bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device
Authors: Sasaki Daisuke ,   Graduate School of Natural Science of Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama 700-8530, Japan, Noritsugu Toshiro , Takaiwa Masahiro
Published: April 2016

The purpose of this study is to develop a pneumatic artificial rubber muscle that has a high contraction rate in order to realize the required performance for a power assist device. In addition, a bilateral type pneumatic wearable master-slave training device is developed as an application of this muscle. The developed rubber muscle is constructed with two nylon bands and an expansion unit, which is put between the nylon bands. The generated force from the expansion unit is converted to a contraction force by the nylon band. This rubber muscle can realize the high contraction rate. The high contractile rubber is used in the form of actuators in the developed knee device because of the above feature. In this paper, the structure and characteristics of the developed rubber muscle are described and then the structure of the developed master-slave device is described. Finally, the validity of the proposed device is evaluated from an experiment that assumes rehabilitation.
An RT Component for Simulating People Movement in Public Space and its Application to Robot Motion Planner Development
Authors: Shigemura Atsushi ,   Department of Computer Science and Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi, Aichi 441-8580, Japan, Ishikawa Yuki , Miura Jun , Satake Junji
Published: April 2016

This paper describes a software module for simulating “people movement” in public space such as shopping centers and cafeterias. We decompose people movement into global and local, and make a model of each of them. Global movement corresponds to following a route from a current position to a destination. In local movement, a person moves toward the next subgoal while avoiding surrounding persons and obstacles. We also model behavior specific to a cafeteria, such as queuing and searching for unoccupied seats. We implement these simulation algorithms in a simulator RT component, that can be used easily for development of robot motion planners, which are also realized as RT components. Various simulation experiments show the effectiveness of the simulation algorithms and the simulator RT component.
Gesture-World Environment Technology for Mobile Manipulation – Remote Control System of a Robot with Hand Pose Estimation –
Authors: Hoshino Kiyoshi ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Kasahara Takuya , Tomida Motomasa , Tanimoto Takanobu ,   Crescent, Inc., 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan
Published: April 2016

The purpose of this paper is to propose a remotecontrolled robot system capable of accurate highspeed performance of the same operation strictly conforming to human operator movement without sensors or special control means. We specifically intend to implement high-precision high-speed 3D hand pose estimation enabling a remote-controlled robot to be operated using two cameras installed loosely orthogonally using one ordinary PC. The two cameras have their own database. Once sequential hand images are shot at high speed, the system starts selecting one database with bigger size of hand region in each recorded image. Coarse screening then proceeds based on proportional hand image information roughly corresponding to wrist rotation or thumb or finger extension. Finally, a detailed search is done for similarity among selected candidates. Experiments show that mean and standard deviation scores of errors in estimated angles at the proximal interphalangeal (PIP) index are 0.45 ± 14.57 and at the carpometacarpal (CM) thumb 4.7 ± 10.82, respectively, indicating it as a high-precision 3D hand pose estimation. Remote control of a robot with the proposed vision system shows high performance as well.
Expression of Continuous State and Action Spaces forQ-Learning Using Neural Networks and CMAC
Authors: Yamada Kazuaki ,   Department of Mechanical Engineering, Toyo University, 2100 Kujirai, Kawagoe-shi, Saitama 350-8585, Japan
Published: April 2016

This paper proposes a new reinforcement learning algorithm that can learn, using neural networks and CMAC, a mapping function between highdimensional sensors and the motors of an autonomous robot. Conventional reinforcement learning algorithms require a lot of memory because they use lookup tables to describe high-dimensional mapping functions. Researchers have therefore tried to develop reinforcement learning algorithms that can learn the high-dimensional mapping functions. We apply the proposed method to an autonomous robot navigation problem and a multi-link robot arm reaching problem, and we evaluate the effectiveness of the method.
Technologizing and DigitalizingMedical Professional Skills for a Non-Invasive Ultrasound Theragnostic System – Technologizing and Digitalizing Kidney Stone Extraction Skills –
Authors: Koizumi Norihiro ,   School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Lee Deukhee , Seo Joonho , Funamoto Takakazu , Nomiya Akira , Ishikawa Akira , Yoshinaka Kiyoshi , Sugita Naohiko , Matsumoto Yoichiro , Homma Yukio , Mitsuishi Mamoru ,   Korea Institute of Science and Technology (KIST), Hwarangno 14-gil 5, Seongbuk-gu, Seoul 136-791, Republic of Korea,   Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan
Published: April 2016

We have been studying the technologizing and digitalizing skills of the medical professionals in the medical diagnostics and therapeutics. The concept of technologizing and digitalizing medical skills involves extracting functions in medical professional skills and reconstructing and implementing these extracted functions in the mechanisms, controllers, and image-processing algorithms of the medical support system. In this paper, we focus on the kidney stone extraction skills of medical professionals by utilizing robot vision technology, and discuss a methodology for technologizing and digitalizing medical diagnostic and therapeutic skills for a non-invasive ultrasound theragnostic system.
Development of Anchor Diver III: Easy-to-Operate Tensioned-Tether Type ROV for Underwater Search and Rescue Operations
Authors: Huang Ya-Wen ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro, Tokyo 152-8552, Japan, Sasaki Yuki , Harakawa Yukihiro , Fukushima Edwardo F. , Hirose Shigeo
Published: April 2016

Search and rescue tasks for drowned persons on the bottom of rivers or coastal seabeds are quite demanding for conventional ROVs (Remotely Operated Vehicles). Since the water current is sometimes fast, the ROV tends to drift and the cable of the ROV tends to become tangled with debris at the bottom. It has thus been reported that in most cases scuba divers conduct search and rescue tasks with no ROV support. This paper proposes a new type of ROV, Anchor Diver III, that can solve the problems of conventional ROVs. Similar to holding the leash of a running dog, Anchor Diver III uses thrusters to drive away from the mother ship, so that the wire connected between the robot and the mother ship is kept tightened during the entire operation. This paper details the development of Anchor Diver III and underwater experiments. It also gives an overview of Anchor Diver III and describes search and rescue activities during 2011 Tohoku Earthquake and Tsunami April 19–21, 2011.
RTMEXTender: Developer Support Tool for OpenRTM
Authors: Yaguchi Hiroaki ,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Yoshikai Tomoaki , Okada Kei , Inaba Masayuki
Published: April 2016

Development using OpenRTM faces two problems: few support tools are officially provided, and a software distribution policy has not been established thus far. We have developed an OpenRTM developer support tool package, RTMEXTender, which includes a package management system and a launcher mechanism. Its main objective is to provide three functional elements: a package dependency solver, a oneline chain builder using dependency, and a one-line multi-process launcher for large complex RTM systems. In this paper, we introduce the system construction of RTMEXTender and its philosophy, and compare it with ROS tools. Its availability is demonstrated using an example of an image conversion library between OpenRTM and OpenCV.
Drip Adjuster: Use of an LED Display to Manually Adjust Intravenous Fluid Infusion Rate
Authors: Ando Takeshi ,   Robotics and Design for Innovative Healthcare, Graduate School of Medicine, Osaka University, 1-7 Yamada-oka, Suita, Osaka 565-0871, Japan, Tanaka Noriyoshi , Yamada Kenji , Ohno Yuko ,   Graduate School of Creative Science and Engineering, Faculty of Science and Engineering, Waseda University, 59-309, 3-4-1 Ohkubo, Shinjuku, Tokyo 169-8555, Japan,   The Nursing Department, Tokai University Hospital, Isehara, Kanagawa, Japan
Published: April 2016

Errors in intravenous infusion rates are common at hospitals. A previous study found that actual infusion rates differ significantly from those instructed by doctors. The technique used to adjust the drip rate using a watch is a difficult skill to learn. In this article, we present our recently developed drip adjuster, which makes it easier for a nurse, for example, to adjust the drip rate using an LED display controlled by an Arduino microcontroller. We analyzed a high-speed video of falling infusion drops and imitated dripping by changing the brightness and positioning of light displayed by a row of five LEDs, enabling nurses to easily synchronize LED lighting with the growth and falling of droplets. We then evaluated the accuracy of the drip rate when six nurses used the drip adjuster versus using a watch. We found a significant difference in accuracy between the two methods, with a dramatic increase from 40% accuracy using a watch to 83% accuracy using the drip adjuster in the achievement of an accurate drip rate. The drip adjuster is a simple, effective device that can be used to assist in adjusting the drip rates of intravenous infusions.
Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera
Authors: Ishikura Michihisa ,   Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai 980-8579, Japan, Wakana Kazuhito , Takeuchi Eijiro , Konyo Masashi , Tadokoro Satoshi
Published: April 2016

This paper reports upon the design and evaluation of an inchworm drive based on frictional anisotropy for an Active Scope Camera (ASC), which is a snake-like rescue robot used in disaster-affected areas. The conventional ASC is mounted on a ciliary vibration drive and can search under rubble. It has been found, however, that there are some situations in which the vibration drive performs weakly, such as on soft or rough road surfaces. In this paper, the authors propose an inchworm drive with an ASC. The inchworm drive developed in this research shows a running performance that resolves some of the weak points of the vibration drive. The authors focus in particular on the evaluation of driving experiments that were conducted on a variety of surfaces that might be encountered while searching inside a collapsed building or under rubble.
Vision-Based Object Tracking by Multi-Robots
Authors: Umeda Takayuki ,   Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Sekiyama Kosuke , Fukuda Toshio
Published: April 2016

This paper proposes a cooperative visual object tracking by a multi-robot system, where robust cognitive sharing is essential between robots. Robots identify the object of interest by using various types of information in the image recognition field. However, the most effective type of information for recognizing an object accurately is the difference between the object and its surrounding environment. Therefore we propose two evaluation criteria, called ambiguity and stationarity, in order to select the best information. Although robots attempt to select the best available feature for recognition, it will lead a failure of recognition if the background scene contains very similar features with the object of concern. To solve this problem, we introduce a scheme that robots share the relation between the landmarks and the object of interest where landmark information is generated autonomously. The experimental results show the effectiveness of the proposed multi-robot cognitive sharing.
Efficient Formation of Pheromone Potential Field by Filtering Interaction
Authors: Kim Piljae ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Kurabayashi Daisuke
Published: April 2016

In the biological world, social insects, such as ants and bees, use a volatile substance called pheromone for their foraging or homing tasks. This study deals with the utilization of the concept of chemical pheromone as an artificial potential field for robotic purposes. This paper first models a pheromone-based potential field, which is constructed through the interaction between amobile robot and radio-frequency identification tags. The emphasis in the modeling of the system is on the possibility of practically implementable ideas. Stability analysis of the pheromone potential field is carried out with the aim of implementing the model on a real robotic system. The comprehensive analysis of the stability provides the criteria for setting the parameters for obtaining the appropriate potential field, leading to a new filter design scheme called a pheromone filter. The designed filter satisfies both the stability and accuracy requirements of the field and facilitates a relatively straightforward and practical implementation for building and shaping the potential field. The effectiveness of the proposed algorithm is validated through both a computer simulation and a real experiment.
Influence of Reciprocal Effect Between Swimming Models and Undulating Fin Morphology on Robotics Propulsion Performance
Authors: Zhang Yong-Hua ,   College of Mechatronics Engineering, Taizhou Vocational & Technical College, Jiaojiang, Taizhou, Zhejiang 318000, China, He Jian-Hui
Published: April 2016

We have previously designed an undulating robotic fin, which is inspired by the pectoral fin of stingray. A CFD-based comparison of optimal thrust and efficiency generation was made among four typical fin undulating swimmingmodels with different amplitude envelopes as well as the fin morphologic. To complement these studies, we consider in this paper the influence of reciprocal effect between swimming models and morphologic on the fin propulsion performance by both CFD and experiments methods. An unstructured, grid-based, unsteady Navier-Stokes solver with automatic adaptive re-meshing is used to compute the unsteady flow around the fin through twenty complete cycles. The pressure distribution on fin surface is computed and integrated to find fin propulsion forces. We conclude from the simulation that the compliance of the distribution mode of fin outline with amplitude envelope can generate the best propulsion performance. An experiment was conducted to verify the simulation results. It is hoped that the work concluded is useful for the optimal design of undulating robotic fins.
Study on the sEMG Driven Upper Limb Exoskeleton Rehabilitation Device in Bilateral Rehabilitation
Authors: Pang Muye ,   Graduated School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 761-0396, Japan, Guo Shuxiang , Song Zhibin ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 761-0396, Japan,   College of Automation, Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang, China
Published: April 2016

This study presents an implementation of a continuous upper limb motion recognition method based on surface electromyography (sEMG) into control of an Upper Limb Exoskeleton Rehabilitation Device (ULERD). The raw sEMG hardly can be used directly as a reference control signals due to various influences. A feature extraction method, namely, an autoregressive algorithm, was thus applied to extract features of sEMG. The features of sEMG are usually used as switching signals to indicate whether activation happens. In this study, a continuous recognition is implemented using the coefficients of an AR model because of the coefficients’ characteristics of fitting the trend in sEMG signals. Because of the low signal-to-noise ratio of sEMG, the optimal order of the AR model was calculated based on the Akaike Information Criterion for a good fit to raw signals. Back-propagation neural networks were then trained using coefficients to recognize motion. Recognition results were used as the control source for the rehabilitation device. Experimental results showed that this method is effective for obtaining a control source through raw sEMG signals derived fromthe unaffected arm for motor control of a ULERD equipped on the affected armduring bilateral rehabilitation in real-time.
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots
Authors: Sinnet Ryan W. ,   Department of Mechanical Engineering, Texas A&M University, 200 MEOB, 3123 TAMU, College Station, Texas 77843-3123, USA, Ames Aaron D.
Published: April 2016

Bridging contemporary techniques in bio-inspired control affords a unique perspective into human locomotion where the interplay between sagittal and coronal dynamics is understood and exploited to simplify control design. Functional Routhian reduction is particularly useful on bipeds as it decouples these dynamics, allowing for control design on a sagittallyrestricted model while providing coronal stabilization. 2D sagittal walking is designed using Human-Inspired Control which produces humanlike walking with good stability properties. This walking is then easily translated to 3D via reduction. The proposed control scheme, which is based on a fundamental understanding of human walking, is validated in both simulation and experiment.
Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility
Authors: Boxerbaum Alexander S. ,   Case Western Reserve University, Cleveland, OH, USA, Klein Matthew A. , Kline Jeffery E. , Burgess Stuart C. , Quinn Roger D. , Harkins Richard , Vaidyanathan Ravi ,   US Naval Postgraduate School, Monterey, CA, USA,   University of Bristol, Bristol, UK,   Imperial College London, London, UK
Published: April 2016

Surf-zone environments represent an extreme challenges to robot operation. A robot that autonomously navigates rocky terrain, constantly changing underwater currents, hard-packed moist sand and loose dry sand characterizing this environment, would have significant utility in a range of defence and civilian missions. The study of animal locomotion mechanisms can elucidate specific movement principles that can be applied to address these demands. In this work, we report on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. We specifically report a new design fusing a range of insectinspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse a range of challenging substrates both in and out of the water, and the design and construction of SeaDog, a proof-of-concept amphibious robot built for navigating rocky or sandy beaches and turbulent surf zones. The robot incorporates a layered hull and chassis design that is integrated into a waterproof Explorer Case in order to provide a large, protected payload in an easy-to-carry package. It employs a rugged drivetrain with four wheel-legs and a unique tail design and actuation strategy to aid in climbing, swimming and stabilization. Several modes of terrestrial and aquatic locomotion are suggested and tested versus range of mobility metrics, including data obtained in simulation and hardware testing. A waterproofing strategy is also tested and discussed, providing a foundation for future generations of amphibious mobile robots.
A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles
Authors: Chi Wanchao ,   School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore, Low Kin Huat , Hoon Kay Hiang , Tang Johnson , Go Tiauw Hiong ,   Defence Science Organization, Singapore
Published: April 2016

Endurance is the critical problem that most Unmanned Aerial Vehicles (UAVs) will definitely encounter. By learning frombirds in nature that perch to reserve energy, however, this problem could probably be solved. The purposes of this paper are to gain inspiration from bird’s perching in a more systematic way, to further propose a design of bio-inspired adaptive perching mechanism, and to investigate its functionality and reliability in applications. Principles are first derived from anatomy analysis of perching birds as a guide. The perching sequence of a UAV is then generalized into 3 stages, namely pre-perching, perching and de-perching. Design specifications are presented, reliability experiments are performed and results are analyzed.
Basic Research of “MR-PLEMO”: 2-D Passive-Type Rehabilitation System for Upper Limbs Using MR Fluid Brake
Authors: Haraguchi Makoto ,   Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Furusho Junji ,   Department of Mechanical Engineering, Faculty of Engineering, Fukui University of Technology, 3-6-1 Gakuen, Fukui 910-8505, Japan
Published: April 2016

Rehabilitation for the upper limbs is important for elderly people, people who have suffered strokes, and so on. In recent years, the need for rehabilitation support systems is increasing that use force display systems. When using a force display system, it is most important to ensure safety mechanically in order to prevent operators from hurting subjects. Conventional force display systems are active systems with actuators and these systems may become dangerous when going out of control. Passive force display systems with only passive elements are, however, thought to be an effective method for assuring inherent safety. In this paper, we evaluate force display ability for a 2-D passive-type force display system using fast-response MR (Magneto-Rheological) fluid brakes in order to apply this system to rehabilitation training.
A Blood Flow Measurement Robotic System: Ultrasound Visual Servoing Algorithms Under Pulsation and Displacement of an Artery
Authors: Ito Keiichiro ,   Department of Creative Science and Engineering, School of Modern Mechanical Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Asayama Tomofumi , Iwata Hiroyasu , Sugano Shigeki
Published: April 2016

The purpose of this paper is to propose blood flow measurement algorithms during nonperiodic displacement of an artery by controlling an ultrasound (US) probe. Detecting the position and speed of the bleeding source is required as the first step in treating internal bleeding in emergency medicine. Current methods for detecting a bleeding source, however, involve an invasive approach and cannot quantitatively estimate bleeding speed. Current emergencymedical care therefore requires an alternative system for addressing these problems. In this study, we aim to develop a blood flow measurement system for detecting a bleeding source by using a noninvasive modality, such as a US imaging device. Some problems related to the measurement error still need to be addressed before we can create this system. Specifically, blood flow measurement error in the abdominal area is typically large because the displacement of the artery is large and nonperiodic to adequately control the probe. As the first step in solving these problems, we focused on the displacement of the artery toward the out-ofplane state of the US image and developed measurement algorithms to control the probe, based on respiratory information, during artery displacement. We conducted experimentsmeasuring cross-sectional area and flow rate using an ultrasound phantom containing an artery model and a manipulator equipped with a US probe, BASIS-1. As of this writing, results represent the first experimental validation of the proposed algorithms.
Gait Phase Detection Using Foot Acceleration for Estimating Ground Reaction Force in Long Distance Gait Rehabilitation
Authors: Kawamura Kazuya ,   Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan, Morita Yuya , Okamoto Jun , Saito Kohei , Sessa Salvatore , Zecca Massimiliano , Takanishi Atsuo , Takasugi Shin-ichiro , Fujie Masakatsu G. ,   Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan,   Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan,   Kyushu University Hospital, 3-1-1 Maidashi, Higashi-ku, Fukuoka city, Fukuoka 812-8582, Japan
Published: April 2016

In gait rehabilitation, achieving a gait analysis method using a simple system during long-distance walking is important. This method is required to measure all gait parameters in a single measurement. In addition, it is required that the measurement system is not spatially constrained. Therefore, we have been developing a gait tracking system with acceleration sensors for long-distance gait rehabilitation. In this paper, we describe a gait phase detection method using foot acceleration data for estimating ground reaction force during long-distance gait rehabilitation. To develop this method, we focused on the jerk of each foot in vertical axis direction. Using two accelerometers mounted on the left and right feet, we carried out three experiments. First, we measured the jerk of each foot during a free gait to verify the relation with the walking speed. Second, we measured the jerk of each foot during walking faster than normal for each subject. We then compared these results with the results of first experiments. Finally, we measured the jerk of each foot during left-right asymmetrical walking. The results confirmed that gait phase could be detected using the jerk of each leg, calculated from acceleration data in vertical axis direction. In particular, the timing of Heel-contact / Toe-off could be obtained with an average error of 0.03 s. And as a preliminary study, we estimated the ground reaction force using the one of the results.
Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance
Authors: Tanaka Eiichirou ,   Department of Machinery and Control Systems, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama 337-8570, Japan, Ikehara Tadaaki , Yusa Hirokazu , Sato Yusuke , Sakurai Tomohiro , Saegusa Shozo , Ito Kazuhisa , Yuge Louis ,   Tokyo Metropolitan College of Industrial Technology, Tokyo, Japan,   Former Graduate School of Engineering, Shibaura Institute of Technology, Saitama, Japan,   Graduate School of Engineering, Shibaura Institute of Technology, Saitama, Japan,   Hiroshima University, Higashi-Hiroshima, Japan,   Hiroshima University, Hiroshima, Japan
Published: April 2016

We have developed a prototype for a walkingassistance apparatus that serves as a next-generation vehicle or a movable neuro-rehabilitation training appliance for the elderly or motor palsy patients. Our prototype uses a novel spatial parallel link mechanism with a weight-bearing lift. The flat steps of the apparatus move in parallel with the ground; the apparatus supports complete leg alignment, including the soles of the feet, and assists walking behavior at the ankle, knee, and hip joints simultaneously. To estimate the walking phase of each leg of the user, pressure sensors were attached under the thenar eminence and the heel of the sole and the pressure variation at each sensing point was measured. To determine the direction in which the user is walking, a pressure sensor was attached to the flexible crural link. To adapt to the variations in the user’s walking velocity, the stride length and walking cycle while walking with the apparatus were compensated for using the concept of the walking ratio (the stride length times the walking cycle is constant). The apparatus can therefore be controlled in response to the user’s intent. We developed a control method for the apparatus by using impedance control, taking into account the dynamics of the apparatus and the user’s legs, as well as the assist ratio for the user. By adjusting the natural angular frequency of the desired dynamic equation for the user, our apparatus assists walking according to the user’s desired response. Motor palsy patients and those with weak muscles can walk with the assistance of the apparatus. Patients who have ambulation difficulty can also use the apparatus with a weight-bearing lift that we developed. Using the apparatus with this lift helps prevent stumbling and enables walking movement to be input to the brain’s motor area. The validity of the weightbearing lift is confirmed from the results of measured %Maximum Voluntary Contraction (%MVC).
3-D Biped Walking Using Double Support Phase and Swing Leg Retraction Based on the Assumption of Point-Contact
Authors: Aoyama Tadayoshi ,   Department of System Cybernetics, Hiroshima University, 4-1 Kagamiyama 1-chome, Higashi-Hiroshima 739-8527, Japan, Sekiyama Kosuke , Lu Zhiguo , Hasegawa Yasuhisa , Fukuda Toshio ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Department Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba 305-8573, Japan
Published: April 2016

This paper describes 3-D biped walking control based on the assumption of point-contact. We previously realized 3-D biped walking on unknown terrain using the Passive Dynamic Autonomous Control (PDAC) approach, which is based on the assumption of pointcontact of a robot foot and virtual holonomic constraint as to robot joints. However, the stable range of walking is narrow and the robustness of walking is not enough for practical use. In order to increase the robustness of walking, we propose swing leg retraction and double support phase in this paper. Swing leg retraction facilitates the stabilization ability of PDACbased walking; also, by use of the double support phase, robot dynamics converges to stable orbit even if disturbance happens at foot-contact. Finally, the proposed biped walking algorithm is verified by numerical simulation and experiments.
Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor
Authors: Lu Bo ,   Division of Production and Information Systems Engineering, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan, Aoyagi Manabu , Tamura Hideki , Takano Takehiro ,   Department of Information and Communication Engineering, Tohoku Institute of Technology, 35-1 Kasumi-cho, Yagiyama, Tohoku Institute of Technology, Sendai 982-8577, Japan
Published: April 2016

An actuator system with multidegree-of-freedom (MDOF) motion and complicated action has recently attracted interest in the field of robotic technology. The present paper proposes a novel rotor-embeddedtype MDOF spherical ultrasonic motor (SUSM). The MDOF SUSM consists of a spherical rotor and a stator vibrator with an all-in-one structure. The spherical rotor is embedded in the center of an almost annular stator vibrator with a spherical inner surface, and a motor shaft is mounted on the rotor. The stator vibrator with piezoceramic disks and plates adhering to the surfaces of the vibrator can excite five vibration modes independently and simultaneously. The spherical rotor rotates around three axes by combining two of the five vibration modes. The present paper describes the basic construction and the operating principle of the rotor-embedded-type MDOF SUSM, modal analysis results for the stator vibrator, and experimental results based on trial manufacture. The proposedMDOF SUSM confirmed the operating principle of design has a simple structure and is compact and lightweight, so a large torque-to-weight ratio is expected to be realized.
A Basic Study on Biological Signal of Operator During Master-Slave System Control
Authors: Okamoto Yu ,   Technology & Development Division, YASKAWA Electric Corporation, 12-1 Otemachi, Kokurakita-ku, Kitakyushu 803-8530, Japan, Tadano Kotaro , Kawashima Kenji ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama 226-8503, Japan
Published: April 2016

In a master-slave system, operators control the master device based on visual information and sensory feedback. This suggests that the position sensors on the slave side are not always necessary. However, position signals are required to estimate the acting force conveyed to the slave using an observer which realize the force sensorless control. In this paper, we focused on the biological signals of the operator to estimate the slave side’s condition which can be used to estimate the external force. In the early stage of the research, we investigate biological signals just with 1-DOF masterslave system. First, we measured electromyographic (EMG) and gripping force of operators when pushing objects. We verified that predictive signals can be used for estimation of touching the objects. Second, we propose a method, which uses wrist joint torque and Total Contraction Level (TCL) calculated by the EMG when pushing the virtual elastic films, of estimating the acting force conveyed to the slave. We verify that the proposed method can estimate external force under specific conditions with a trained subject.
Special Issue on Construction Robot
Authors: Yanagihara Yoshitaka , Yoshinada Hiroshi , Inoue Fumihiro
Published: April 2016

Robot and mechatronics technologies in the construction industry, as in the manufacturing industry, are, first of all, expected to help provide high-quality structures and services safely in the shortest possible time at the lowest possible expense. Increasingly greater expectations have arisen since the 2011 Great East Japan Earthquake in regard to technologies involving disaster response and global environment protection. Under these circumstances, we are publishing a special issue on element technologies required for construction robots, and technologies adopted at actual disaster sites. These papers include one each on automatic and drive control technologies for heavy machinery, five on remote operations, three on position measurement and detection technologies, and three on technologies to be used at actual disaster sites. Application fields of these technologies are broad enough to cover all building and civil engineering work, network systems to be incorporated into structures, disaster response, marine development, and space development. Construction robots have always required robust robot technologies for severe outdoor work. We hope this special issue will help to accelerate the research and development of construction robots, to promote practical applications, and to support the utilization of element technologies in special environments in addition to outdoor environments.
Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels
Authors: Eto Ryosuke ,   Department of Environmental Studies, Graduate School of Environmental Studies, Tohoku University, 6-6-02 Aramaki, Aoba, Sendai 980-8579, Japan, Satomi Tomoaki , Takahashi Hiroshi
Published: April 2016

Tracked vehicles are generally trucked to the field because they cannot move on the pavement. This operation is very slow and inefficient. To solve the problem, it is necessary to develop tracked vehicles that can move swiftly on both soft ground and pavement. Wheel-type tracked vehicles with crawlers in between the front and rear wheels can move swiftly using only the wheels on pavement and both wheels and crawlers on soft ground. However, such vehicles cannot turn on both wheels and crawlers. In this study, this steering constraint condition of the vehicle was analyzed with inverse kinematics. Using the obtained optimal conditions, numerical simulations and experiments were carried out. The vehicle’s turning performance was also shown to improve.
Haptic Augmentation Utilizing the Reaction Force of a Base Object
Authors: Kurita Yuichi ,   Faculty of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Ikeda Atsutoshi , Nagata Kazuyuki , Ogasawara Tsukasa ,   Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara 630-0192, Japan,   National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
Published: April 2016

A haptic device is one of the interfaces promising as a human-computer interaction tool that provides users with information in a virtual reality environment. The proposed haptic augmentation presents the force response of an object by combining the force generated from a haptic device against the force response generated from the base object, which has material properties similar to those of the target object. In this paper, the concept of a haptic augmentation technique is described and the prototype of a haptic augmentation system is developed. Frequency characteristics and experiments by human participants show that the proposed method has better performance than a traditional device-only method.
Development of Active 3-DOF Rotational Ball Joint with Hollow Shaft Motors
Authors: Yu Yong ,   Graduate School of Science and Engineering, Kagoshima University, 1-21-40 Korimoto, Kagoshima 890-0065, Japan, Narita Yoshitaka , Harada Yoshinori , Nakao Toshimi ,   Techno Xross Kyushu Corporation, Kirishima, 6-31 Kokubu-Uenohara Techno Park, Kirishima, Kagoshima 899-4317, Japan
Published: April 2016

This paper develops an active 3-DOF rotational ball joint with a simple and compact mechanism where three hollow shaft motors are used. The ball joint realizes rotation around an omnidirectional rotational axis with good manipulability and changes its direction of rotational axis smoothly and freely when it is on rotating. The mechanical principle of this joint is proposed and analyzed, then the ball joint is developed with good dynamics and low friction, and experimental verification of the proposed mechanism is performed. The effectiveness of the mechanism principle is outlined by experimental results.
Development of Microscopic Hardness and Stiffness Investigation System with Microrobot 2nd Report, Vision Based Precise Navigation
Authors: Pakkratoke Montree ,   Department of Mechanical Engineering and intelligent systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Hirata Shinnosuke , Kanamori Chisato , Aoyama Hisayuki ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro, Tokyo 152-8552, Japan
Published: April 2016

A microsurface measurement system that is composed of the microrobot with the indenter and a vision based navigation system is proposed for investigating hardness and stiffness of such microparts. Here the tiny robot with the electromagnetic legs and the piezo elements incorporates with an electromagnetic driven microforce generator. This force generator can provide small forces up to 17 mN with 50 µN resolutions and push down the microindenter to the surface. The displacement of the indenter head can be also measured by the Linear Valuable Differential Transformer (LVDT) on machine. Thus, this mechanism can generate the small force and monitor the depth behaviour of the indenter during whole dwell time. Since the overall size of this mechanism is small enough to implement on the piezo-driven microrobot, the tiny robot with the microindenter is capable tomove precisely step by step with 1 µm per step so that the microindenter could be penetrated anywhere on the sample surface. With the help of an image processing technique, the vision based coordination system with the local close-up view and the overall global view has been developed to identify the locations of small robot and the indenter precisely within ±3 µm accuracy over the working range. In the experimental results, several results that the indentation load-depth characteristics of the unhealthy human tooth are measured automatically at the specified point are discussed.
Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality
Authors: Miura Satoshi ,   Graduate School of Advanced Science and Engineering, Waseda University, 2-2 Wakamatsu, Shinjuku, Tokyo 162-8480, Japan, Kobayashi Yo , Kawamura Kazuya , Seki Masatoshi , Nakashima Yasutaka , Noguchi Takehiko , Kasuya Masahiro , Yokoo Yuki , Fujie Masakatsu G. ,   The Faculty of Science and Engineering, Waseda University, Japan,   Graduate School of Creative Science and Engineering, Waseda University, Japan
Published: April 2016

Surgical robots have undergone considerable improvement in recent years. But intuitive operability, which represents user interoperability, has not been quantitatively evaluated. With the aim of designing a robot with intuitive operability, we thus propose a method for measuring brain activity to determine intuitive operability. The purpose of this paper is to clarify the master configuration against the position of the monitor that best allows user to perceive the manipulator as part of his own body. We assume that the master configuration provides immersive reality to user as if he puts own arm into the monitor. In our experiments, subjects controlled the hand controller to position the tip of the virtual slave manipulator on a target in the surgical simulator and we measured brain activity using brain imaging devices. We carried out experiments a number of times with themastermanipulator configured in a variety of ways and the position of the monitor fixed. We found that the brain was significantly activated in all subjects when the master manipulator was located behind the monitor. We concluded that the master configuration produces immersive reality through body images related to visual and somatic sensory feedback.
Development of Multi-Scalable Microhand System with Precise Motion Ability
Authors: Avci Ebubekir ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan, Ohara Kenichi , Takubo Tomohito , Mae Yasushi , Arai Tatsuo ,   Graduate School of Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi, Osaka City, Osaka 558-8585, Japan
Published: April 2016

Numerous types of microhands have recently been designed to perform micromanipulation tasks that are crucial for micromachine assembly, microsurgery operations and biological cell analysis. Because most current microsystems are task-specific, the realization of a general-purpose microhand that is compatible with a wide range of applications is necessary. There are two problems to be solved in order to realize a general-purpose micromanipulation system however. First, creating a large workspace with high resolution in which to grasp multisized microobjects is still a challenging feature for available microhands. Second, precise motion throughout a large workspace for the transportation of microobjects in the limited space of a microscope is another arduous task. In this study, we propose a microhand system that achieves multiscalability, i.e., a large workspace with precise positioning for the grasping and transportation of multisized microobjects. This system has been designed with an optimized parallel mechanism in which the manipulability of different-sized microobjects is improved from 1–45 µm to 1–132 µm. The proposed rough-to-fine motion strategy that allows us to achieve a large range with high resolution positioning ability for performing the transportation task moreover minimized error from 17 µm to 0.18 µm.
Indoor Localization of Flying Robot by Means of Infrared Sensors
Authors: Iwakura Daisuke ,   Division of Artificial Systems Science, Department of Mechanical Engineering, Graduate School, Chiba University, 1-33 Yayoi-cyo, Inage-ku, Chiba 263-8522, Japan, Nonami Kenzo
Published: April 2016

Autonomous navigation of flying robots in GPSdenied environments such as indoors requires that the flying robot be able to recognize the environment using external sensors. Laser scanners and computer vision are mainly used for indoor mapping and localization in studies on indoor flight. However, such systems require higher payload capacity and processing power for the sensors. In this study, we develop a lightweight flying robot for achieving indoor autonomous flight using four infrared (IR) sensors. As the first stage of this study, we present a localization technique that involves the use of a particle filter. Two problems exist in our system. First, it is difficult to use IR sensors close to a wall, because doing so would yield faulty results when calculating distance using the sensor output voltage. To resolve this problem, we developed a probabilistic output voltage observation model. The particle filter estimates position from voltage information using this model without the use of calculated distance. The second problem is that the spatial resolution is low because only four IR sensors are used. This problem was solved by rotating the robot horizontally at all times to acquire information from various directions. The localization performance was verified experimentally using an electric turntable and a cart. In the first and second experiments, we confirmed that localization is successful even when the robot is in motion and even when the robot is flying near a wall.
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Design of Mechanism · CVT and Experimental System)
Authors: Higuchi Mineo ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-honmachi, Amagasaki-shi, Hyogo 661-8661, Japan
Published: April 2016

We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator, handling a shared payload. PAS-Arms are physically passive. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the payload within a shared workspace. PAS-Arms have three joints and a three-dimensional workspace, but possess only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. We have developed an experimental system of the PAS-Arm. In this paper, we describe kinematic specification of the experimental system. We discuss the differential relation of transmission ratios created by the CVTs. We conducted the relationship between transmission ratio resolutions of the CVTs and resolutions of normal vector of the virtual guiding surface, and the relationship between angular velocities of PAS-Arm’s joints and time derivative of the transmission ratios. Assuming that the Euclidean norm of the angular velocities is constant, maximum time derivative of transmission ratios is in proportion to link lengths of the PAS-Arm. We also describe the design of the CVT for use in the experimental system.1

1. This paper is the full translation from the transactions of JSME, Series C, Vol.75, No.749, pp. 104-112, 2009.