bluuebunny/crossref_metadata_2025 huggingface dataset:
A Small Biped Entertainment Robot
Authors: Kuroki Yoshihiro ,   Digital Creatures Laboratory, Sony Cororation, 6-7-35 Kitashinagawa Shinagawa-ku, Tokyo, 141-0001 Japan, Ishida Tatsuzo , Yamaguchi Jin-ichi , Fujita Masahiro , Doi Toshi T. ,   Tama Research Institute, 5-14-38 Tamadaira, Hino-shi Tokyo, 191-0062 Japan
Published: April 2016

We propose a small biped entertainment robot prototype, Sony Dream Robot (SDR-3X) that realizes Motion Entertainment by entertaining people with its controlled dynamic motion performance. New key technologies developed for SDR-3X include the Intelligent Servo Actuator (ISA), the trine-actuator composed of a motor a built-in controller and a gear Another technology is Whole Body Coordinated Dynamic Motion Control. Both technologies realize dynamic, stable motion performance in dynamic biped walking, gymnastic motions and dancing. Human-rohot interactive performances are also described in this paper.
Dream Force 01
Authors: Nagasu Hiroyuki ,   Takara Co., Ltd. Boys Marketing Division 4-19-16 Aoto, Katsushika-ku, Tokyo 125-8503, Japan
Published: April 2016

We developed a manupulatable robot controlled with radio control system. Dedicated controller permits to control 21 points of the robot being equipped with interactive communication stystem.
CATRASYS (Cassino Tracking System): A Wire System for Experimental Evaluation of Robot Workspace
Authors: Ottaviano Erika ,   Laboratory of Robotics and Mechatronics DiMSAT, University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy, Ceccarelli Marco , Toti Maria , Carrasco Carolina Avila
Published: April 2016

In this paper we present the design and operation of CATRASYS (Cassino Tracking System), a wire tracking system which has been designed and built at the Laboratory of Robotics and Mechatronics in Cassino. CATRASYS is capable of measuring large displacements and orientation variations of complex movable multi-body systems. The measuring principle is based on trilateration technique, which has been properly formulated for an easy use of CATRASYS. The basic performance and feasibility of CATRASYS have been checked through an error analysis and experimental results. In particular, a suitable novel approach for the determination of the measuring error is presented in this paper and examples are reported. Workspace evaluation of industrial type robots is presented and discussed as a practical application of CATRASYS: it can be considered as a novel experimental evaluation of workspace performances of robots.
Special Issue on Selected Papers from ROBOMEC'01
Authors: Yokoi Kazuhito ,   Senior Research Scientist, Humanoid Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, 305-8568, Japan, Arai Tatsuo ,   Professor, Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University
Published: April 2016

This special issue has been proposed in honor of the Journal of Robotics and Mechatronics authorized as the International Journal of the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers from 1999. The 2001 JSME Conference on Robotics and Mechatronics (ROBOMEC'01) was held in Takamatsu, June 8-10, 2001, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Its purpose was to aid establishments of new industries by using advanced technologies of Robotics and Mechatronics. In technical sessions, 82 organized sessions were held and 624 papers presented. More than 800 participants attended the conference. This special issue has been organized by editing papers presented at ROBOMEC'01 to disseminate the significant results of the conference. Papers from the conference were invited and reviewed by journal referees. Sixteen were selected for publication in the Journal of Robotics and Mechatronics Special Issue on Selected Papers from ROBOMEC'01 (Vol. 14, No. 2). We thank the authors in this special issue who have contributed their updated papers. We also thank Editor-in-Chief Makoto Kaneko of Hiroshima University, whose work has been indispensable in organizing this special issue. We also thank the Editors for selecting papers.
Presentation of Realistic Motion to the Operator in Operating a Tele-operated Construction Robot
Authors: Zhao Dingxuan ,   Department of Mechanical & Systems Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-1193 Japan, Xia Yupeng , Yamada Hironao , Muto Takayoshi
Published: April 2016

In this study, a tele-operated construction robotic system was developed. An important problem to be solved in such a system is how the operator can feel the presence of working fields in a high quality. To solve the problem, in this paper, a new control method of employing the 3-DOF motion base is investigated to generate such a realistic motion as produced by a 6-DOF motion base. In order to confirm the validity of this control method, an evaluation experiment has been preformed. According to the experimental result, with both visual information and the motion of the robot, the operator on the 3-DOF motion base could feel the motion of not only roll, pitch and heave, but also surge, sway and yaw as well.
A Service Robot Acting by Occasional Dialog - Object Recognition Using Dialog with User and Sensor-Based Manipulation -
Authors: Makihara Yasushi ,   Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Takizawa Masao , Ninokata Kazuo , Shirai Yoshiaki , Miura Jun , Shimada Nobutaka
Published: April 2016

We develop a service robot that brings a user-specified object from a refrigerator to a user by a dialog. This paper describes 2 functions necessary for the robot: one is to recognize objects in the image by using a dialog with a user and the other is to manipulate objects by using force and tactile sensors under the uncertainty of vision information.
Separation of Target Microbe by Laser Manipulation and Flow Control
Authors: Arai Fumihito ,   Department of Micro System Engineering at Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Ichikawa Akihiko , Fukuda Toshio , Horio Koji , Itoigawa Kouichi , Morishima Keisuke ,   Precursory Research for Embryonic Science and Technology, Japan Science and Technology Corporation Moritex Corporation, 1-3-3, Azamino-minami, Aoba-ku, Yokohama-city, Kanagawa prefecture 225-0012 Japan,   Tokai Rika Co., Ltd. Oguchi-cho, Niwa-gun, Aichi-ken 480-0195, Japan,   Kanagawa Academy of Science and Technology, KSP East 307, 3-2-1 Sakado, Takatsu-ku, Kawasaki, 213-0012, Japan
Published: April 2016

We developed random separation of single microorganisms, such as living cells and microbes, in a microfluid device under microscopy using laser manipulation and microchannel flow. The main flow in the microchannel splits at the exit of the sample chamber. One flow goes to the extraction port with high speed to extract the target. Another flow goes to the drain port. The target was transported by laser manipulation from the sample chamber to put on the main flow. Since the force balance of the laser-trapped object is important for stable manipulation of the target, we propose separation point control around the sample chamber exit. Pressure balance was adjusted and the separation point was controlled. Some preliminary experiments are conducted to show effectiveness. The target was trapped by the laser, transported to the main flow around the split area through stagnation, and was extracted from the extraction port. Separation time was reduced less than 10 seconds and the success of separation improved 80%.
Exploration of Underwater Volcano Teisi by Autonomous Underwater Vehicle ""R-One Robot""
Authors: Nagahashi Kenji ,   Mitsui Engineering & Shipbuilding Co.,Ltd (MES), 1-1, Tama 3-chome, Tamano, Okayama 706-8651, Japan, Obara Takashi , Ura Tamaki ,   Institute of Industrial Science (IIS) at the University of Tokyo, 4-6-1, Komaba, Meguro, Tokyo 153-8505 Japan
Published: April 2016

This paper presents the exploration of underwater volcano (Teisi Knoll, Ito City, Shizuoka Pref.) by an Autonomous Underwater Vehicle (AUV) ""R-One Robot"" in October 2000. The ""R-One Robot"" was launched from the research vessel (R/V) Kaiyo in the scheduled submerging area, autonomously ascertained the direction for diving into the sea, navigated precisely passing through all way points, and lastly, surfaced right on the point as programmed. The robot succeeded in taking acoustics photographs of the crater by Side Scan Sonar on the bottom of the robot.
A Simple 3D Image Display Using Active Perception
Authors: Hayashibara Yasuo ,   Toin University of Yokohama, 1614 Kurogane-cho Aopba-ku Yokohama, 225-8502 Japan
Published: April 2016

In this paper, we propose a simple 3-dimension image display using active perception. We developed it for applying to 3D CAD system. The 3D image display only consists of a computer, a display, a CCD camera and two blue markers. Based on the image data captured by the camera, the computer tracks the blue markers besides the human face and calculates the viewpoint of the operator. According to the viewpoint, the image on the display is changed. Using this system, the operator recognizes a 3D image by moving his/her viewpoint. We explain about the proposed 3D image display and confirm the effectiveness of the proposed system through experiments.
Vision System for Micromanipulation
Authors: Katoh Yousuke ,   Department of systems and Human Science, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho,Toyonaka, Osaka, 560-8531 Japan, Arai Tatsuo , Inoue Kenji , Mae Yasushi , Tanikawa Tamio ,   National Institute of Advanced Industrial Science and Technology (AIST)
Published: April 2016

Recently, in connection with down-sizing of manipulated objects in fields such as biology and medical treatment, the establishment of dexterous micromanipulation is crucial. Dexterous micro manipulation using a two finger microhand with 12-DOF and an optical microscope has been developed for applications such as assembling micromachines and manipulating cells and microbes. Basic experiments showed two problems, a more compact hand mechanism fit in the limited microscope workspace and less focusing work for an operator. A 3-DOF parallel mechanism is designed for a new finger module. To decrease focusing during manipulation, an autofocusing and tracking mechanism is developed using microscope image data. The focusing algorithm uses color and brightness to make tracking smooth. Experiments include tracking a moving object and recognizing and localizing a target in a focal plane.
Micro-object Pick and Place Operation under SEM based on Micro-physics
Authors: Saito Shigeki ,   Tokyo Institute of Technology, 2-12-10hokayama, Meguro-ku, Tokyo, 152-8552, Japan, Miyazaki Hideki T. , Sato Tomomasa ,   Japan Science and Technology Corporation, 4-1-8 Honcho, Kawaguchi, Saitama, 332-0012, Japan,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
Published: April 2016

Recently, techniques of arranging micrometer-sized objects under a scanning electron microscope (SEM) are required to construct micro-devices such as quantum optics devices. Since micro-objects tend to adhere to other objects mainly by electrostatic force, it is possible to pick them easily with a needle-tip instead of grasping by a gripper. However, it is difficult to place them on a substrate precisely, and furthermore even picking them is not achieved with enough reliability. To solve this problem, in this study, basic strategy for pick and place operation is indicated based on the actual measurement of adhesion under SEM first. Secondly dynamics for pick and place operation of a microsphere by a needle-shaped tool is analyzed. Thirdly a new method of practical pick and place is proposed on the basis of the basic strategy and the dynamics. Experimental system for executing the proposed operation is constructed based on the numeric-control of the position measurement of the target object. On this system, a lot of numeric-controlled experiments with 2µm polystyrene spheres reveal that under the optimal conditions, pick operation has never failed once out of over 20 trials and place operation has 140nm precision in position. From these results, this paper concludes that the proposed method can realize practical pick operation and place operation under SEM based on micro-physics.
Three-dimensional Nanorobotic Manipulations of Carbon Nanotubes
Authors: Dong Lixin ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan, Arai Fumihito , Fukuda Toshio ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan,   Center for Cooperative Research in Advanced Sci. and Tech., Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan
Published: April 2016

A nanorobotic manipulation system with 10 degreesof-freedom (DOFs) is presented and applied in 3-D manipulation of carbon nanotubes (CNTs) by controlling intermolecular forces. Manipulators are actuated with PicomotorsTM (New Focus Inc.) for coarse motions and PZTs for fine ones, and operated inside a scanning electronic microscope (SEM). Resolutions of manipulators are better than 30nm (linear) and 2mrad (rotary) for coarse motions, and within nanoorder for fine ones. Atomic force microscope (AFM) cantilevers are used as end-effectors, and van der Waals forces between them and objects are controlled by applying dielectrophoresis. Individual multiwalled carbon nanotubes (MWNTs) have been picked up on an AFM cantilever, placed between two cantilevers, and bent between a cantilever and sample substrate. As basic building blocks for more complex nanostructures and devices, CNT-junctions are constructed. A cross-junction was constructed with two MWNTs (∼ø40nm × 6μm and ∼ø50nm ö 7μm), and a T-junction was made of two MWNTs (∼ø40nm × 3μm and ∼ø50nm × 2μm). A kink junction is formed by bending an MWNT (∼ø40nm × 6μm) over its elastic limit for 20 times. Force measurements are performed and the flexural rigidity and Young's Modulus of an ∼ø30nm ∼7μm MWNT are estimated in situ to be 8.641 × 10-20Nm2 and 2.17TPa. Such manipulations are essential for both the property characterization of CNTs and the fabrication of functional nanosystems.
Actuator Arrangement and Motion Form of Vertebrate Leg
Authors: Fujikawa Toru Oshima Tomohiko ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, Kurogawa 5180, Kosugi, Toyama, 939-0398, Japan, Kumamoto Mina on ,   Department of Electronic Control Engineering, Toyama National College of Maritime Technology, Ebie Neriya 1-2, Shinminato, Toyama, 933-0293, Japan,   Laboratories of Image Information Science and Technology, Hongo 5-26-4, Bunkyo, Tokyo, 113-0033, Japan
Published: April 2016

We clarified the relationship between the arrangement and the motion of actuators (muscles), corresponding to the drive system for vertebrate legs, including those of the human, planning to apply our results to robot drive systems. To do so, we anatomically compared muscular arrangements of plantigrade animals, such as humans and gorillas, and unguligrade animals, such as horses and deers,and amphibious jumping vertebrates, such as frogs. We analytically clarified distinctive functional features at the link end constituted by the differences in muscular arrangement by a robotic engineering method with a 2-joint link model. We found that muscular arrangement features are greatly involved in output and stiffness at the link end and reflect features of motion in each group of animals. We studied feasible application of the drive system by verifying its effects in muscular arrangement to make the drive system practical.
SMA-Net: A Deformable Morphology Robot Using Shape Memory Alloy
Authors: Nagai Takashi ,   Autonomous Systems Eng., Complex Systems Eng., Hokkaido University, Kita-ku Kita-13 Nishi-8, Sapporo, Japan, Yokoi Hiroshi , Kakazu Yukinori
Published: April 2016

Deformation of morphology is one goal of advanced robotics design research. This study started from a project of the development of a morph-functional machine, where the developmental study of a deformable robot which can behave like an ameba, is one of the main topics. This paper proposes the prototype design of a deformable morphology robot based on the lattice structure of elastic elements, shape memory alloy springs. The proposed structure of SMA-Net has both passively deformable functionality and active deformability. The functions of deformability of SMA-Net give new concepts of robotics design. However, it becomes difficult to control overall behavior because of the large degrees of freedom of the structure, external force comes into passive deformation and it makes change of physical property of motion control, and the relation between elements of robot yield nonlinear dynamics. Therefore, as first step for control, we investigated the movement mechanism of the robot. The proposed control method is periodic ON/OFF control, system parameters of SMA-Net are explored to find the resonance phase of the whole structure. Experiments show basic deformations of SMA-Net and the motion of translation and rotation.
Qualitative Evaluation by ERP for vibration Discrimination
Authors: Shiozaki Tetsuya ,   Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157-8572, Japan, Tanaka Hisaya , Nozawa Akio , Ide Hideto , Uchida Masafumi ,   University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
Published: April 2016

We have developed a method of quantitative evaluation for vibration discrimination by event-related potentials (ERP). We made a modulation matrix of high-pass component f1: (40-200 Hz) and low-pass component f2: (2-20 Hz), and gave modulated vibrations to a forefinger by a piezoelectric vibrator. We examined ERP differences, which are amplitudes, areas and intervals, between a reference vibration of (f1, f2) = (40, 2) Hz and controlled vibrations.
Omnidirectional Cart with Power-assist System
Authors: Fujiwara Shigeki ,   Production Engineering Research Laboratory, Matsushita Electric Works, Ltd. 1048, Kadoma, Osaka, 571-8686 Japan, Kitano Hitoshi , Yamashita Hideki , Maeda Hiroshi , Fukunaga Hideo
Published: April 2016

We provided a holonomic omnidirectional cart using a universal wheel with the power-assist function and put it into practical use as a meal delivery cart. Even if the cart weighs about 700 kilograms, it is easily operated as a manually operated lightweight cart. This report gives an overview of the new product, measures for enhancing operability, a handle sensing force in 3 directions, measures to reduce vibration during universal wheel driving, and ways to improve universal wheel durability.
Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning
Authors: Miura Jun ,   Dept. of Computer-Controlled Mechanical Systems, Osaka University, Suita, Osaka, 565-0871 Japan, Shirai Yoshiaki
Published: April 2016

This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. In the uncertainty model, the position of an obstacle at a certain time point is represented by a probabilistic distribution over possible positions on each possible path of the moving obstacle. Using this model, the best robot motion is selected in a decision-theoretic way. By considering the distribution, not the range, of uncertainty, more efficient behavior of the robot is realized.
Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Actuators' Fuzzy Modeling
Authors: Zyada Zakarya ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan, Hasegawa Yasuhisa , Vachkov Gancho , Fukuda Toshio
Published: April 2016

A fuzzy-logic-based model, suitable for force control, for each hydraulic actuator of a parallel link manipulator is presented. Constructing the fuzzy model rule base mainly consists of 2 stages: (1) learning rules from examples for the known acquired input/output data of the hydraulic actuators and (2) completing unknown fuzzy rules from heuristics and experience based on the logic of actuators' behavior. We first present the algorithm of fuzzy-rule base modeling and its application for one actuator. We then present fuzzy rule base results characterizing each hydraulic actuator, differing from one to another, of a 6 DOF parallel link manipulator. Simulation output results from fuzzy models show good agreement with experimental results.
Cooperative Human-robot Handling of an Object with Motion Estimation
Authors: Maeda Yusuke ,   Dept. of Precision Engineering, School of Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyou-ku, Tokyo, 113-8656 Japan, Hara Takayuki , Arai Tamio
Published: April 2016

In this paper, a control method of robots for cooperative human-robot handling of an object is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using a nonlinear least-squares method, we identify two parameters of a minimum-jerk trajectory of a human hand in real time. The estimated position of the human hand is used to determine the desired position of the end-effector of the manipulator in virtual compliance control. Motion estimation enables robots to coordinate actively even for unknown trajectories of manipulated objects that human partners intend. We implemented the proposed method on an industrial manipulator with a force sensor. In experiments of cooperative manipulation of a rubber pipe, the motion estimation improved human feeling in coordination. The improvement was quantitatively evaluated from the viewpoint of ""unnecessary energy transfer.""
An Interface between an Exoskeletal Elbow Motion Assistance Robot and the Human Upper Arm
Authors: Kiguchi Kazuo ,   Dept. of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga-shi, Saga, 840-8502 Japan, Kariya Shingo , Bnaka Takakazu , Watanabe Keigo , Fukuda Toshio ,   Dept. of Microsystem Engineering, Graduate school of Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan
Published: April 2016

We have been developing exoskeletal motion assistance robots for human motion support to help physically weak persons. Since elbow motion is one of the simplest and most important motion in daily activities, we have developed a exoskeletal robot for human elbow motion assistance. In this system, the angular position and impedance of the exoskeletal robot are controlled by multiple fuzzy-neuro controllers. Skin surface electromyography (EMG) signals and wrist force by the human subject during elbow joint motion have been used as input information for the controller. Since the activation of working muscles tends to vary with the human subject's upper arm posture, we propose an interface that cancels out the effect of posture changes of the human subject's upper arm. Experimental results show the effectiveness of the proposed interface.
Vocalization Control of a Mechanical Vocal System under Auditory Feedback
Authors: Higashimoto Yoshio ,   Graduate school of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu-city, Kagawa, 761-0396 Japan, Sawada Hideyuki ,   Associate Professor, Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu-city, Kagawa, 761-0396 Japan
Published: April 2016

We are developing a mechanical model of a human vocal system based on mechatronics technology. Although various ways of vocal sound production have been actively studied, mechanical construction is considered to advantageously realize natural vocalization with its fluid dynamics. In voice generation, analysis of the behavior of the vocal cords and the vocal tract are required in a mechanical system. Furthermore, fluid mechanics are less stable, making control more difficult. Several motors are used to manipulate the mechanical vocal system. A neural network works to establish relations between motor positions and produced vocal sounds by auditory feedback in the learning phase. In speech performance, the mechanical system is able to vocalize while vocal pitches and phonemes are adaptively controlled by auditory feedback control. This paper presents the construction of a mechanical vocal system and its adaptive acquisition of vocalization skills.
Subjective Evaluation for Maneuverability of a Robot Cooperating with Humans
Authors: Ikeura Ryojun ,   Department of Mechanical Engineering, Mie University Kamihama 1515, Tsu, Mie, 514-8507 Japan, Inooka Hikaru , Mizutani Kazuki ,   Graduate School of Information Sciences, Tohoku University, Aoba 01, Aramaki-aza, Aoba, Sendai, 980-8579 Japan
Published: April 2016

Robots will be expected to be user-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work adapting to human characteristics. We have developed control for robots and humans cooperating in carrying an object. To make the robot controller, we studied cooperation force characteristics of two humans and developed variable impedance control for a robot. Variable impedance control for a robot we developed is evaluated subjectively. Results of subjective evaluation give the proposed variable impedance control high marks.
Multifunctional Electrical Prosthetic Hand -Development of Tendon-driven Mechanism and Controller
Authors: Yu Wenwei ,   Graduate school of engineering, Hokkaido University, Kita-13 Nishi-8, Kita-ku, Sapporo, 060-8628 Japan, Nishikawa Daisuke , Ishikawa Yasuhiro , Yokoi Hiroshi , Kakazu Yukinori ,   NS Solutions Corporation, 20-15, Shinkawa 2-chome, Chuo-ku, Tokyo,   Toyama Motor Corporation, Toyota Machi 530, Toyota City, Aichi Province, 471-0826 Japan
Published: April 2016

The purpose of this research was to develop a tendondriven electrical prosthetic hand, which is characterized by its mechanical torque-velocity converter and a mechanism that can assist proximal joint torque by distal actuators. To cope with time-delay and nonlinear properties of the prosthetic hand, a controller based on a Jordan network, recurrent neural network models, is proposed. The results of experiments on the stability of the controller are confirmed when tracking static wire tensions. Finally, the next prototype of prosthetic hand based on these methods is introduced.
Development and Muscle Strength Training Evaluation for Horseback Riding Therapeutic Equipment
Authors: Shinomiya Youichi ,   Advanced Technology Research Laboratory, Matsushita Electric Works, Ltd., Wang Shuoyu , Ishida Kenji , Kimura Tetsuhiko ,   Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology,   Rehabilitation Center, Kochi Medical School,   Department of Health Service Administration, Nippon Medical School
Published: April 2016

This paper describes the development of a horseback riding therapeutic equipment that is capable of evaluating muscular strength training. The characteristic of the developed equipment is a simple movement which is enough to experience the feeling of horse-riding and also is possible to effectively muscular discharge. This has been extracted from our system which can reproduce saddle movement by using data collected three dimensional from living horse. During trials, long-term usage of the developed equipment results in the good result on the extension and flexion force of trunk and knee joint in elderly individuals. For preventing low back pain resulting from assuming undesirable postures, it is recommended to train the abdominal and back muscles. Horseback riding therapy is expected to be effective in increasing muscular strength. Attempts have been made to develop a mechanical system comparable to horseback riding therapy.
Development of Automated Diagnosis of Schizophrenia by Analyzing Facial Images
Authors: Kobayashi Hiroshi ,   Faculty of Engineering, Tokyo University of Science, Kikuchi Kohki , Tazaki Miyako , Nakane Yoshibumi ,   Faculty of Precision Engineering, Chiba Institute of Technology,   Faculty of Science, Tokyo University of Science,   School of Medicine, Nagasaki University
Published: April 2016

In response to the need for quantitative information in diagnosing psychiatric disorders, we have developed an automated interview, automated extraction of facial organs, and acquisition of quantitative diagnostic information. We tried to obtain quantitative data for diagnosis by analyzing facial expressions during automated interviews. We focus on the movement of the pupils and head and the correlation between them, i.e., we develop a method for automated measurement of time sequential movements for the position of the pupil in relation to the frontal view of the face. By calculating the correlation between them, we obtain quantitative information that enables us to diagnose, for example, whether a subject may be schizophrenically inclined.
Modeling Heart Rate Variability with a HMM-based Neural Network
Authors: Fukuda Osamu ,   National Institute of Advanced Industrial Science and Technology, AIST Tsukuba East, 1-2-1, Namiki, Tsukuba, Ibaraki, 305-8564 Japan, Nagata Yoshihiko , Homma Keiko , Tsuji Toshio ,   Department of Artificial Systems Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8527 Japan
Published: April 2016

This paper proposes a method of modeling heart rate variability combining wavelet transform with a neural network based on a hidden Markov model. The proposed method has the following features: 1. The wavelet transform is used for feature extraction to extract the local change of heart rate variability in the timefrequency domain. 2. A new recurrent neural network incorporating a hidden Markov model is used to model the different patterns of heart rate variability caused by individual variations, physical conditions and so on. In experiments, five subjects were subjected to a mental workload, and the proposed method was used map subjective rating scores of their mental stress and the pattern of heart rate variability. Experiments confirmed that the proposed method achieved highly accurate modeling.
Noise Cancellation Based on Split Spectra by Using Sound Location
Authors: Nobu Kazuyuki ,   Graduate School of Advanced Technology, Kinki University, 11-6, Kayanomori, lizuka-shi, Fukuoka, Japan, Koya Takeshi , Kaneda Kei-ichi , Haratani Naomi , Gotanda Hiromu
Published: April 2016

Robots with an automatic speech recognition system (ASR) have been developed to improve its communication with people. The recognition ability of ASR becomes significantly impaired by environmental background noises. This paper studies noise reduction by independent component analysis (ICA) under the situation with two sound sources and two microphones, assuming that the target sound source is relatively close to one microphone and the noise source is relatively close to the other Under this assumption, a rule for judging whether permutation occur or not in ICA is derived by use of nice properties of the split spectrum suggested by Ikeda et al. Based on the rule, a new permutation correction is proposed. The target sound spectrum is extracted in the frequency domain by using the permutation correction, and then restored in the time domain by the inverse discrete Fourier transform. From several experiments, it has been confirmed that our proposed method is valid and articulation of the restored speech is good.
Quantitative Evaluation of the Tactile Sense by ERP
Authors: Shiozaki Tetsuya ,   Aoyama Gakuin Univesity, 16-1 Chitosedai 6-chome, setagaya-ku Tokyo, 157-8572 Japan, Nozawa Akio , Nakazono Yoshimi , Uchida Masafumi , Tanaka Hisaya , Ide Hideto ,   University of Electro-Communications, 5-1, Chofu-ga-Oka, 1-chome, Choufu, Tokyo, 182-8585 Japan,   Hiroshima City University, 41 Ohtsuka-Higashi, 3-chome, Asa-Minami-ku, Hiroshima, 731-3194 Japan
Published: April 2016

We have developed a method of quantitative evaluation for vibration discrimination by ERP (Event Related Potential). We made a modulation matrix of high-pass component (40-200Hz) and low-pass component (2-20Hz), and gave modulated vibrations to a foretinger by a piezoelectric vibratos We examined ERP differences, which are amplitudes, areas and intervals, between a reference vibration of 2/40Hz and controlled vibrations.
Development of a Hydraulic Force-Display (Application to One-DOF Master-Slave Control)
Authors: Yamada Hironao ,   Department of Human and Information System, Gifu University, 1, Yanagido, 1-chome, Gifu, 501-1193 Japan, Kudomi Shigeki , Niwa Yoshinori , Muto Takayoshi ,   Prefectural Research Institute of Manufacturing Information Technology, 179-19, Sue-cho, 4-chome, Kagamigahara, Gifu, 509-0108 Japan
Published: April 2016

In this study, we deal with a bilateral master-slave system for tele-robotics composed of electro-hydraulic servo-systems. In a teleoperated master-slave system, the master has to play two roles, firstly as a reference input device to the slave and secondly as a force display device. In order to produce a force display composed of hydraulic servo-systems, we must solve a problem called back-drivability, in which the actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, we propose a driving method for the actuator that uses a force sensor attached to the actuator Furthermore, as an application of the proposed force display, we construct a bilateral master-slave system coposed of electro-hydraulic servo-systems. Experimental results of the manipulate on of motion by this system are presented and, consequently, the validity of the hydraulic force-display was confirmed.
Sliding Mode Control of Hydraulic Power Shovel
Authors: Yamada Hironao ,   Department of Human and Information System, Gifu University, 1, Yanagido, 1-chome, Gifu, 501-1193 Japan, Takeichi Kyoji , Mato Takayoshi ,   NIDEK CO., LTD, 34-14, Maehama, Hiroishi-cho, Gamagori, Aichi, 443-0038 Japan
Published: April 2016

We report an excavator driven by three links – an arm, a boom, and a swing – as representative of construction robots. Each link consists of an electrohydraulic servosystem. A problem with such excavators is the high degree of skill and comparatively long-term training required to operate it. To solve this problem, we equip the excavator with a trajectory control algorithm to control the front end. Note that the excavator's servosystems are influenced by disturbances and by nonlinear features such as asymmetrical piston geometry, initial shifts in the neural positions of servovalves and variations in moving parts inertia. For trajectory control, we apply sliding mode control using a disturbance observer in servosystems. The dynamic performance of this trajectory control is studied in experiments and results confirmed the validity of the applied method.
A Study on the On-Ground Access System Using Marker-based Visual Imformation
Authors: Yoshida Koichi ,   NTT Access Network Service Systems Laboratories, 1-7-1, Hanabatake, Tsukuba-city, lbaraki, 305-0805 Japan
Published: April 2016

This paper describes visual control for on-ground access designed to lead the arm end of a robot and set it promptly to a target point on an elevated job site. When both plane markers, installed on the arm end, and a target point are taken simultaneously by a stereo camera, the arm end in an initial state is automatically recognized and an external paramenters of the stereo camera is determined. Consequently, as soon as the target point is indicated, the positioning task is started. When tracking procedures based on correlation with a marker template are executed in motion, relative errors defined by visual coordinates are successively fed back to conduct the positioning task. By establishing visual control that uses a feature point on a cylinder as a target, the positioning effectiveness of this system is demonstrated by an experimental system.
Method for Controlling Multi-DOF Ultrasonic Motor Using Neural Network
Authors: Takentura Kenjiro ,   Dept. Mechanical Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, 223-8522 Japan, Maeno Takashi
Published: April 2016

A multi-DOF ultrasonic motor developed by the authors can generate multi-DOF rotation of a spherical rotor using three orthogonal natural vibrations of a bar-shaped stator. The ultrasonic motor is suitable for making small, lightweight and simple multi-DOF motion unit. In the present paper, a control methodology for the multi-DOF ultrasonic motor is proposed and a motion control test using the method is conducted. First, we develop an inverse model of the multi-DOF ultrasonic motor using our prior knowledge of ultrasonic motors and neural network technique in order to deal with the redundancy and non-linearity of the driving characteristics. Second, we propose a novel control method using the inverse model. Then, numerical simulation and motion control test are conducted to confirm the ability of the proposed control method. The results confirm that the rotor can be rotated around arbitrary rotational axis using the inverse model, and that the proposed control method does work successfully.
An FPGA Implementation of Finite Physical Quantity Neural Network
Authors: Sotohebo Takashi ,   Faculty of Information, Department of Control Engineering and Computer Science, Kyushyu Institute of Technology, 680-4 Kawazu, Iizuka, 829-8502 Japan, Watanabe Minoru , Kobayashi Funtinori
Published: April 2016

We propose installing a finite physical quantity neural network model on a high-density field programmable gate array (FPGA) at high speed by reducing multipliers. We could thereby downsize circuits without loss of precision. We evaluated its installation and experimental results for image recognition.
Measurement of Mechanical Characteristics of a Fingerpad Surface in the Design of a Tactile Display
Authors: Homma Takeshi ,   Research Institute for Electronic Science, Hokkaido University, Sapporo, 060-0812 Japan, Ino Shuichi , Izumi Takashi , Kuroki Hayato , Ifukube Tohru ,   School of Engineering, Hokkaido Tokai University, Sapporo, 005-8601 Japan,   Research Center for Advanced Science and Technology, the University of Tokyo, Tokyo, 153-8904 Japan
Published: April 2016

To design a piezoelectric vibrator for a tactile aid, we examined the mechanical characteristics of an index fingerpad surface. First, the mechanical impedance of the fingerpad surface was measured. Specifically, a vibrating pin with a diameter of 0.6 mm was attached to the fingerpad surface to investigate how the impedance of the skin's surface changes depending on physical parameters, such as vibrating amplitude, static force, and stimulation points. From the results, we ascertained the following: the mechanical impedance increased in direct proportion to the static force, the impedance at the fingertip was larger than at other points of measurement (including the finger pulp and the area around the DIP joint), and the impedance decreased as the vibratory amplitude increased. These results also indicated that the mechanical characteristics of the fingerpad could be modeled after a spring-damper system. Secondly, the relation between vibratory frequencies and vibratory displacements was determined by using an equivalent circuit of a piezoelectric bimorph actuator.
Development of Pneumatic Soft Robot Hand for Human Friendly Robot
Authors: Sasaki Daisuke ,   Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama, 700-8530 Japan, Noritsugu Toshiro , Takaiwa Masahiro
Published: April 2016

When robots interact directly with humans, safety becomes a major consideration. The purpose of this study is to realize a safe humanlike robot hand for a human-friendly robot. The structure of the soft hand is described, its basic operation shown, and wipe motion for a human arm using this hand examined. Finally, a method of force communication task is proposed, which controls mutual communication based on the operating force between a robot and a human. This method is applied to their shaking hands.
Fibrous Optical Actuator Containing Photochromic Molecules
Authors: Tanaka Takayuki ,   University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Yamagishi Naoto , Mitsui Ryujiro , Kawamura Takashi ,   Shinshu University, 3-15-1 Tokida, Ueda, Nagano
Published: April 2016

We developed a fibrous optical actuator including photochromic molecules that are isomerized in reverse by optical energy. This actuator is expected to be ecofriendly, lightweight, small, flexible and noiseless. In this paper, we produce the prototype by diffusing β-carotene in the crystal structure of nylon-6 filament. We investigate the feasibility of the proposed actuator to apply to robots and mechatronics experimentally.
Humanoid Arm Motion Planning Using Stereo Vision and RRT Search
Authors: Kagami Satoshi ,   Digital Human Lab., National Institute of Advanced Science and Technology, 2-41-6, Oumi, Kouto-ku, Tokyo, 135-0064 Japan, Kuffner James J. , Nishiwaki Koichi , Okada Kei , Inaba Masayuki , Inoue Hirochika ,   CREST Program, JST (Japan Science and Technology Corporation),   School of Computer Science, Carnegie Mellon University 5000, Forbes Ave., Pittsburgh, PA 15213-3891 USA,   Dept. of Mechano-Informatics, School of Information Science and Technology, Univ. of Tokyo 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656 Japan
Published: April 2016

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.
Development of a Wall Moving In-Pipe Robot
Authors: Kobayashi Shingo ,   The University of Electro-Communications Chofugaoka Chofu,Tokyo, Japan, Taguchi Kan
Published: April 2016

We propose a wheeled in-pipe robot using pendulums with magnets for visual inspection. The robot runs in-100 [mm] diameter pipelines including elbows and T -joints. We describe a prototype robot that has successfully run through level pipelines, perpendicular pipelines, and elbows, and has turned to each directions in T -joints, even through avoiding small plugs.
HMM-based Temporal Difference Learning with State Transition Updating for Tracking Human Communicational Behaviors
Authors: Ho Minh Anh T. ,   Intelligent Systems Laboratory, Graduate School of Toyota Technological Institute, 2-12 Hisakata, Tenpa-ku, Nagoya, 468-2511 Japan, Yamada Yoji , Umetani Yoji
Published: April 2016

In our original system, we used hidden Markov models (HMMs) to model rough gesture patterns. We later utilized temporal difference (TD) learning to adjust the action model of the tracker for its behavior in the tracking task. We integrated the above two methods into an algorithm by assigning state transition probability in HMMs as a reward in TD learning. Identification of the sign gesture context through wavelet analysis autonomously provides a reward value for optimizing the attentive visual attentive tracker's AVAT's action patterns. A bound of state value functions as a constraint factor for the updating procedure in TD models has been determined to recognize whether predictive models need to be updated according with action models. Experimental results of extracting an operator's hand sign sequence during natural walking demonstrates AVAT development in the perceptual organization framework.
Position and Pose Estimation of Camera-Head with Foveated Wide Angle Lens
Authors: Yang Haiquan ,   National Institute of Advanced Industrial Science and Technology, Tsukuba Central 2, Tsukuba, 305-8568 Japan, Kita Nobuyuki , Kita Yasuyo
Published: April 2016

A method is proposed to correct the initial position and pose estimates of a camera-head by aligning a 3D model of its surrounding environment with an observed 2D image that is captured by a foveated wideangle lens in the camera. Because of the wide field of view of the lens, the algorithm can converge even when the initial error is large, and the precision of the result is high since the resolution of the fovea of the lens is high.
A Range Finder System with Electronically Maskable Photo Detecting Device Array
Authors: Masaki Jun ,   Graduate School of Engineering, Kyushu University, 10-1, Hakozaki 6-chome, Higashi-ku, Fukuoka, 812-8581 Japan, Okada Nobuhiro , Kondo Eiji
Published: April 2016

A range finder realizable with an easy circuit composition is proposed. The range finder is based on the slit-ray projection method. In the system, positions of slit-ray images on an image plane are detected by using pattern masks electronically provided to the image plane. Due to using the electronic pattern masks, the range finder realizes high cost performance, highspeed measurement and small size. In order to estimate measurement speed, a prototype circuit has been developed. The experimental results obtained by the circuit have indicated that the range finder will be able to take a range image of which resolution is 64 × 64 and more in 1/30[s] or less in the future. A prototype range finder which has a 32 × 32 photo diode array and a laser slit marker has been also developed, and range images have been actually taken using it. In this paper, with emphasis on indicating the availability of the proposed method, the range finder system and experimental results by the prototype circuit and the prototype range finder will be shown.
Compensation of Stick-Slip Phenomenon in an Electrical Actuator
Authors: Merzouki R. ,   Laboratoire de Robotique de Versailles, France, 10-12, avenue de l'Europe 78140 Velizy, Cadiou J. C. , N. K. M'Sirdi
Published: April 2016

In mechanical systems involving low-speed motion, consisting of a succession of jumps and stops, as in trained wagons or manipulated robots, control usually exhibits error when the static friction force exceeds the dynamic friction force in what is known as the stick-slip effect. We developed a nonlinear observer to determine the friction force of contact during motion and to compensate for its effect. Simulation and experimental results show global convergence to equilibrium and good performance by the adaptive controller.
Development of Horse-type Quadruped Robot -Report 1, Development of Mechanism and Control System of Quadruped Robot PONY-
Authors: Makita Shinobu ,   Department of Computer-Controlled Mechanical Systems, Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka, 565-0871 Japan, Furusho Junji
Published: April 2016

When mammals walk or run, they use energy stored in their tendons during limb movement. We focused on the trot of a horse, realized in a mobile quadruped robot. Changes in the angle of the equine fetlock during walking or running stretch tendons, storing energy. We propose realizing horse-like gaits in a mobile quadruped robot and designed and fabricated the mobile quadruped robot PONY.
Study of Individual Feature Extraction from Range Data of Human Nose
Authors: Nozawa Akio ,   Department of Electronics and Electrical Engineering, College of Science and Engineering, Aoyama Gakuin University, 10-1 Fuchinobe 5-chome, Sagamihara, Kanagawa, 229-8558 Japan, Ide Hideto
Published: April 2016

We extracted individual and gender features from range data on the human nose measured by a three-dimensional digitizer. We propose extracting individual and gender features from range data measured for the nose based on a solid model, which gives feature vectors for volume, length between vertexes, and angles around vertex. We determined elements of feature vectors by statistical analysis and authentication tests. We achieved an 83.67% individual identification rate and a 98.01% gender identification rate, verifying the effectiveness of our proposed method.