bluuebunny/crossref_metadata_2025 huggingface dataset:
Special Issue on Wearable Robot
Authors: Kiguchi Kazuo ,   Professor, Dept. of Advanced Systems Control Engineering  Saga University
Published: April 2016

Progress in robotics and miniaturization of computer systems has resulted in such advances as wearable robot systems that portend a new relationship between users and robots. Such wearable robots are especially important in medical and welfare use such as power assist robots that enable users to move in ways they otherwise could not. Such developments, however, bring with them new problems that require new considerations. This special issue features current advances in wearable robot systems, including papers on power assist systems, exoskeletons, wearable medical systems, and robot partners. These articles will provide invaluable references for students and researchers in wearable robots. In closing, I would like to thank the authors, contributors, and reviewers who made this special issue possible. I also would like to thank Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University, for his expertise and advice in editing this issue.
Force Analysis of Exoskeletal Robotic Orthoses for Judgment on Mechanical Safety and Possibility of Assistance
Authors: Nagai Kiyoshi ,   Department of Robotics, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan, Nakanishi Isao ,   TOME R&D Inc. 134 Chudoji-Minamicho, Shimogyo-ku, Kyoto 600-8813, Japan
Published: April 2016

We discuss analysis to judge whether an exoskeletal robotic orthosis may assist in providing force while theoretically guaranteeing user safety. First, we explain our basic concept on how to make this judgment. Second, we propose a theory for simultaneously evaluating mechanical safety for the user and the possibility of assistance based on force analysis. We then study feasibility with a numerical example, and detail an application of the proposed method to mechanical design of an exoskeletal robotic orthosis.
An In Vitro Patient-Specific Biological Model of the Cerebral Artery Reproduced with a Membranous Configuration for Simulating Endovascular Intervention
Authors: Ikeda Seiichi ,   Dept. of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603, Japan, Arai Fumihito , Fukuda Toshio , Negoro Makoto , Irie Keiko ,   Dept. of Neurosurgery School of Medicine, Fujita Health University, Toyoake 470-1192, Japan
Published: April 2016

We propose an in vitro patient-specific anatomical model of the human cerebral artery and its simulation of endovascular intervention, a potent treatment modality for cerebrovascular diseases. Our proposed model reproduces the 3-dimensional vasculature lumen, using computed tomography (CT) and magnetic resonance (MR) fluoroscopic information, within a thin artery-like membranous configuration having material properties close to arterial tissue. This cerebral arterial model reproduces an exceedingly realistic surgical feel, dynamic vascular deformation and, other important aspects involving endovascular intervention, realizing a highly realistic surgical simulation. We also propose another vasculature model that reproduces the subarachnoid space around the cerebral arteries. This version simulates endovascular intervention realistically. The model is compatible with current major imaging modalities such as CT, MR, and transcranial Doppler (TDC), and should provide effective platforms for applications, such as diagnosis, surgical planning, medical training, hemodynamic analysis and medical system development and evaluation, especially surgical robots.
Tracing Manipulation in Clothes Spreading by Robot Arms
Authors: Salleh Khairul ,   Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan, Seki Hiroaki , Kamiya Yoshitsugu , Hikizu Masatoshi
Published: April 2016

Edge tracing is important in manipulating deformable objects to reveal their original shape. In this paper, we propose a unique and improved tracing manipulation for towel spreading, an example of a deformable object using two robot arms with sensors-equipped grippers and a CCD camera. Tracing in this paper context involves tracing the towel’s edge. Robot arm movement is based on feedback from sensors and from images from the CCD camera. Our proposed tracing manipulation ensures that both corners grasped by robot are adjacent and not across, enabling the towel to be successfully spread. Experimental results from spreading rectangular towels with different thickness, stiffness, smoothness, and color using our improved tracing manipulation demonstrated that our proposal is also robust.
Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array
Authors: Sasaki Yoko ,   Dept. of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba, Japan, Masunaga Saori , Thompson Simon , Kagami Satoshi , Mizoguchi Hiroshi ,   Digital Human Research Center, National Institute of Advanced Science and Technology, 2-41-6 Aomi, Kouto-ku, Tokyo 135-0064, Japan,   Graduation School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan,   CREST Program, Japan Science and Technology Corporation (JST)
Published: April 2016

The paper describes a tele-operated mobile robot system which can perform multiple sound source localization and separation using a 32-channel tri-concentric microphone array. Tele-operated mobile robots require two main capabilities: 1) audio/visual presentation of the robot’s environment to the operator, and 2) autonomy for mobility. This paper focuses on the auditory system of a tele-operated mobile robot in order to improve both the presentation of sound sources to the operator and also to facilitate autonomous robot actions. The auditory system is based on a 32-channel distributed microphone array that uses highly efficient directional design for localizing and separating multiple moving sound sources. Experimental results demonstrate the feasibility of inter-person distant communication through the tele-operated robot system.
Celebration of the 20th Anniversary Issue Publication
Authors: Arai Tatsuo
Published: April 2016

As current Editor-in-Chief, I would like to call your attention to the publication of the 20th Anniversary Issue of the Journal of Robotics and Mechatronics. I would also like to extend my appreciation to previous Editors-in-Chief, current and past editors, President Keiji Hayashi and staffs of Fuji Technology Press Ltd. for their excellent contributions in publishing the 19 earlier volumes. I would like to thank all of the organizations concerned, especially the Japan Society of Mechanical Engineers (JSME), for their generous supports.

The Journal has established an academic status and splendid reputation in robotics and automation research. As Editor-in-Chief, I am proud of participating in the publication of this eminent journal. Every year, it showcases around 100 outstanding technical papers, featuring five special issues on the most up-to-date topics and selected papers from the Robomec annual conference. The JRM will next target higher quality, a greater audience, more international exposure, and a higher reputation. Faster, more careful reviews and editorial processes are priorities. The next issue will collect papers from worldwide, especially from East Asian countries, where research activities have grown enormously.

I will continue to do my best to achieve these goals in collaboration with the current editors and staffs. We ask the ongoing support of you, our readers, society members, and all those who have done so much to make this effort successful.

In order to celebrate this memorial occation the editorial board asked the three past editor-in-chiefs to give their commemorative words as in the previous. I would be grateful for their outstanding jobs and contributions.
Four-Legged Mechanism for Realizing Dynamic Running  –Design of Prototype with Drive System that Enables Dynamic Locomotion Change –
Authors: Morita Kazuo ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, Kagawa, Japan, Ishihara Hidenori ,   Fellow (DC1), Japan Society for the Promotion of Science
Published: April 2016

This paper discusses the mechanism to realize the possibility of both walking and running by a single robot, made by a combined mechanism of linkages and actuators. This linkage mechanism has actuators below the number of joints; therefore, it enables to reduce the weight of the robot. This study aims at realizing the four-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. First, this paper shows the designing of leg mechanism with effective linkage systems. Additionally, the kinematics simulator is developed and the performance of the prototype is tested. As a result, the effectiveness of these linkage systems has been confirmed, though some issues were found.
Control of Hydraulic Actuator Systems Using Feedback Modulator
Authors: Ohgi Takeyuki ,   Department of Mechanical Engineering and Science, Kyoto University, Yoshida Honmachi, Sakyo-ku, Kyoto 606-8501, Japan, Yokokohji Yasuyoshi
Published: April 2016

Heavy-duty robots using hydraulic actuators are expected to support rescue operations by removing heavy rubble in hostile -wet, dusty, or muddy- environments. The high friction generated by their hydraulic actuator, however, makes it difficult to use them in operations requiring high precision. The servovalves used to control a hydraulic actuator precisely are more expensive than conventional proportional valves, making it impractical to install them in all joints of heavy-duty robots having many degrees of freedom. In this paper, a new hydraulic actuator control method using a feedback modulator is proposed. The proposed controller improves the performance of hydraulic systems using conventional proportional valves, making it as good as that with servovalves. This paper also proposes exclusive control for controlling multiple joints simultaneously to prevent asynchronous joint movement under unbalanced loads. The effectiveness of the proposed method is confirmed through simulations and experiments.
A Conversion of a Cooperative Transportation System with Two Car-Like Mobile Robots into Two-Chain, Single-Generator Chained Form and its Steering
Authors: Yamaguchi Hiroaki ,   Department of Integrated Information Technology,  College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara-shi, Kanagawa 229-8558, Japan, Arai Tamio ,   Department of Precision Engineering, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

This paper presents a novel methodology for steering a cooperative transportation system comprising two car-like mobile robots coupled together via a carrier. The system is a three-input seven-variable drift-free nonholonomic mechanical system. The three control inputs are the moving velocity of the first mobile robot and the steering angular velocities of the two mobile robots. The seven variables are the positions of the first mobile robot along the x- and y-axes, its steering angle, its orientation, the orientation of the carrier, the steering angle of the second mobile robot, and its orientation. We first convert the system into two-chain, single-generator chained form, based on differential geometry. We secondly present a control method of the system with polynomial inputs derived in chained form. Validity of the conversion and the control method is verified by computer simulations performed on driving this cooperative transportation system into a garage.

This paper is the full translation from the transactions of JSME Vol.69, No.686.
Design and Control of Librarian Robot System in Information Structured Environments
Authors: Kim Bong Keun ,   Intelligent Systems Research Institute, Ohara Kenichi , Kitagaki Kosei , Ohba Kohtaro ,   Department of System Innovation, Osaka University
Published: April 2016

An information structured environment enables robots to complete specific tasks based on the information and knowledge provided by the environment. In our study, an information structured environment called u-RT space enabled a librarian robot to arrange books on bookshelves using ambient intelligence. The librarian robot consists of a manipulator, which can recognize and manipulate books, and a mobile platform, which can localize itself and navigate using ambient RFID tags embedded in a floor. The proposed u-RT space connects physical and virtual space using physical hyperlinks. The performance of the proposed librarian robot in u-RT space is evaluated by considering a particular scenario.
Three-Dimensional Environment Model Construction from an Omnidirectional Image Sequence
Authors: Kawanishi Ryosuke ,   Department of Mechanical Engineering, Shizuoka University, Shizuoka, Japan, Yamashita Atsushi , Kaneko Toru
Published: April 2016

When mobile robots execute autonomous tasks, map information is important in path planning and self-localization. In unknown environments, mobile robots must generate their own environmental maps. This paper proposes three-dimensional (3D) environment modeling by a mobile robot. The model is generated from results of 3D measurement and texture information. To measure environmental objects efficiently, the robot uses an image sequence acquired by an omnidirectional camera with wide field of view. The measurement method is based on structure from motion. Triangular meshes are constructed from 3D measurement data. The 3D model is constructed by texture mapping to the triangular mesh, proven by experimental result to be effective.
Object Detection and Recognition Using Template Matching with SIFT Features Assisted by Invisible Floor Marks
Authors: Aoyagi Seiji ,   Faculty of Engineering, Kansai University, Hattori Nobuhiko , Kohama Atsushi , Komai Sho , Suzuki Masato , Takano Masaharu , Fukui Eiji ,   OG Corporation 2-8-7 Nihonbashi-honcho, Chuo-ku, Tokyo 103-8417, Japan
Published: April 2016

For simultaneously localizing and mapping (SLAM) an indoor mobile robot, a method to process a monocular image of entire environmental view is proposed. To ensure that an object can be searched for, invisible floor marks are proposed for modifying the environment and which are useful in narrowing the search area in an image. Specifically our approach involves: 1) narrowing the searched area using invisible floor marks, 2) extracting features based on scale-invariant feature transform (SIFT), 3) using template matching with SIFT features assisted by partial templates and the spatial relationship to the floor, and 4) verifying object recognition with an AdaBoost classifier using Haar-like features based on object shape information. A robot is localized relative to the floor using the floor marks, then, objects in a clattered image are extracted and recognized, and 3D solid models of them are mapped on the floor to build a highly structured 3D map. Recognition was over 80% successful, including tables and chairs and taking several tens of seconds per 640 × 480 pixel image.
Rapid and Direct Cell-to-Cell Adherence Using Avidin-Biotin Binding System: Large Aggregate Formation in Suspension Culture and Small Tissue Element Formation Having a Precise Microstructure Using Optical Tweezers
Authors: Kojima Nobuhiko ,   Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Miura Ken , Matsuo Tomoki , Nakayama Hidenari , Komori Kikuo , Takeuchi Shoji , Sakai Yasuyuki ,   Life BEANS Center, BEANS Project, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan
Published: April 2016

Effectively organizing isolated cells to tissue elements having an appropriate microstructure is a fundamental issue in future tissue engineering, but biological cell-to-cell adhesion is too weak to assemble single cells directly. In order to overcome the difficulty, we applied an Avidin-Biotin Binding System (ABBS) to cell surfaces, and avidinylated and biotinylated cells could mutually bind in the short time they were mixed together. Unlike conventional intact cells, ABBS helped make larger spheroids. Interestingly, avidinylated and biotinylated cell adherence occurred within 1 sec using laser trapping, enabling single cell manipulation. We showed precise, direct single-cell-based tissue assembly using ABBS and optical tweezers, followed by damage-free tissue culture. The combination of ABBS and single cell manipulation has considerable potential for use in application such as tissue engineering, regenerative medicine, and drug screening system.
Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 2)
Authors: Hasegawa Yasuhisa , Suzuki Keiji
Published: April 2016

Robotics and Mechatronics Conference 2010 (ROBOMEC’10) was held at Asahikawa Taisetsu arena in Asahikawa, Japan on June 13-16, 2010, sponsored by the Robotics and Mechatronics Division of the Japan Society ofMechanical Engineers (JSME). Prof. Masashi Furukawa of Hokkaido University served as the General Chair and Prof. Keiji Suzuki of Hokkaido University as the Program Chair. The conference theme was “Robotics, Mechatronics, Big-bang, Frontier,” detailing expectations of major technology expansion in robotics and mechatronics. Over 1,100 presentations were made in 86 sessions, and participants numbered 1500 including those from abroad, making it a great success. The ROBOMEC’10 program committee selected 136 outstanding presentations. We recommended that authors submit their original works to this issue, and then received 53 papers. This special issue, Part 2, presents 14 papers strictly reviewed and accepted from among them. 15 accepted papers have already appeared in Part 1 (Vol.23, No.2). The remaining accepted papers will appear in the next issue as regular papers. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
A Unified and Integrated Approach to Teaching a Two-Course Sequence in Robotics Engineering
Authors: Padir Taskin ,   Worcester Polytechnic Institute, 100 Institute Rd., Worcester, MA 01609, USA, Fischer Gregory S. , Chernova Sonia , Gennert Michael A.
Published: April 2016

This paper presents the details of the curricular content developed for a two-course robotics sequence within the undergraduate Robotics Engineering program at Worcester Polytechnic Institute. The approach focuses on teaching a unified robotics curriculum, incorporating the foundational concepts from computer science, electrical engineering and mechanical engineering, in an integrative manner by emphasizing the whole systemdesign. Outcomes include high student satisfaction, enhanced student learning and a broad engineering education to meet the needs of the growing robotics industry.
Special Issue on Strategic Development of Advanced Robotics Elemental Technologies
Authors: Hirai Shigeoki , Seto Fumi , Yokoi Kazuhito
Published: April 2016

The Strategic Development of Advanced Robotics Elemental Technologies (STARET), a METI (Ministry of Economy, Trade and Industry) project conducted under a 5-year plan starting in 2006, was a nonconventional, unique, mission-oriented effort concerning the stage gate system. METI’s technology development project R&D is usually pursued bottom up. It is where most advanced modern technologies are selected and developed for practical use. The STARET, however, has pursued development top down without selecting a specific technology. Potentially practical work is selected from the view of businesses using robots. The target here is defined as a mission in which robot systems are built combining optimum technologies. Practical work has focused on two manufacturing themes, three service field themes, and two special environment themes. These were selected for new ranges of purpose, new marketability, and a public nature. This special issue features STARET topics focusing on research outcomes of robot systems intended for practical use. Topics on practical technologies related to the above themes were sought, resulting in many papers from nonproject participants in addition to those from STARET participants. The regular standard was applied to the peer review and articles were chosen for originality. We expect this special issue will help speed up and promote the research and development of robots intended for practical use.
Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model
Authors: Imamura Yumeko ,   Graduate School of Information Science and Technology, Hokkaido University, N14-W9, Kita-ku, Sapporo 060-0814, Japan, Tanaka Takayuki , Suzuki Yoshihito , Takizawa Kazuki , Yamanaka Masanori ,   Smart Support Technologies Inc., N21-W12, Kitaku, Sapporo 060-0821, Japan,   Institute for the Advancement of Higher Education, Hokkaido University, N17-W8, Kitaku, Sapporo 060-0817, Japan,   Graduate School of Health Science, Hokkaido University, N12-W5, Kitaku, Sapporo 060-0812, Japan
Published: April 2016

We are developing a passive power assist device, “Smart Suit Lite.” Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a “motion-based assist method” in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has “Skin segments” that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.
Control of Air Cylinder Actuator with Common Bias Pressure
Authors: Hoshino Kiyoshi ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Krishantha Weragala Don Gayan
Published: April 2016

In this study, we propose a control algorithm for a pneumatic actuator that has dynamics and features similar to those of the human muscle, mainly with the aim of helping elderly persons communicate. The algorithm in this study can estimate gains by using a simple method with a double-acting air cylinder and can realize accurate speed control and position control. Specifically, we aimed to achieve quick response and less overshoot by providing a PD controller for common bias pressure control, that can generate passive stiffness, in addition to a PID controller capable of controlling disturbance and target tracking without any complicated control system. We performed gain estimation by first theoretically estimating the PID gain and then determining the optimum PD gain by actually moving an air cylinder. We tried controlling a system consisting of one air cylinder and a solenoid valve and found that the overshoot, which was nearly 30% with only the PID controller, was controlled to 4%, while the rise time was less than 200 ms of that when only the PID controller was used.
Applicability of Hand-Guided Robot for Assembly-Line Work
Authors: Ogura Yu ,   IHI Corporation, 1 Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa 235-8501, Japan, Fujii Masakazu , Nishijima Kazuyuki , Murakami Hiroki , Sonehara Mitsuharu
Published: April 2016

This paper proposes a new hand-guided robot system for assembly-line work targeting instrumental panel installation in the final assembly process at automobile factories. The robot in the system transfers a heavy or large panel module to a nearby target vehicle on a carrier line and helps a worker to assemble it on the moving body, in accordance with the worker’s operation. The system automatically transforms the 3D orientation of the robot to the body on the line so that the worker can assemble only with adjusting the position of the panel. The proposed assist method enables reduce operation time and make assembly tolerance wider. The effectiveness and performance of assembly are confirmed by experiments.
Review and Fin Structure Design for Robotic Manta Ray (RoMan IV)
Authors: Chi Wanchao ,   School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore, Low Kin Huat
Published: April 2016

Manta ray generates thrust by flapping two pectoral fins, which inspires the fin structure design for a robotic manta ray. An effective and efficient structure of the fin will significantly enhance the swimming performance of the robotic manta ray. In this paper, the biomechanics of manta ray’s swimming is first reviewed. Then the existing designs of robotic manta ray are introduced in detail, with their tradeoffs and limitations discussed. One specific structure, Fin Ray Effect®, is further investigated for the potential design of our own robotic manta ray, RoMan IV. The characteristics of the structure are derived analytically. Both its advantages and shortcomings as the fin structure are discussed.
TouchMe: An Augmented Reality Interface for Remote Robot Control
Authors: Hashimoto Sunao ,   Meiji University, 4-21-1 Nakano, Nakano-ku, Tokyo 164-8525, Japan, Ishida Akihiko , Inami Masahiko , Igarashi Takeo ,   Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162-8601, Japan,   Keio University, 4-1-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8521, Japan,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   JST ERATO Igarashi Design Interface Project, 7-3-1 Hongou, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

General remote-control robots are manipulated by joysticks or game pads. These are difficult for inexperienced users, however, because the relationship between user input and the resulting robot movement may not be intuitive, e.g., tilting the joystick to the right to rotate the robot left. To solve this problem, we propose a touch-based interface called TouchMe for controlling a robot remotely from a third-person point of view. This interface allows the user to directly manipulate individual parts of a robot by touching it as seen by a camera. Our system provides intuitive operation allowing the user to use it with minimal training. In this paper, we describe TouchMe interaction and prototype implementation. We also introduce three types of movement for controlling the robot in response to user interaction and report on results of an empirical comparison of these methods.
Development of Active-Joint Active-Wheel High Traversability Snake-Like Robot ACM-R4.2
Authors: Kouno Kentarou ,   Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Yamada Hiroya , Hirose Shigeo
Published: April 2016

Snake-like hypermobile robots are thought to be effective in search and rescue task applications, and many research institutions have studied such robots. In prior research, we developed an active-joint activewheel snake-like robot, ACM-R4.1, which had a watertight structure and joint torque sensors that also acted as a torque limiter. Although R4.1 was highly robust in severe environments and had high terrain adaptability, we found problems that had to be overcome, such as getting stuck in rough terrain. We therefore propose a more practical snake-like robot, ACMR4.2, in order to maximizemobility performance. The main features of R4.2 are as follows: (1) thin yaw axis joints, (2) light-weight plastic housing made by vacuum injection method, and (3) wheels those were wider than those of R4.1. We tested R4.2 performance and found that it showed higher traversability than R4.1.
Special Issue on Underwater Robotics and Mechatronics
Authors: Kawabata Kuniaki , Takemura Fumiaki , Sagara Shinichi , Ishii Kazuo , Fujii Teruo
Published: April 2016

With two-thirds of the earth covered by oceans, rivers, lakes, ponds, and glaciers – underwater work becomes specialized in often extreme environments that need unusual solutions. The unique techniques required are central to the major research and development fields of robotics and mechatronics. Research related to finding the resources and environmental observation makes underwater technology an attractive field for study. This issue covers advanced R&D in underwater robotics and mechatronics, their applications and uses. The 7 papers brought together introduce the latest in underwater robotics and mechatronics findings. Three are related to visual systems and image processing for underwater observation and inspection and visual survey. Three are related to designs for mechanisms enabling mobile manipulators, buoyancy control devices and deformable tensegrity structures for underwater vehicles. The last but not least paper implements control of underwater vehicles with passive thrusters. These cutting-edge presentations exploring underwater robotics and mechatronics are both innovative and interesting and may give you new ideas for your own work. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.
Generating Situation-Dependent Behavior: Decentralized Control of Multi-Functional Intestine-Like Robot that can Transport and Mix Contents
Authors: Kano Takeshi ,   Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan, Kawakatsu Toshihiro , Ishiguro Akio ,   Department of Physics, Tohoku University, 6-3 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan,   Japan Science and Technology Agency, CREST, 7 Goban-cho, Chiyoda-ku, Tokyo 102-0075, Japan
Published: April 2016

Most robots are designed to perform a specific task in a predefined environment and have difficulty in producing situation-dependent behavior. To tackle this problem, we focus here on a mammal intestine that either transports or mixes the contents depending on the encountered circumstances. We propose a simple model for the intestinal movement and design an autonomous decentralized control scheme for an intestine-like robot by using coupled oscillators with local sensory feedback. Simulation results show that different types of motions are generated depending on the the physical conditions of the intestine and its contents. Our simulated robot does not require any input from a higher center to switch between different types of motions but determines autonomously which motion to generate. This study thus paves the way for developing “multi-functional robots” whose behavior is changed flexibly and spontaneously depending on circumstances.
Special Issue on Assistive Technology Based on ICT/IRT for Aged Society
Authors: Tanaka Takayuki , Hasegawa Yasuhisa , Miyoshi Takanori , Shimizu Shunji , Ifukube Toru
Published: April 2016

Although Japan and many other countries are going to the super-aging society quickly prior to the world, according to the latest investigations, there are a lot of elderly persons who do not suffer instrumental activity of daily living (IADL). This special issue made a broad call for papers on research and development of assistive technologies to support and enhance their employment and daily-life activity based on information-communication technology (ICT) and information-robotics technology (IRT). The topics of the special issue include wearable assistive device, power/skill assist, mobility assist, locomotive assist, communication assist, kinesthetic feedback assist, sensor/actuator technologies for assistive system, robotics and mechatronics to support elderly persons. We finally believe that these assistive technologies greatly contribute to support many elderly persons and make their lives more worth living. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.
Pneumatically-Driven Active Cord Mechanism “Slim Slime Robot”
Authors: Ohno Hidetaka ,   Department of Mechanical Engineering, Shonan Institute of Technology, 1-1-25 Tujido Nishi-Kaigan, Fujisawa-shi, Kanagawa 251-8511, Japan, Hirose Shigeo ,   HiBot Corporation, Daichi Hanatani Building #801, 2-18-3 Shimomeguro, Meguro-ku, Tokyo 153-0064, Japan
Published: April 2016

The Slim Slime Robot is a hyper redundant mobile robot with three-dimensional workspace composed of serially connected modules driven by pneumatic actuators. This paper covers the design and control of the Slim Slime Robot.
Trends of Robot Therapy with Neurological Therapeutic Seal Robot, PARO
Authors: Shibata Takanori ,   Human Technology Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Higashi, Tsukuba, Ibaraki 305-8566, Japan, Coughlin Joseph F. ,   The AgeLab., Massachusetts Institute of Technology, 77 Massachusetts Ave, E40-279, Cambridge, MA 02139, USA,   Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Japan
Published: April 2016

Therapeutic robot PARO
 Seal robot PARO is a neurological therapeutic robot for non-pharmacological therapy and, such as animal therapy, has no negative side effects. It has therapeutic effects on those from children to the elderly, particularly those with some cognitive impairment. PARO is used for two reasons. One is for activities to enable users to enjoy using PARO. The other is for medical therapy for specific patients with goals. In this paper, we detail the results of clinical experiments done on those mostly diagnosed with dementia. Experiments were conducted with PARO used for both cognitive and physical rehabilitation, in which PARO was used in activities and in therapy. Both types of cases showed positive effects in therapy and a reduction in the use of antipsychotic medications. 
Effects of Haptic and 3D Audio Feedback on Operator Performance and Workload for Quadrotor UAVs in Indoor Environments
Authors: Philbrick Robert M. ,   MathWorks, 3 Apple Hill Drive Natick, MA 01760, USA, Colton Mark B. ,   Department of Mechanical Engineering, Brigham Young University, 435 CTB, Provo, UT 84602, USA
Published: April 2016

Haptic and audio 3D feedback
 Unmanned aerial vehicles (UAVs) have many potential applications in indoor environments. However, limited visual feedback makes it difficult to pilot UAVs in cluttered and enclosed spaces. Haptic feedback combined with visual feedback has been shown to reduce the number of collisions of UAVs in indoor environments, but has generally resulted in an increase in the mental workload of the operator. This paper investigates the potential of combining novel haptic and 3D audio feedback to provide additional information to operators of UAVs to improve performance and reduce workload. Two haptic feedback and two 3D audio feedback algorithms are presented and tested in a simulation-based human subject experiment. Operator workload is quantified using standard measures and a novel application of behavioral entropy. Experimental results indicate that 3D haptic feedback improved UAV pilot performance. Pilot workload was also improved for one of the haptic algorithms in one of the control directions (lateral). The 3D audio feedback algorithms investigated in this study neither improved nor degraded pilot performance. 
Kinematics Analysis of Serial-Parallel Hybrid Humanoid Robot in Reaching Movement
Authors: Qin Li ,   Key Lab of Industrial Computer Control Engineering of Hebei Province, 438, Hebei Main Street West, Harbor District, Qinhuangdao, China, Liu Fucai , Hou Tiantian , Liang Lihuan
Published: April 2016

Serial-parallel hybrid robot
 As the demand to the practical operation ability of humanoid robots improving, serial-parallel hybrid structure has started to be used in the research of humanoid robot. However, analytical solutions of the forward and inverse kinematics are hard to obtain due to the redundancy of humanoid robot and the complex topology of hybrid structure. Besides, humanoid robots should have the capability to complete complicated operation in the low structured task workspace. So, it should have not only the humanoid shape but also the behavior that adapts to the direct interaction with people. In this work, a novel 4-DOF hybrid humanoid robot was taken as an example, the forward kinematics equation was derived, the theory of screws and lie group and lie algebra were applied to calculate the end velocity. A numerical calculation method based on neurophysiology sensorimotor transformation model and fuzzy logic compensator was proposed to solve the inverse kinematics in reaching movement. The proposed strategy can make the robot execute reaching movements with human-like posture. Simulation and test results validate the effectiveness respectively. 
Unrecognized “AIDS” in Monkeys, 1969–1980: Explanations and Implications
Authors: Hammett Theodore M. , Bronson Roderick T.
Published: April 2016

AIDS was recognized in humans in 1981 and a simian form was described in the years 1983 to 1985. However, beginning in the late 1960s, outbreaks of opportunistic infections of AIDS were seen in monkeys in the United States. This apparent syndrome went unrecognized at the time. We have assembled those early cases in monkeys and offer reasons why they did not result in earlier recognition of simian or human AIDS, including weaknesses in understanding disease mechanisms, absence of evidence of human retroviruses, and a climate of opinion that devalued investigation of infectious disease and immunologic origins of disease. The “epistemological obstacle” explains important elements of this history in that misconceptions blocked understanding of the dependent relationship among viral infection, immunodeficiency, and opportunistic diseases. Had clearer understanding of the evidence from monkeys allowed human AIDS to be recognized earlier, life-saving prevention and treatment interventions might have been implemented sooner.
Cumulative Effect of Racial Discrimination on the Mental Health of Ethnic Minorities in the United Kingdom
Authors: Wallace Stephanie , Nazroo James , Bécares Laia
Published: April 2016

Objectives. To examine the longitudinal association between cumulative exposure to racial discrimination and changes in the mental health of ethnic minority people.

Methods. We used data from 4 waves (2009–2013) of the UK Household Longitudinal Study, a longitudinal household panel survey of approximately 40 000 households, including an ethnic minority boost sample of approximately 4000 households.

Results. Ethnic minority people who reported exposure to racial discrimination at 1 time point had 12-Item Short Form Health Survey (SF-12) mental component scores 1.93 (95% confidence interval [CI] = −3.31, −0.56) points lower than did those who reported no exposure to racial discrimination, whereas those who had been exposed to 2 or more domains of racial discrimination, at 2 different time points, had SF-12 mental component scores 8.26 (95% CI = −13.33, −3.18) points lower than did those who reported no experiences of racial discrimination. Controlling for racial discrimination and other socioeconomic factors reduced ethnic inequalities in mental health.

Conclusions. Cumulative exposure to racial discrimination has incremental negative long-term effects on the mental health of ethnic minority people in the United Kingdom. Studies that examine exposure to racial discrimination at 1 point in time may underestimate the contribution of racism to poor health.
Birth Cohorts Analysis of Adolescent Cigarette Smoking and Subsequent Marijuana and Cocaine Use
Authors: Keyes Katherine M. , Hamilton Ava , Kandel Denise B.
Published: April 2016

Objectives. To examine whether the drug behavior of adults from different birth cohorts is shaped by adolescent drug experiences and whether adult prevalence of marijuana and cocaine use depends on adolescent cigarette or alcohol use prevalence.

Methods. We analyzed 18 birth cohorts comprising 8th, 10th, and 12th graders, sampled from 1991 to 2008, from Monitoring the Future, an annual nationally representative cross-sectional survey of high school students in the United States (n = 864 443).

Results. Within cohorts, lifetime rates of 8th and 10th grade cigarette use were significantly associated with subsequent lifetime rates of marijuana and cocaine use, controlling for trends in use and social norms toward drug use. Each percent increase (or decrease) in 8th and 10th grade smoking was associated with an 8% increase (or decrease) in prevalence of later marijuana use and 14% to 23% increase (or decrease) in prevalence of later cocaine use. Relationships were consistent by gender and race/ethnicity.

Conclusions. Prevalences of smoking in 8th and 10th grade and of marijuana and cocaine use in 12th grade are associated. Public health campaigns should focus on early stages of adolescence, when drug use habits are forming.
Medical Debt and Related Financial Consequences Among Older African American and White Adults
Authors: Wiltshire Jacqueline C. , Elder Keith , Kiefe Catarina , Allison Jeroan J.
Published: April 2016

Objectives. To evaluate African American–White differences in medical debt among older adults and the extent to which economic and health factors explained these.

Methods. We used nationally representative data from the 2007 and 2010 US Health Tracking Household Survey (n = 5838) and computed population-based estimates of medical debt attributable to economic and health factors with adjustment for age, gender, marital status, and education.

Results. African Americans had 2.6 times higher odds of medical debt (odds ratio = 2.62; 95% confidence interval = 1.85, 3.72) than did Whites. Health status explained 22.8% of the observed disparity, and income and insurance explained 19.4%. These factors combined explained 42.4% of the observed disparity. In addition, African Americans were more likely to be contacted by a collection agency and to borrow money because of medical debt, whereas Whites were more likely to use savings.

Conclusions. African Americans incur substantial medical debt compared with Whites, and more than 40% of this is mediated by health status, income, and insurance disparities.

Public health implications. In Medicare, low-income beneficiaries, especially low-income African Americans with poor health status, should be protected from the unintended financial consequences of cost-reduction strategies.
Impact of Nutrition Standards on Competitive Food Quality in Massachusetts Middle and High Schools
Authors: Gorski Mary T. , Cohen Juliana F. W. , Hoffman Jessica A. , Rosenfeld Lindsay , Chaffee Ruth , Smith Lauren , Rimm Eric B.
Published: April 2016

Objectives. To examine changes in competitive foods (items sold in à la carte lines, vending machines, and school stores that “compete” with school meals) in Massachusetts middle and high schools before and after implementation of a statewide nutrition law in 2012.

Methods. We photographed n = 10 782 competitive foods and beverages in 36 Massachusetts school districts and 7 control state districts to determine availability and compliance with the law at baseline (2012), 1 year (2013), and 2 years (2014) after the policy (overall enrollment: 71 202 students). We examined availability and compliance trends over time.

Results. By 2014, 60% of competitive foods and 79% of competitive beverages were compliant. Multilevel models showed an absolute 46.2% increase for foods (95% confidence interval = 36.2, 56.3) and 46.8% increase for beverages (95% confidence interval = 39.2, 54.4) in schools’ alignment with updated standards from 2012 to 2014.

Conclusions. The law’s implementation resulted in major improvements in the availability and nutritional quality of competitive foods and beverages, but schools did not reach 100% compliance. This law closely mirrors US Department of Agriculture Smart Snacks in School standards, suggesting that complying with strict nutrition standards is feasible, and schools may experience challenges and improvements over time.
Evaluation of the Overdose Education and Naloxone Distribution Program of the Baltimore Student Harm Reduction Coalition
Authors: Lewis Dinah A. , Park Ju Nyeong , Vail Laura , Sine Mark , Welsh Christopher , Sherman Susan G.
Published: April 2016

Although historically the majority of overdose education and naloxone distribution (OEND) programs have targeted opioid users, states are increasingly passing laws that enable third-party prescriptions of naloxone to individuals who may be able to respond to an overdose, including friends and family members of individuals who use opioids. In this report, we discuss the Baltimore Student Harm Reduction Coalition (BSHRC) OEND program, Maryland’s first community-based, state-authorized training program under a new law allowing third-party naloxone prescription. In an 8-month pilot period, 250 free naloxone kits were distributed, and 3 overdose reversals were reported to BSHRC. Trainings were effective in increasing self-efficacy surrounding overdose prevention and response, which appears to persist at up to 12 months following the training.
Lower Sodium Intake and Risk of Headaches: Results From the Trial of Nonpharmacologic Interventions in the Elderly
Authors: Chen Liwei , Zhang Zhenzhen , Chen Wen , Whelton Paul K. , Appel Lawrence J.
Published: April 2016

Objectives. To determine the effect of sodium (Na) reduction on occurrence of headaches.

Methods. In the Trial of Nonpharmacologic Interventions in the Elderly, 975 men and woman (aged 60–80 years) with hypertension were randomized to a Na-reduction intervention or control group and were followed for up to 36 months. The study was conducted between 1992 and 1995 at 4 clinical centers (Johns Hopkins University, Wake Forest University School of Medicine, Robert Wood Johnson Medical School, and the University of Tennessee).

Results. Mean difference in Na excretion between the Na-reduction intervention and control group was significant at each follow-up visit (P < .001) with an average difference of 38.8 millimoles per 24 hours. The occurrence of headaches was significantly lower in the Na-reduction intervention group (10.5%) compared with control (14.3%) with a hazard ratio of 0.59 (95% confidence interval = 0.40, 0.88; P = .009). The risk of headaches was significantly associated with average level of Na excretion during follow-up, independent of most recent blood pressure. The relationship appeared to be nonlinear with a spline relationship and a knot at 150 millimoles per 24 hours.

Conclusions. Reduced sodium intake, currently recommended for blood pressure control, may also reduce the occurrence of headaches in older persons with hypertension.
Avulsion Fracture of the Medial Head of the Gastrocnemius Muscle Associated with Posterior Dislocation of the Knee
Authors: Mio Kensuke , Matsuzaki Kenichiro , Rikitake Hajime , Nakaya Tsukuru , Nemoto Koichi , Chiba Kazuhiro
Published: April 2016

Case:

We present an extremely rare case of an avulsion fracture of the medial head of the gastrocnemius muscle associated with posterior dislocation of the knee. The patient was a fifty-one-year-old man who was hit by a car while riding a motorcycle. The avulsed fragment was reduced and fixed with a screw, which resulted in maintenance of joint reduction despite residual instability due to the multiligamentous injuries.

Conclusion:

Reduction and fixation of the bone fragment attached to the medial head of the gastrocnemius muscle is important to restore tension of the gastrocnemius muscle, which serves as an important posterior joint stabilizer.