bluuebunny/crossref_metadata_2025 huggingface dataset:
Preparation of Poly(N-isopropylacrylamide) Grafted Polydimethylsiloxane by Using Electron Beam Irradiation
Authors: Akiyama Yoshikatsu ,   Institute of Advanced Biomedical Engineering and Science, Tokyo Women’s Medical University (TWMU), 8-1 Kawadacho, Shinjuku, Tokyo 162-8666, Japan, Yamato Masayuki , Okano Teruo
Published: April 2016

A poly(N-isopropylacrylamide) (PIPAAm) grafted poly(dimethylsiloxane) (PDMS) surface was prepared as a temperature-responsive cell culture surface by using electron beam (EB) irradiation. Different chemical treatments to modify the bare PDMS surface were investigated for subsequent grafting of PIPAAm, and treatment conditions were optimized to prepare the temperature-responsive cell culture surface. The PDMS surface was initially activated to form silanol groups with conventional O2 plasma or hydrochloric acid (HCl) treatment. Activated PDMS surfaces were individually immobilized with three different conventional silane compounds, i.e., 3-mercaptopropyltrimethoxysilane (MerTMS), 3-methacryloxypropyltrimethoxysilane (MetTMS), and 3-aminopropyltrimethoxysilane (AmiTMS). O2 plasma treatment made PDMS more hydrophilic. In contrast, PDMS surfaces activated with HCl treatment were relatively hydrophobic. Observation of the activated PDMS surface modified with MerTMS, MetTMS, and AmiTMS indicated that these silane compounds had been favorably immobilized on plasma-treated PDMS surfaces. FT-IR/ATR analysis demonstrated that immobilized silane compounds enabled PIPAAm grafting on the PDMS surface. Cell attachment and detachment analysis also suggested that the PDMS surface sequentially treated with O2 plasma and AmiTMS compound was a substrate appropriate for preparing a temperature-responsive cell culture surface by EB irradiation-induced PIPAAm grafting method. The intelligent surface may further be applied to mechanically stretchable temperature-responsive cell culture surfaces.
Size Regulation of Chondrocyte Spheroids Using a PDMS-Based Cell Culture Chip
Authors: Anada Takahisa ,   Division of Craniofacial Function Engineering, Graduate School of Dentistry, Tohoku University, 4-1 Seiryo-machi, Aoba-ku, Sendai 980-8575, Japan, Suzuki Osamu
Published: April 2016

Cartilage self-repair is limited due to a lack of blood supply and the low mitosis rate of chondrocytes. A tissue engineering approach using cells and biomaterials has the potential to treat cartilage injury. Threedimensional cellular aggregates are an excellent model for mimicking condensation and chondrogenic differentiation in vitro. We developed a technique for constructing spheroids utilizing a polydimethylsiloxane (PDMS)-based culture chip. The objective of this study is to determine how the initial cell density on a culture chip affects the chondrogenic ATDC5 cell differentiation. We demonstrate how culture chips having arrays of multicavities are able to generate high numbers of uniform spheroids rapidly and simultaneously with narrow size distribution. Spheroids are collected easily and noninvasively. Higher cell seeding density on the culture chip enhances chondrogenic cell differentiation. These results suggest the usefulness of this chip in engineering 3D cellular constructs with high functionality for tissue engineering.
Line Patterning with Microparticles at Different Positions in a Single Device Based on Negative Dielectrophoresis
Authors: Yasukawa Tomoyuki ,   Graduate School of Material Science, University of Hyogo, 3-2-1 Kouto, Kamigori, Ako, Hyogo 678-1297, Japan, Yoshida Yusuke , Hatanaka Hironobu , Mizutani Fumio
Published: April 2016

We report on control of line pattern positioning with particles fabricated by negative dielectrophoresis (n-DEP) using the applied intensity and phase of an AC electric field. Line patterns were fabricated in a microfluidic device consisting of upper conductive indium-tin-oxide (ITO) substrates and lower ITOinterdigitated microband array (IDA) electrodes used as the template. A 6-µm-diameter polystyrene particles suspension was introduced into the device between upper ITO and the bottom ITO-IDA substrate. An AC electric signal of a typically 20 peak-to-peak voltage and 1.0 MHz was then applied to upper ITO and bands on lower IDA, resulting in the formation of line patterns with low electric-field gradient regions. AC voltage was applied to bands A and B on lower IDA with the opposite phase and the same frequency and intensity. When the signal identical to band A was applied to upper ITO, particles were aligned above band A because relatively lower electric fields were produced in these regions. In contrast, the application of a signal identical to band B formed line patterns with particles aligned above band B due to the generation of a strong electric field between band A and upper ITO and the disappearance of the strong electric field between band B and upper ITO. The decrease in applied intensity to upper ITO shifted the accumulated position of particles to the center between bands A and B because of the balance of electric fields generated between band A or B and upper ITO. We thus fabricated line patterns with particles at desired positions in the fluidic device.
Fabrication of 3D Photoresist Structure for Artificial Capillary Blood Vessel
Authors: Bakar Azrena Abu ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Nakajima Masahiro , Hu Chengzhi , Tajima Hirotaka , Maruyama Shoichi , Fukuda Toshio ,   Department of Nephrology, Nagoya University, Nagoya, Japan,   Center For Micro-Nano Mechatronics, Nagoya University, Nagoya, Japan
Published: April 2016

We propose a new method for fabricating artificial capillaries using direct laser writing. IP-L and Ormocomp are tested as photoresist materials. Three different microstructures were fabricated from IP-L: a porous hollow pipe microstructure, a 3 × 3 array of twig microstructures, and an array of hollow twig microstructures. Porous hollow pipe microstructures of different diameters were fabricated from Ormocomp, a biocompatible photoresist. These designs resemble capillaries. IP-L and Ormocomp fabrication parameters, such as laser power, numerical aperture, fabrication time, and fabrication model, are compared. Fabrication time is related to the fabrication model chosen during the direct laser writing process. Combined model fabrication is recommended over solid model fabrication because it results in shorter fabrication time and a more robust microstructure that is more likely to maintain its shape on the substrate after development. Laser power is another important parameter controlling fabrication. IP-L fabrication withstands up to 20 mW of laser power, unlike Ormocomp microstructures, which require laser power of less than 18 mW. IP-L and Ormocomp photoresist stiffness is also evaluated. The fabrication of artificial capillaries is important in developing vascular simulators that enable researchers to understand, for example, blood pressure in the kidney glomerulus.
Three-Dimensional Assembly of Multilayered Tissues Using Water Transfer Printing
Authors: Masuda Taisuke ,   Department of Micro-Nano Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Yamagishi Yuka , Takei Natsuki , Owaki Hirofumi , Matsusaki Michiya , Akashi Mitsuru , Arai Fumihito ,   Department of Applied Chemistry, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

A rapid construction process is necessary to build up numerous cell modules into three-dimensional (3D) tissues that retain the tissue geometries and initial conditions of the cells. We propose a new 3D assembly technique using water transfer printing to fabricate a hollow tubular tissue structure. Utilizing this assembly technique, we discuss the relationship between the 3D transcriptional body of a gel matrix and the developed shape of transferred tissue. We then fabricate hollow tubular tissue. Simulation of the 3D environment in which tissues normally develop and function is crucial for the engineering of in vitro models that can be used for the formation of complex tissues. These artificial hollow tubular tissues could be used as in vitro simulators for drug efficiency evaluation and operative training.
Development of an Air Balancer Applying Passive Dynamic Control
Authors: Minamiyama Yasuhiro ,   Kurume National College of Technology, 1-1-1 Komorino, Kurume, Fukuoka 830-8555, Japan, Gomi Yuki , Kiyota Takanori , Sugimoto Noboru ,   First Carbody System Engineering Department, AISIN SEIKI Co., Ltd., Japan,   The University of Kitakyushu, Japan,   Meiji University, Japan
Published: April 2016

Passive Dynamic Control (PDC) is a new type of mechanical system control method based on inherently safe design. It uses passive elements (braking effort) with variable characteristics positively. In this paper, PDC is applied to a material handling device, and a PDC air balancer is developed using a Magneto-Rheological (MR) brake and a torque sensor. Its control performance depends on the operation of the MR brake, not on the operation of air pressure. Compared with similar conventional devices, PDC air balancer is used with heavy objects for intuitive operation with lower highly-safe actuating force.
Design Methodology for Human Symbiotic Machines Based on the Description of User’s Mental Model
Authors: Fukui Rui ,   Department of Mechanical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kousaka Shuhei , Sato Tomomasa , Shimosaka Masamichi ,   Komatsu, Ltd., 2-3-6 Akasaka, Minato-ku, Tokyo 107-8414, Japan,   The University of Tokyo Future Center Initiative, 227-6 Wakashiba, Kashiwa-shi, Chiba 277-0871, Japan,   Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

This research establishes a methodology for designing human symbiotic machines. In our proposal, the mental model of a user is described by a user model diagram as an extended version of the well-known System Modeling Language (SysML). The user model diagram originated in the state machine diagram and the activity diagram of SysML. Concretely, the behavior of a machine observed by a user (user model), is drawn as a parallel to the actual behavior of a machine (system model). The user model diagram can visualize the physical processes required to use the machine and can reveal any inconsistencies between user and system models. We have selected a non-industrial stacker crane, which stores and retrieves containers through human manual operation, as an application target of the proposed design methodology. To make the stacker crane interface more user-friendly, several design plans are proposed and discussed together with descriptions of user model diagrams. To evaluate the relationship between diagrams and actual performance, prototypes of interfaces are developed, and usability tests are conducted. Results of usability tests indicate that the user model diagram is a good design tool for estimating the basic usability of a human symbiotic machine.
Integration of Ultrasonic Sensors and Kinect Sensors for People Distinction and 3D Localization
Authors: Adachi Takayuki ,   Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Goseki Masafumi , Takemura Hiroshi , Mizoguchi Hiroshi , Kusunoki Fusako , Sugimoto Masanori , Yamaguchi Etsuji , Inagaki Shigenori , Takeda Yoshiaki ,   Tama Art University, Japan,   Hokkaido University, Japan,   Kobe University, Japan
Published: April 2016

The method proposed here for 3D position measurement and identification of individuals by integrating ultrasonic and Kinect sensors uses ultrasonic transmitter tags with unique identifiers. Ultrasonic sensors measure the 3D positions of and identify tagged individuals, but cannot make measurements if there are no receivers in the direction of ultrasonic waves from transmitters. Kinect sensors measure 3D positions of individuals and track them with OpenNI, but Kinect sensors cannot make measurements if occlusion occurs due to the overlapping of individuals. Evaluation results show that the method proposed here is more robust than methods only using either ultrasonic or Kinect sensors.
On-Line Image Gathering Utilizing an Operated Underwater Movable Sensor Node
Authors: Kawabata Kuniaki ,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan, Takemura Fumiaki , Futenma Shota , Suzuki Tsuyoshi ,   Okinawa National College of Technology, 905 Henoko, Nago-shi, Okinawa 905-2192, Japan,   Tokyo Denki University, 5 Senju-Asah-cho, Adachi-ku, Tokyo 120-8551, Japan
Published: April 2016

The aim of our current research is to deploy a wireless sensor network for observing and collecting data on underwater environments. This paper describes the development of an underwater environment data collection system with a movable sensor node, and it details underwater data observation and collection experiments. Owing to their mobility, movable underwater sensor node can contribute to observation and to the collection of environmental data in small and hidden locations. The systemwe develop, with itsmovable sensor node platform, uses a mounted camera on a wireless network to capture underwater images. Collection experiments for the on-line underwater images with timestamps are carried out using the prototype system. Captured images with timestamps are sent to the host computer via a wireless network while the movable node is operated for the mission. In this paper, our fundamental attempts are discussed and collected data in the experiment are also shown as results.
Impression Difference Between Intelligent Medicine Case and Small Service Robot in Self-Medication Support Situations
Authors: Suzuki Takuo ,   University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Jose Yuta , Nakauchi Yasushi
Published: April 2016

Medication management support systems were developed to prevent recipient’s mistakes such as forgetting to take medicine. The systems remind recipients to take medicine at the right time via a medicine case with a built-in speaker or display, and they must keep recipient motivation to continue doing so. In this research, the authors found factors to keep the motivation by evaluating recipient impression of a management support system. In addition to an intelligent medicine case, a small service robot was used as a reminder to supplement the above because some researchers reported that a robot has good features as a user interface. The authors defined three experimental situations and two conditions and compared the conditions in the situations based on a semantic differential. Questionnaires for overall evaluation and video analysis for objective evaluation were also used. Experimental results suggested that humane, friendly, flamboyant, sunny, and simple impressions improve recipient motivation and concentration.
Enhancement of Plantar Tactile Sensitivity by Wearable Stabilization Device Based on Stochastic Resonance for Fall Prevention
Authors: Kudoh Satoshi ,   Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Obara Akira , Satoh Yuu , Ding Ming , Mizoguchi Hiroshi , Takemura Hiroshi
Published: April 2016

This article reports on the results of experiments that involved the use of a wearable sensorimotor enhancement device for preventing falls. The brief exposure of the tactile receptors to sub-sensory vibration is known to enhance tactile sensitivity, a phenomenon called “stochastic resonance” (SR) in the somatosensory system. Applying white-noise vibration to a tarsal tunnel is thus expected to improve plantar tactile sensitivity and improve the stability of the standing posture and gait. A prototype of a wearable device is proposed as part of this research. Eleven healthy young subjects (22.6±0.6 years old) were recruited for the plantar tactile enhanced test. Twenty-one healthy elderly subjects (73.3±4.6 years old) were recruited for the standing posture stabilization and gait tests. The elderly subjects were separated into two groups, one being a high-sensitivity group, and the other being a low-sensitivity group. The plantar tactile sensitivity of the healthy young subjects was found to be significantly increased in the plantar tactile enhanced test (p < 0.05). The total sway length (p < 0.05), lateral range (p < 0.05), velocity variability (p < 0.05), lateral velocity variability (p < 0.05), and lateral acceleration variability (p < 0.05) of COP in the standing posture stabilizing test were found to be significantly lower in the elderly subjects when using the prototype device. The step length in the gait test with the device was significantly increased in the high-sensitivity elderly group (p < 0.05). The results of the plantar tactile enhanced test showed that the mechanical vibration noise applied to the tarsal tunnel by the developed prototype device can enhance the plantar tactile sensitivity. The results of the standing posture stabilizing test and the gait test showed that the device can improve the static and dynamic balance control ability of the elderly subjects. These results suggest that the proposed device offers the potential of reducing the risk of fall accidents among the elderly.
Development of a Wearable Assist Suit for Walking and Lifting-Up Motion Using Electric Motors
Authors: Sano Kazuo ,   Wakayama National College of Technology, 77 Nadachonoshima, Gobo-shi, Wakayama 644-0023, Japan, Yagi Eiichi , Sato Motonobu ,   Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama-shi, Wakayama 640-8510, Japan
Published: April 2016

As birth rates drop and societies age, the physical burden on long-term personnel grows and labor shortages become an increasing problem for society. We developed a practical wearable assist suit that supports motion in an antigravitational direction using electricmotors while ensuring that passive joints do not interfere with wearer motion. Results of experiments show the effectiveness of the proposed wearable assist suit.
Development of Power Assist Crane Operated by Tensional Information of Dual Wire
Authors: Takesue Naoyuki ,   Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, Tokyo 191-0065, Japan, Mine Tomoyuki , Makino Rikiya , Fujiwara Kousyun , Fujimoto Hideo ,   Toyota Motor Corporation, 1 Motomachi, Toyota, Aichi 471-8573, Japan,   Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
Published: April 2016

Cranes and hoists at automotive assembly plant handle heavy objects such as batteries to decrease the physical burden on personnel. On/off button operations in such devices during fine positioning increase personnel mental stress. On the other hand, in power assist using force sensors which directly measure operating force, maneuverability is improved but we should be concerned about sensor weight, signal wiring, wire breakage and so on. Therefore, in this study, a power assist system driven by two wires is developed to improvemaneuverability andmaintenance. The method we propose estimates operating force and work load from tensional information on wires and controls the position of work by admittance control. The effectiveness of the proposed method is shown from confirmation and power assist experiments.
Development of an Exoskeleton to Support Eating Movements in Patients with Essential Tremor
Authors: Matsumoto Yuya ,   Waseda University, 3-4-1 Okubo, Shinjuku, Tokyo 169-8555, Japan, Seki Masatoshi , Ando Takeshi , Kobayashi Yo , Nakashima Yasutaka , Iijima Hiroshi , Nagaoka Masanori , Fujie Masakatsu G. ,   MONOZUKURI Mechatronics Laboratory, KIKUCHI SEISAKUSHO Co., Ltd., Tokyo, Japan,   Robotics Development Center, Corporate Manufacturing Innovation Division, Panasonic Corporation, Osaka, Japan,   Rehabilitation Engineering Department, Yokohama Rehabilitation Center, Kanagawa, Japan,   Department of Rehabilitation Medicine, Graduate School, Juntendo University, Tokyo, Japan
Published: April 2016

Essential tremor is a disorder that causes involuntary oscillations in patients both while they are engaged in actions and when maintaining a posture. Such patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an electromyogram-controlled exoskeleton to suppress tremors and support the eating movements of these patients. This exoskeleton is designed to suppress tremors and support voluntary movement at the elbow in terms of flexion and extension: movement of the elbow is essential in eating movements. In this study, we examined the effectiveness of our prototype exoskeleton at suppressing tremors. Our goal was to answer two questions: To what extent are the oscillations suppressed when wearing the exoskeleton? Is the exoskeleton able to suppress the oscillations sufficiently to allow eating movements? We were able to confirm experimentally that our exoskeleton can effectively suppress tremors to support eating movements.
Investigation of User Load and Evaluation of Power Assistive Control on Cycling Wheelchair
Authors: Kaisumi Aya ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Hirata Yasuhisa , Kosuge Kazuhiro
Published: April 2016

Wheelchairs, walkers, and electric wheelchairs are well-known support devices for patients with lowerlimb disabilities. However, disuse of lower limbs presents an ongoing barrier to rehabilitation, and can eventually lead to disuse syndrome. To overcome this situation, researchers have designed the cycling wheelchair. The cycling wheelchair is accessible to most patients who can bend their lower limbs. It is primarily used in rehabilitation facilities with planar floors and gentle slopes. To become practicable for everyday use, cycling wheelchairs require sufficient power to travel up steeper slopes or across bumpy surfaces. This paper aims to clarify the power consumed by users in everyday environments by measuring the tread force on the pedals. The investigation targets lower-limb disabled subjects and unimpaired subjects. It was observed that some of the users could not summon sufficient power for uphill travel. In addition, hemiplegic subjects with only one unimpaired leg placed large load on their healthy limb. As a first step to overcome this problem, we introduce traveling resistance compensation control into a cycling wheelchair and evaluate its efficacy.
Pneumatically Driven Prehension Orthosis with Force Control Function
Authors: Moromugi Shunji ,   Graduate School of Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki-shi, Nagasaki 852-8521, Japan, Tanaka Takayuki , Higashi Toshio , Feng Maria Q. , Ishimatsu Takakazu ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan,   Graduate School of Biomedical Science, Nagasaki University, 1-12-4 Sakamoto, Nagasaki-shi, Nagasaki 852-8523, Japan,   Columbia University in the City of New York, New York, NY, USA
Published: April 2016

A prehension orthosis with a pneumatic actuator has been developed to compensate for the disability of cervical cord injury patients and support their daily activities. One major feature of this orthosis is that the user can continually pinch or hold a target object using a finely adjusted finger force. The movement and force applied to the fingers can be controlled by continuous instructional signals fromthe user through the activity of a command muscle, which is selected from among the muscles without functional impairment in the user’s body. The level of muscle activity can be obtained by using an original sensor that detects the hardness of the target muscle through contact with the skin. The level of muscle activity can be estimated by the hardness information of the muscle. This sensor is easily fixed to a user’s body by using an elastic belt and even works over clothing. Therefore, the user can wear the system very easily. This feature allows the system to be very user friendly. Users can handle fragile objects such as an egg or sculpted-glass by using this prehension orthosis because of its finger force control function. Excellent dexterity in the finger force control has been demonstrated through evaluation tests conducted with various subjects, including a spinal cord injury patient.
Design of Brain-Machine Interface Using Near-Infrared Spectroscopy
Authors: Ito Tomotaka ,   Department of Mechanical Engineering, Faculty of Engineering, Shizuoka University, 3-5-1 Johoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan, Ushii Satoshi , Sameshima Takafumi , Mitsui Yoshihiro , Ohgi Shohei , Mizuike Chihiro ,   Division of Physical Therapy, School of Rehabilitation Sciences, Seirei Christopher University, 3453 Mikatahara-cho, Kita-ku, Hamamatsu, Shizuoka 433-8558, Japan
Published: April 2016

In recent years, the fields of robotics and medical science have been paying close attention to brainmachine interface (BMI) systems. BMI observes human cerebral activity and use the collected data as the input to various instruments. If such a systemcould be effectively realized, it could be used as a new intuitive input interface for application to human-robot interactions, welfare scenarios, etc. In this paper, we discussed a design problem related to a BMI system using near-infrared spectroscopy (NIRS). We developed a brain state classifier based on the learning vector quantization (LVQ) method. The proposed method classifies the cerebral blood flow patterns and outputs the brain state estimate. The classification experiments showed that the proposed method can successfully classify not only human physical motions and motor imageries, but also human emotions and human mental commands issued to a robot. Especially, in the classification of “the mental commands to a robot,” we successfully realized the imagery classification of five different mental commands. The results point to the potential of NIRS-based brain machine interfaces.
Muscle Synergy Analysis Between Young and Elderly People in Standing-Up Motion
Authors: An Qi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyou-ku, Tokyo 113-8656, Japan, Ikemoto Yusuke , Asama Hajime
Published: April 2016

Standing up is fundamental to daily activities of the elderly. It is necessary both to enhance muscle strength and to strengthen muscle coordination for improvement of their motor function. In this paper, we extract important data related to muscle coordination, called synergy, to perform standing motion by young and elderly participants. The contribution of muscle synergy to body kinematics is calculated through neural networks that estimate joint torque and body kinematics. To explain deficient motor function in elderly persons, extracted synergy is classified into 4 clusters based on how synergy contribute to body kinematics. Cluster analysis explains that elderly participants have weaker synergy than young persons in bending their backs to generate momentum. Compared to younger persons, older persons require additional muscle coordination to stabilize posture after standing-up in order to avoid falling.
Implementation Approach of Affective Interaction for Caregiver Support Robot
Authors: Miyaji Yutaka ,   Aoyama Gakuin University, 5-10-1 Fuchinobe, Chuou-ku, Sagamihara-shi, Kanagawa 252-5258, Japan, Tomiyama Ken ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan
Published: April 2016

This paper describes a series of our studies for developing functions for robots to better interact with humans, especially in the welfare field. The caregiver support robot is proposed to help caregivers in the welfare field and functions related to realizing affective behavior were studied. We believe such robotmust understand human emotion state, have own virtual emotion state and be able to express emotion in order to behave affectively. The Virtual Kansei (VK) was proposed to answer this set of requirements and various elements of VK were developed. The VK consists of three parts; the Kansei detector, the Kansei generator and the Kansei expressive regulator. The Kansei detector detects human partner’s emotion state using facial images, voice sounds and body movements. The Kansei generator generates human-like virtual emotion for robots. We devised a mimicking approach in developing the generator where emotion distances are defined and are used in learning and evaluating the generator. The Kansei expressive regulator makes the robot behave emotionally in executing everyday tasks. It modulates the basic robot motion according to the generated virtual emotion. This paper focuses on the concept and the relationship of these elements.
Optimized Motion Control of an Intelligent Cane Robot for Easing Muscular Fatigue in the Elderly During Walking
Authors: Di Pei ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Huang Jian , Nakagawa Shotaro , Sekiyama Kosuke , Huang Qiang , Fukuda Toshio ,   Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430-074, China,   School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100-081, China,   Faculty of Science and Technology, Meijo University, Aichi 468-8502, Japan
Published: April 2016

In previous works, an intelligent cane robot was proposed to assist the elderly or persons with conditions that slightly restrict their motion ability. The cane robot can help the elderly walk in both indoor and outdoor environments because of its miniaturized design and mobility. In the intentional direction (ITD) concept the user’s walking intention is estimated by analyzing signals from a six-axis force/torque sensor. An admittance control method controls the motion of the cane robot. In some cases, however the elderly can not walk uniformly because one leg suffers from muscular weakness. When the affected leg is in the support phase, the cane robot should stop to absorb more strain than the affected leg. When the healthy leg is in the support phase, the cane robot should move forward according to ITD. In contrast to ITD, the motion of the cane robot should be controlled considering the walking pattern characteristics of the elderly to ensure safety and effectiveness. In this paper, an optimizedmotion control of the cane robot is proposed that is based on the characteristics gait pattern (CGP). An on-shoe load sensor was used to evaluate the reduction in muscular fatigue for the user’s affected leg. The effectiveness of the proposed method was verified through experiments.
Mechanism of Linear Load-Sensitive Continuously Variable Transmission with Spherical Driving Unit
Authors: Tadakuma Kenjiro ,   Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan, Tadakuma Riichiro , Terada Kazuki , Ming Aiguo , Shimojo Makoto ,   Yamagata University, 4-3-16 Jonan, Yonezawa City, Yamagata 992-8510, Japan,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
Published: April 2016

This paper describes a linear load-sensitive continuously variable transmission (CVT) with a spherical driving unit. This CVT mechanismconsists of a spherical drive, drive axis, motor housing, fixed bracket, and a linear sliding plate. It continuously changes the reduction ratio by changing the inclination angle of the active rotational axis. Additionally, this linear mechanism ensures load-sensitive functioning by changing the inclination of the active rotational axis in response to the load. We have developed a linear load-sensitive CVT and confirmed the effectiveness of the proposed mechanism.
Construction Methodology for NIUTS – Bed Servoing System for Body Targets –
Authors: Koizumi Norihiro ,   Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Seo Joonho , Funamoto Takakazu , Itagaki Yutaro , Nomiya Akira , Ishikawa Akira , Tsukihara Hiroyuki , Yoshinaka Kiyoshi , Sugita Naohiko , Homma Yukio , Matsumoto Yoichiro , Mitsuishi Mamoru ,   Graduate School of Medicine, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8655, Japan,   National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan
Published: April 2016

Unwanted motion is a serious problem in enhancing servoing performance in an affected area, which incorporates stones/tumours in non-invasive ultrasound theragnostic systems (NIUTS). To solve this problem, we proposed a new method for restricting the motion of the affected area ventrodorsally in the region of interest (ROI) in ultrasound imaging. To do so, we introduce a bed mechanism for NIUTS. It is confirmed that a human kidney could be tracked and followed appropriately using the proposedmethod and the newly constructed bed system.
Telerobotic Control System to Enhance Rescue Operations for Arm-Equipped Tracked Vehicle HELIOS IX
Authors: Hodoshima Ryuichi ,   Department of Mechanical Engineering, Saitama University, 255 Shimo-Okubo, Sakura-ku, Saitama-shi, Saitama 338-8570, Japan, Ueda Koji , Ishida Hiroaki , Guarnieri Michele , Fukushima Edwardo F. , Hirose Shigeo ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan,   HiBot Corporation, Meguro Daiichi Hanatani Bldg. 801, 2-18-3 Shimo-Meguro, Meguro-ku, Tokyo 153-0064, Japan
Published: April 2016

This paper focuses on a telerobotic system in which an operator executes tasks by operating an arm-equipped tracked vehicle, HELIOS IX. It is necessary to develop an assisting sensor system, teleoperation system, and semi-autonomous robot motions to enhance teleoperationability, because HELIOS IX has many DOFs and unique mechanisms. To realize this development, the authors discuss the required specifications of the sensors, teleoperation system, and semi-autonomous motion planning. First, the sensor system for assistance and teleoperation system are described. Next, terrain-adaptive, tracked locomotion with no additional sensors is explained and verified through terrain traversing experiments. Then, the authors discuss the telerobotic system for the door opening task, a system based on Shared Autonomy, and demonstrate that HELIOS IX can successfully perform the door opening task. Finally, we describe what we have learned and the problems involved in the development of the telerobotic system of the HELIOS IX rescue robot.
Simulation and Measurement of Fuel Injection Quantity Based on TB4P
Authors: Li Dongmin ,   School of Control Science and Engineering, Shandong University, 73 Jingshi Road Jinan, Ji’nan city, Shandong province 250061, China, Zhang Jianzhong , Yuan Jianjun , FancanGuo  , Wang Huiming ,   Department of Mechanical and Electronic Engineering, Shandong University of Science and Technology, 223 Number, DaiZong Street, Tai’an city, Shandong province 271019, China,   College of Mechanical and Electronic Engineering, Shandong Agricultural University, 61 Number, DaiZong Street, Tai’an city, Shandong province 271018, China
Published: April 2016

In order to improve the measurement accuracy of fuel injection quantity based on Test Bench for fuel injection Pump (abbr. TB4P), on the basis of the function between needle valve lift and fuel injection quantity, two-level pressure adjustment module, which combines proportional flow rate valve with pressure sensor and takes advantage of spring of fuel injector, is used to control the outlet pressure of fuel injection pump, which results in the fuel injection pressure stably. Fuel injection pump and fuel injector are modeled by use of HCD of AMESim, and the system model of fuel injection quantity measurement is built. Simulation curve of fuel injection quantity is got by AMESim, which is compared with the curve of standard fuel injection quantity according to relative error. The results show that the relative error from the data of simulation system is smaller, so the methods of measurement and simulation in this paper are effective.
Inside Vehicle Inspection System Utilizing a Mobile Robot with LRF Sensor
Authors: Wanayuth Sanngoen ,   Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Ohya Akihisa , Tsubouchi Takashi
Published: April 2016

Automated vehicle inspection is utilized to inspect vehicles in a parking lots. This paper presents an approach for inspecting vehicle inside through car windows to determine any changes since the last inspection using a Laser Range Finder (LRF) sensor. Features of the approach include the detection inside vehicles method, data alignment using an ICP algorithm, inside vehicle data comparison to find any differences since the last inspection. An item identification method has been used to obtain the average height and size of objects inside vehicles to identify such changes. Our approach was shown to successfully detect typical simple items, i.e., bags, notebook PCs, and wallets, used to test the proposed method. Experiments are conducted to demonstrate the efficiency of our approach for inspecting and recognizing objects inside vehicles.
Simple Virtual Reality Skill Training System for Manual Arc Welding
Authors: Liang Xin ,   Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi 263-8522, Japan, Kato Hideo , Hashimoto Nobuyoshi , Okawa Kazuya ,   Faculty of Engineering, Hiroshima Institute of Technology, 2-1-1 Miyake, Saeki-ku, Hiroshima-shi 731-5193, Japan
Published: April 2016

Although many metal work welding processes have been robotized recently, manual welding is indispensable in custom-made and high-mix low-volume productions. Hence, skilled welders are needed widely in the metal work industry. On the other hand, many people have little incentive to become a new welder because of the high physical risk and heavy demands of skills training. Virtual Reality (VR) technology may provide an effective solution, and various complex high-tech VR systems for training have been proposed so far. However, high tech VR training systems may not be required as long as the skill to be acquired is analyzed, and its tasks are confined. In this paper, a simple VR training system for steady state electrode manipulation skills in manual arc welding is proposed that uses neither force display nor mixed reality, and its effectiveness is verified. Good correlation is found between skills learned via VR welding and in actual welding in experimental tasks. Consequently, the proposed system can train novice welders safely.
Development of Surface Wave Mechanism: Proposition of the Concept and Experiment of Prototypes
Authors: Fu Yu-Chun ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan, Fukushima Edwardo F. , Hirose Shigeo
Published: April 2016

This research proposes a new propulsion mechanism called “Surface Wave Mechanism.” The concept behind the SurfaceWave Mechanism – generating waves for propulsion – features a large propulsion area, no exposed infinite rotating shaft, and water- and dustproof attributes. The Surface Wave Mechanism is introduced, and three prototypes are designed and evaluated. Specifically, the cylindrical model, Rotary Surface Wave Mechanism PL-I, possesses a novel structure that generates propulsion throughout the cylindrical body using a single actuator, as detailed in the mechanical design and experiment results presented.
Wireless Remote Controlled Electromagnet-Type Moving Microrobot
Authors: Isogai Masahiro ,   Aichi University of Technology, 50-2 Manori, Nishihazama-cho, Gamagori, Aichi, Japan
Published: April 2016

We have been studying the mechanism and control method for electromagnet-type microrobots that have a volume of 1 cm3. Running straight andmaking turns with just a single electromagnet coil is the feature of the microrobot I developed. Newly developed microrobot is controlled by a wireless remote controller using the difference in the vibration characteristics of the left and right legs of the microrobot.
Rope Turning Humanoid Robot System
Authors: Kim Chyon Hae ,   Honda Research Institute Japan Co., Ltd., Japan, Yonekura Kenta , Sugano Shigeki ,   Waseda University, Japan
Published: April 2016

This paper describes a humanoid robot system that simultaneously controls the three factors, energy transmission, rotational axis and centrifugal force in ropeturning tasks. As a result, this system realized both rope turning with one fixed end and with a human rope turner.
Hand Motion Assist Robot for Rehabilitation Therapy
Authors: Kawasaki Haruhisa ,   Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Ito Satoshi , Nishimoto Yutaka , Ueki Satoshi , Ishigure Yasutaka , Mouri Tetsuya ,   School of Medicine, Gifu University, 1-1 Yanagido, Gifu 501-1194, Japan,   Toyota National College of Technology, 2-1 Eiseicho, Toyota, Aichi 471-8525, Japan,   Marutomi Seikou Company Ltd., Aza Ikuda, Kurachi, Seki 501-3936, Japan
Published: April 2016

This report presents a new hand motion assist robot for rehabilitation therapy. The robot has exoskeleton with 18 DOFs and a self-motion control – symmetrical master-slave motion assistance training. It assists independent flexion/extension and abduction/adduction of individual hand joints, thumb opposability, palmar flexion/dorsiflexion of the wrist, and forearm pronation/supination.
Android Robot SAYA
Authors: Hashimoto Takuya ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chohu, Tokyo 182-8585, Japan, Kobayashi Hiroshi ,   Department of Mechanical Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan
Published: April 2016

This paper introduces the android robot SAYA and its applications. SAYA was developed to enable human beings and robots to communicate emotions. SAYA shows six basic facial expressions: surprise, fear, disgust, anger, sadness, and happiness. In order to improve the quality of facial expressions and its reality, the android robot which mimics a real human being was also developed. The suggested practical applications for SAYA are a receptionist and a remote teacher. The android robot SAYA is also serving as a simulated patient for medical interview training in psychiatric education.
Development of Revolutionary Automation Line for Meter Gauge
Authors: Fukaya Koichi ,   DENSO Corporation, 1-1 Showa-cho, Kariya-shi, Aichi 448-8661, Japan, Tsuchiya Sojiro , Yamazaki Yasuhiko
Published: April 2016

Almost four decades ago, Denso developed a pioneering high-speed fully automated line for meter gauges. In the years since, it has also developed several key production-line devices as production lines underwent dramatic changes. Denso’s original production line even now serves as a historically significant reference in the development of new production systems. We detail its development both for its historical value and as a guide to those now developing new process designs.
Person Detection Method Based on Color Layout in Real World Robot Challenge 2013
Authors: Yamauchi Kenji ,   Utsunomiya University, 7-1-2 Yoto, Utsunomiya-City, Tochigi 321-8585, Japan, Akai Naoki , Unai Ryutaro , Inoue Kazumichi , Ozaki Koichi
Published: April 2016

In Real World Robot Challenge 2013, a mission was added that had robots search for a person wearing clothes featuring unique colors. We focus on the layout of such clothes with the aim of detecting persons wearing them by applying color extraction. Color extraction is improved by preprocessing of a clipping image from the robot’s vision and possibly extracting colors worn by target persons stably in natural light. Persons are detected by simply evaluating the layout of target colors. Our robots were equipped with person detection for this challenge and have detected all targeted persons. This paper describes considerations about person detection performance based on pre- and postchallenge results.
Development of the Autonomous Mobile Robot for Target-Searching in Urban Areas in the Tsukuba Challenge 2013
Authors: Eguchi Junji ,   Utsunomiya University, 7-1-2 Yoto, Utsunomiya-city, Tochigi 321-8585, Japan, Ozaki Koichi
Published: April 2016

This paper describes a navigation method for autonomous mobile robots and the knowledge obtained through trial runs conducted during the Tsukuba Challenge 2013 whose main tasks were autonomous navigation by robots to a goal and searching for target persons in several urban areas. Accurate maps are an important tool in localization on complex courses. We constructed occupancy grid map making method using laser scanners, gyro-assisted odometry and a DGPS. In trial runs, robots detect target parsons two ways – one involving color detection in images and the other involving laser scanner intensity data. The major problem with these methods is misdetection. To minimize this, we mask areas in which target persons should not exist on occupancy grid maps. Target candidates detected in masked areas are rejected, which indicates the possibility of using accurate occupancy grid maps as a user-friendly graphical interface. This paper focuses on the localization method, the target detection method and autonomous navigation knowledge in common space through the challenge.
Performance of Wheel-Typed Vehicle with Crawlers in Between Front and Rear Wheels on Soft Ground
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

A wheeled vehicle with crawlers between the front and back wheels has been developed in order to move swiftly over both soft ground and pavement. Vehicle trafficability on dry sand was evaluated in experiments, which clarified that its trafficability was greater than for wheels on dry sand alone.
Development of Rehabilitation Systems for the Limbs Using Functional Fluids
Authors: Furusho Junji ,   Fukui University of Technology, 3-6-1 Gakuen, Fukui City, Fukui 910-0028, Japan, Haraguchi Makoto
Published: April 2016

PLEMO-Prototype
 Many patients who have their movement impaired by paralysis after a cerebral stroke require extensive rehabilitation. Rehabilitation support systems for the upper limbs using force display devices are expected to quantify the effects of rehabilitative training and enhance the motivation of patients. Furusho and Haraguchi have developed force display systems for rehabilitation training that use functional yet highly safe fluid actuators and brakes for the EMUL, Robotherapist and PLEMO Series. 
Parameter Study of a Step-Climbing Machine for Heavy Load Carriers
Authors: Kajiwara Shinji ,   Faculty of Science and Engineering, Kindai University, 3-4-1 Kowakae, Higashiosaka, Osaka 577-8502, Japan
Published: April 2016

CAE model of heavy load carrier
 This paper presents the development of a new stepclimbing mechanism for heavy load carriers. According to the method of measurement used, the results of experiments are given as the values of resistance and required driving force against a 10 mm step. The basic design of the proposed mechanism is illustrated, and a prototype is manufactured. Measuring impact acceleration using the prototype, we verify the accuracy of the mechanism CAE analysis. In addition, using the mechanism CAE analysis, we reveal the relationship between the angle, link length, and performance. Several experiments demonstrate that this prototype is able to drive over a 10 mm step, proving the effectiveness of the proposed mechanism. 