot whose swing simulates human motion. The design concept is to realize ultra-high-speed dynamic manipulation using a dexterous mechanism. The robot consists of a shoulder joint with a high-power direct-drive motor and a wrist joint with a low-power direct-drive motor. High-speed golf swings are realized by a sort of motion control, called dynamically-coupled driving which compensates for the lack of drive in the wrist joint. In this paper a new model accounting for golf club flexibility with all parameters identified in experiments was developed. Based on this, we generated and implemented trajectories for different criteria. Experimental results confirmed the high accuracy of motion control and the feasibility of golf club flexibility in ultra-high-speed manipulation.
Novel Human Interface for Game Control Using Voluntarily Generated Biological Signals
Authors: Shima Keisuke ,   Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Okamoto Masaru , Bu Nan , Tsuji Toshio ,   On-Site Sensing and Diagnosis Research Laboratory, National Institute of AIST, 807-1 Shuku-machi, Tosu, Saga 841-0052, Japan
Published: April 2016

We propose a human interface for video game operation using voluntarily generated biological signals as input. The users choose specific input signals and configure signal measurement based on preferences, physical condition (disabled or not), and degree of disability. Based on input signals, the intended user operations are estimated with a probabilistic neural network (PNN), and then control commands are determined. Our proposed interface enables individuals even with severe physical disabilities to maneuver video games. Experiments confirmed the feasibility of our designed interface by subjects suffering from cervical spine injury.
Natural Resolution of Ill-Posed Inverse Kinematics for Redundant Robots: A Challenge to Bernstein’s Degrees-of-Freedom Problem
Authors: Arimoto Suguru ,   Department of Robotics, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan, Sekimoto Masahiro ,   BMC Research Center, RIKEN, Nagoya, Aichi 463-0003, Japan
Published: April 2016

Over half a century ago, A. N. Bernstein observed that “dexterity” in human limb movement emerges from the involvement of multijoint motion with surplus degrees of freedom (DOF). Robotics posits that DOF redundancy in robot may enhance dexterity and versatility. Kinematic redundancy involves the problem of ill-posed inverse kinematics from task-description space to joint space. This problem is conventionally avoided by introducing an artificial performance index and uniquely determining an inverse kinematics solution by minimizing it. Instead of taking this conventional avoidance solution, we propose challenging Bernstein’s DOF problem by introducing two direct novel concepts - stability on a manifold and transferability to a submanifold - in dealing with human multijoint movement in reaching and showing that sensory feedback from task space to joint space together with adequate damping (joint velocity feedback) enables any solution to overall closed-loop dynamics to converge naturally and coordinately to a lower-dimensional manifold describing a set of joint states fulfilling a given motion task. This means that a reaching task is accomplished by sensory feedback with the appropriate choice of a stiffness parameter and damping coefficients without having to consider inverse kinematics. We also show that these concepts cope with the annoying “variability” of redundant joint motion seen typically in skilled human reaching. In conclusion, we propose a virtual spring/damper hypothesis that leads to natural control of skilled movement in redundant multijoint reaching.
Violent Action Detection for Elevator
Authors: Hayashi Kentaro ,   Mitsubishi Electric Co., 8-1-1 Tsukaguchi-Honmachi, Amagasaki, Hyogo 661-8661, Japan, Seki Makito , Hirai Takahide , Takeuchi Koichi , Sasakawa Koichi
Published: April 2016

This paper presents a new critical event detection method simplified for built into elevators. We first define that the critical event is unusual action such as violent action, counteraction, etc, and introduce the violent action level (VA level). We use an optical flow based method to analyze the current state of the motion through an ITV (Industrial TeleVision) camera. After motion analysis, we calculate a normalized statistical value, which is the VA level. The statistical value is the multiple of the optical flow direction variance, the optical flow magnitude variance, and optical flow area. Our method calculates the statistical value variance and normalize it by the variance. At last we can detect critical event by thresholding the VA level. Then we implement this method on a built-in device. The device has an A/D converter with special designed frame buffer, a 400 MIPS high-performance microprocessor, dynamic memory, and flash ROM. Since we need to process the method 4Hz or faster to keep the detection performance, we shrink the images into 80 by 60 pixels, introduce recursive correlation, and analyze optical flows. The specially designed frame buffer enables us to capture two sequential images at any time. After that we achieved a processing performance of 8Hz on it. Our method detects 80% of critical events where at a maximum false acception rate of 6%.
Visually Guided Microassembly with Active Zooming
Authors: Tao Xiaodong ,   Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-dong, Daejeon, Korea, Cho Hyungsuck , Cho Youngjun ,   Mechatronics Team, Korea Institute of Industrial Technology (KITECH), Chungnam, Chunan-Si, Korea
Published: April 2016

Vision techniques used in automatic microassembly are limited by inherent problems such as small depth of focus and small field of view. Microassembly must, however, initially detect microparts in a wide field of view and large depth of field while maintaining high resolution. We propose microassembly using active zooming that can overcome these limitations. For a small field of view, active zooming prevents the target from getting out of the field of view during microassembly. For a small depth of focus, our proposal is based on focus measure to maintain clear target image in the field of view during microassembly. Two-step assembly thus ensures zoom microscopy maintaining a wide field of view and large depth of field initially and high resolution at the end. Peg-in-hole assembly experiments confirmed the feasibility of our proposal.
Improvement in a Surface Motor-Driven Planar Motion Stage
Authors: Gao Wei ,   Nanosystems Engineering Laboratory, Department of Nanomechanics, Tohoku University, 6-6-01 Aramaki Aza Aoba, Sendai 980-8579, Japan, Horie Katsutoshi , Dian Songyi , Katakura Kei , Kiyono Satoshi
Published: April 2016

We report a surface motor-driven planar motion stage with an XYθZsurface encoder. The surface motor consists of two pairs of linear motors. Magnetic arrays are installed on the platen and stator windings of linear motors on the stage base. The platen is moved in the X and Y directions by X and Y linear motors. It is rotated around the Z axis by moment generated by the X or Y linear motors. The surface encoder consists of two two-dimensional (2D) angle sensors and an angle grid with 2D sinusoidal surface waves. The angle grid is installed on the platen. Sensors onside make the stage compact. The surface encoder is improved for higher positioning accuracy. Measurement errors of the surface encoder using two detectors – a quadrant PD and 2D PSD – are determined by simulation. The surface motor for increasing stage speed is modified. We conducted experiments comparing the previous prototype stage (Prototype I) and the improved stage (Prototype II).
Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -
Authors: Hodoshima Ryuichi ,   Mechanical and Aerospace Engineering of Science and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Doi Takahiro , Fukuda Yasushi , Hirose Shigeo , Okamoto Toshihito , Mori Junichi ,   Life System Science and Technology, Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota-shi, Aichi 470-0393, Japan,   Mechanical System of Engineering, Tamagawa University, 6-1-1 Tamagawagakuen, Machida-shi, Tokyo 194-8610, Japan,   TAISHO KENSETU Corporation, 2695 Kaneda, Chosei-mura, Chosei-gun, Chiba 299-4332, Japan
Published: April 2016

We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.
Mobile Robot with Floor Tracking Device for Localization and Control
Authors: Nagai Isaku ,   Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-Naka, Okayama-shi, Okayama 700-8530, Japan, Tanaka Yutaka
Published: April 2016

We developed a visual device that tracks floor images and calculates the movement of a camera on a mobile robot. The mobile robot has caterpillar-tread wheels and uses our visual tracking device for localization. The robot is localized and controlled in real time based on the information on the estimated position and direction using FPGA, SRAM, and a small CPU board. Location and direction error over a closed path is eliminated by searching for an original floor image memorized initially at the point from which the robot started the run. Experimental results demonstrate the advantages of the proposal using the visual tracking device localizing a mobile robot with wheel slippage and under changing light conditions. We also show that the robot runs along a closed path repeatedly without a straying from the track by using the original image to correct accumulated error.