bluuebunny/crossref_metadata_2025 huggingface dataset:
Special Issue on Selected Papers from ROBOMEC'06 (Part 2)
Authors: Komoriya Kiyoshi ,   Co-editor, Dr. Eng., Intelligent Systems Research Institute, AIST, AIST Tsukuba East, 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan, Sugano Shigeki ,   Program Chair of ROBOMEC'06 and Co-editor, Professor, Dr. Eng., Dept. of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

The 2006 JSME Conference on Robotics and Mechatronics (ROBOMEC'06) was held at Waseda University and Shinjuku Cosmic Center, Tokyo, Japan, on May 26-28, 2006, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Fujie of Waseda University served as general chair and Prof. Sugano of Waseda University as program chair. The conference, whose theme was ""Robot Technology Integration for Improved Quality of Life,"" was to help establish new life style in coming aged society using advanced robotics and mechatronics technologies. Organized sessions numbered 63 and papers 883, again a record for the conference. This special issue presents 12 papers from the conference culled from 90 outstanding presentations - some 10% of the total - which were further narrowed to 37 before final selection for Part 2 (Vol.19, No.3). Thirteen papers have already been published in Vol.19 No.2. We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank the former Editor-in-Chief Prof. Makoto Kaneko of Osaka University for organizing this special issue.
Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -
Authors: Sakaguchi Keisuke ,   Dept. of Mechanical Science and Engineering,          Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Sudo Takayuki , Bushida Naoki , Chiba Yasuhiro , Asai Yuji , Kikuchi Koki ,   Mitsubishi Electric Systems and Service Co., LTD., 4-1-1 Taishido, Setagaya-ku, Tokyo 154-8520, Japan,   Dept. of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
Published: April 2016

We propose a simple hopping mechanism using the vibration of a two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on design parameters such as the reduced mass of the two bodies, mass ratio between the upper and lower bodies, spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly. In this paper, the characteristics of hopping for the design and control parameters are clarified by both numerical simulation and experiments. Furthermore, fast stair climbing and soft landing are demonstrated.
Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation
Authors: Sugahara Yusuke ,   Advanced Research Institute for Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan, Carbone Giuseppe , Hashimoto Kenji , Ceccarelli Marco , Lim Hun-Ok , Takanishi Atsuo ,   Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Via Di Biasio 43, 03043 Cassino (FR), Italy,   Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan,   Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama-shi, Kanagawa 221-8686, Japan,   School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

This paper describes an experimental method for evaluating the stiffness of a biped walking robot. A reliable procedure is proposed as based on a simplified version of Milli-CaTraSys (Milli Cassino Tracking System) with three wire encoders and two six-axis force-torque sensors. This measures both applied wrench and resulting compliant displacements. Experiments conducted on a prototype of the biped walking vehicle WL-16RII (Waseda Leg - No. 16 Refined II) under different dynamic conditions provided useful information for both design and control.
Mapping Facial Expression to Internal States Based on Intuitive Parenting
Authors: Watanabe Ayako ,   Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Ogino Masaki , Asada Minoru ,   Asada Synergistic Intelligence Project, ERATO, Japan Science and Technology Agency, FRC1, Graduate School of Engineering, Osaka University,   Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

Sympathy is a key issue in interaction and communication between robots and their users. In developmental psychology, intuitive parenting is considered the maternal scaffolding upon which children develop sympathy when caregivers mimic or exaggerate the child’s emotional facial expressions [1]. We model human intuitive parenting using a robot that associates a caregiver’s mimicked or exaggerated facial expressions with the robot’s internal state to learn a sympathetic response. The internal state space and facial expressions are defined using psychological studies and change dynamically in response to external stimuli. After learning, the robot responds to the caregiver’s internal state by observing human facial expressions. The robot then expresses its own internal state facially if synchronization evokes a response to the caregiver’s internal state.
Control of Smooth Biped Walking by Means of Heel-Off Motion
Authors: Doi Masahiro ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8673, Japan, Hasegawa Yasuhisa , Fukuda Toshio ,   Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan
Published: April 2016

We propose the control method of biped walking controlled by heel liftoff that eliminates impact when the foot contacts the walking surface that makes walking unstable. In presenting sagittal motion with heel liftoff, we use an approximate 1-mass model and derive dynamics based on this model. Sagittal motion involves two centers of rotation: the ankle joint (phase 1) and the toe (phase 2). In phase 2, heel leftoff lowers the impact when the foot contacts the walking surface. 1D autonomous dynamics (phase) around the contact point is derived by applying Passive Dynamic Autonomous Control, which we proposed previously [15, 16] to dynamics in both phases. Based on this dynamics, we propose simple stabilizing control by varying the Center of Gravity (COG) trajectory in heel-off phase is proposed, and the motion period of the sagittal motion that is employed in order to synchronize the lateral and sagittal motion is calculated. Numerical simulation confirmed that walking dynamics converges at a certain state, and that heel liftoff reduced impact when the foot contacted the walking surface. We studied the energy efficiency of heel-off walking and proposed the mechanics to improve energy efficiency.
An Environment Cognition and Motor Adaptation Model Eliciting Sensorimotor Constraints Based on Time-Series Observations
Authors: Kondo Toshiyuki ,   Dept. of Computer and Information Sciences, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan, Ito Koji ,   Dept. of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
Published: April 2016

Regardless of complex, diverse, dynamically changing environments, animals recognize situated worlds and respond appropriately through interaction with the environment. We investigated sentient environment cognition and motor adaptation, focusing on “automatic movement.” Thanks to periodicity, environment cognition and motor adaptation of body movement to environmental perturbations is modeled relatively easily. We propose an adaptive neural oscillator model inspired by biological brain/nervous system for periodic motion control of physical controlled objects such as pendulums. A key concept for realizing environment cognition and motor adaptation is the context-based elicitation of sensorimotor constraints canalizing suitable periodic movement. Results of control tasks demonstrated the feasibility of our proposal.
Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles
Authors: Takuma Takashi ,   Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Hosoda Koh
Published: April 2016

Human beings realize adaptive bipedal walking negotiating different terrain, which is still difficult for biped robots driven by electric motors. We developed a biped robot driven by antagonistic artificial muscles that negotiates several types of terrain. Antagonistic muscles combined with a simple feed-forward controller realize joint compliance without a time delay, enabling the robot to adapt to terrain changes and to sense terrain because walking behavior results from interaction between robot dynamics and the terrain. Experimental results demonstrate that the walking cycle changes based on joint compliance and the type of terrain. Using the relationship between the two, the robot regulates its walking cycle by changing its joint compliance. The compliance by such antagonistic muscles is a promising solution for realizing adaptive bipedal walking.
Insect-Controlled Robot – Evaluation of Adaptation Ability –
Authors: Emoto Shuhei ,   The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan, Ando Noriyasu , Takahashi Hirokazu , Kanzaki Ryohei
Published: April 2016

Insects can adapt to various environments and perform adaptive behaviors with their simple nervous system. Understanding of the mechanisms underlying these adaptive behaviors has been expected to lead to novel control systems in robotics. In this study, we proposed and developed a robot controlled by an insect in order to evaluate the adaptability of insects. This robot reproduced the behavior of a male silkmoth (Bombyx mori) tethered on it with high precision, and was successful in reproducing the pheromone-oriented behavior that is an adaptive behavior of the male silkmoth. When we changed the forward motor gain of the robot, its speed changed based on the manipulation. However, the manipulated robot performed the same ability for the sex-pheromone orientation as existed before the manipulation. This implied that the programmed behavior pattern of the pheromone-oriented behavior was robust and important for successful orientation, which did not depend on the speed of movement. This robot exhibits a new method to manipulate interaction between the body and the environment and is expected to prove useful as a new experimental platform for analyzing adaptability.
Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets
Authors: Ashikaga Masatoshi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kikuchi Mika , Hiraguchi Tetsutaro , Sakura Midori , Aonuma Hitoshi , Ota Jun ,   Hokkaido University, Kita 12 Nishi 6, Kita-ku, Sapporo 060-0812, Japan,   Tokyo Institute of Technology, 2-12-1-S5-355, Ookayama, Meguro-ku, Tokyo 152-8550, Japan
Published: April 2016

In this paper, we propose an algorithm for multiple mobile robots performing a foraging task. In the proposed algorithm, robots select behaviors based on their activities, which were adjusted by interaction with other robots and foods. The proposed algorithm was inspired by the mechanism governing the fighting behavior in male crickets. Simulation results showed that the algorithm is efficient in a dynamic environment.
Special Issue on Robotics for Gerontechnology
Authors: Hasegawa Yasuhisa ,   Associate Professor,
Published: April 2016

Gerontechnology, an interdisciplinary field combining gerontology and technology, deals with the QoL (Quality of Life) and technological environments in an aging society. This new technology is closely related to assistive technology for compensation, assistance, and care support and to universal design ensuring that products provide a comfortable and safe living environment for people of the widely ranging age. Assistive robotics also contributes to independent living and social participation by people of all ages and all capabilities based on physical and information support. Robots provide solutions that reduce the cost of care in later life and that sustain an aging society by extending the working age in society, consequently. This special issue focuses on robotics contributing to gerontechnology, presenting 14 papers and one note on the latest achievements in this exiting research area. Five papers propose assistive technologies for human motion. One presents a home robot system for setting and clearing the table. Four propose monitoring of activities of daily living (ADL). Two introduce caring systems for people with dementia based on robot therapy and a cooperative game. Two present requisite technologies for gerontechnology, i.e., motion analysis for motion synthesis, and aging effect of hand pointing action. The final article introduces reminiscence therapy using photographs and a PC for people with dementia. I thank the authors for their invaluable contributions and the reviewers for their time and effort in making this special issue possible. I also thank the JRM Editorial Board for the opportunity to take part in this work.
Evaluation of a Wearable Sensor System Monitoring Posture Changes and Activities for Use in Rehabilitation
Authors: Motoi Kosuke ,   Venture Business Laboratory, Kanazawa University, Kakuma-machi, Kanazawa 920-1192, Japan, Tanaka Shinobu , Kuwae Yutaka , Yuji Tadahiko , Higashi Yuji , Fujimoto Toshiro , Yamakoshi Ken-ichi ,   Graduate School of Natural Science and Technology, Kanazawa University,   Fujimoto Hayasuzu Hospital, 17-1 Hayasuzu-cho, Miyakonojyou-city, Miyazaki 885-0055, Japan
Published: April 2016

To evaluate the effectiveness of rehabilitation, physical therapists must assess the posture changes in patients standing-up, walking, etc. Conventional subjective assessment of using direct observation or interviews at rehabilitation centers and of the actual physical condition is difficult, calling for the development of objective measurement of the posture change and activity both at rehabilitation centers, and in the home. One way to do so is to record these using a video camera, but the measurement range is usually limited and not useful in rehabilitation. A wearable system for monitoring angle changes in the trunk, thigh, and calf on the sagittal plane together with walking speed we developed earlier, required that the user carry three sensors for the trunk, thigh, and calf and a data logger, and wear cumbersome cables. To eliminate this practical drawback, we designed a new sensor for rehabilitation and quantitatively assessed posture change during rehabilitation and activity in daily living using the new system. We combined the previous four units into two – a jacket-typed trunk unit holding a data logger and a sensor for measuring trunk angle change and a knee-supporter-typed lower limb sensors containing two angular sensors – greatly simplifying the cumbersome cable assembly. We measured activity in eight rehabilitation subjects and four subjects during daily living using the wearable device. Results demonstrated that our device could measured detailed motion characteristics as angle changes between body segments during rehabilitation, and the rate of four activities – standing, walking, sitting, and lying – during daily living, making it useful in rehabilitation.
Motion Analysis by Independent Component Analysis with Phase Difference Information Among Joints
Authors: Hoshino Kiyoshi ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Sato Tomoko
Published: April 2016

We configured a system that interpolates and extrapolates two different human movements at an arbitrary ratio for both periodic and discrete movement. This could, for example, extrapolate possible future movement from two data points from the past and present for a person with a certain disorder and enable quantitative assessment of the disorder by interpolating or extrapolating two typical movements of nondisabled and disabled persons at an arbitrary ratio and by comparing the result to the movement of subjects. We used independent component analysis involving phase difference information between joint movements. To demonstrate the system’s effectiveness, we generated three different gaits of periodic movement and conducted experiments with and without considering phase differences between joint movement. When results were implemented in a human model in computer graphics (CG) to picture movement, the system considering phase differences reconstructed the original movement naturally even with a number of independent variables as small as two. Movement analysis not considering phase differences, however, was unnatural, especially in ankle movement, due to the lack of appropriate phase differences between the knee and hip. We synthesized and evaluated discrete movement from two winning poses – one powerful and one weak – by interpolating movement I at 50% and movement II at 50%, and extrapolation of movement I at 150%. The former generated discrete movement with an in-between impression and the latter with a powerful impression. These results demonstrate that both periodic and discrete movement can be expressed by a small number of independent variables when phase difference information between joint movements is used appropriately.
Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –
Authors: Kumagai Masaaki ,   Tohoku Gakuin University, Tamada Kaoru ,   Iris Ohyama
Published: April 2016

This paper proposes the leg-wheel locomotion of a biped robot. The feet of the robot consist of wheels that move forward with the periodic motion of a leg under a double-leg support. There are many types of approach leg-wheel hybrid systems; however, biped system with passive wheels is rarely used. A special axle mechanism is introduced so that the wheels could smoothly track a curved path for propulsive motion. Finally, the robot achieves not only straight and circular motion but also pivoting motion that is significantly faster than walking, while implementing a minimal number of simple components. The concept of locomotion, function of the mechanism, and experimental results are described in this paper.
Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh
Authors: Yoshikai Tomoaki ,   Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Sagisaka Takashi , Hayashi Marika , Inaba Masayuki
Published: April 2016

Behavior design with rich sensor information is very important in realizing close interaction using whole-body contact. Our research target is to construct behavior design method taking into account the mutual interaction between a robot’s tactile sensor information and its motion trajectories. In this paper, a behavior acquisition framework using an evolutionary technique is constructed based on a dynamics simulation model including the emulation of tactile sensing. Furthermore, acquired rolling-over motions are tested using an actual humanoid “macra” with soft sensor flesh, and the results are analyzed and discussed for confirming the feasibility of our proposed system.
Production and Application of High-Accuracy Polymer-Based Magnetically Driven Microtool
Authors: Yamanishi Yoko ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Sakuma Shinya , Arai Fumihito
Published: April 2016

We discuss a novel magnetically driven polymeric microtool for non-intrusive and non-contaminating experiments on a chip. The composite is formed by suspending magnetite particles (Fe3O4) in polydimethylsiloxane (PDMS). To obtain precise, complex patterns from magnetically driven microtools, photolithography has been applied taking advantage of thick KMPR-1050 photoresist as a sacrificed mold. The microtool surface was coated to suppress stiction in the biochip. These microtools feature 1. fabrication of any shape, 2. softness (harmless to cells), 3. no stiction, and 4. mass production at low cost enabling disposability. We demonstrate versatile mass-produced magnetically driven microtools such as stirrers and valves. The potential impact of this technology includes sample selection and separation, cell immobilization, mixing and reaction into portable microfluidic labs-on-a-chip, and long-term culture and cell loading.
Adaptive Modular Robots Through Heterogeneous Inter-Module Connections
Authors: Shimizu Masahiro ,   Department of Electrical and Communication Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Kato Takuma , Lungarella Max , Ishiguro Akio ,   Artificial Intelligence Laboratory, University of Zurich, 8050 Zurich, Switzerland
Published: April 2016

Modular robots are mechatronic systems that can rearrange their connectivity to create new topologies to accomplish diverse tasks. In previous work, we have studied a modular reconfigurable robot (Slimebot) characterized by a spontaneous inter-module connection control mechanism. The modules of Slimebot connect to each other via a functional material which guarantees physical coupling between the modules. Here, we investigate the effect of heterogeneous inter-module coupling strengths on the adaptivity of Slimebot (here measured in terms of structural stability and locomotive speed). Simulation results show that a certain amount of heterogeneity improves the adaptivity of the system compared to the case of homogeneous modules. The only assumption that needs to be satisfied by the system with heterogeneous couplings is compliance to Steinberg’s energy minimization theory.
Patient-Specific IVR Endovascular Simulator with Augmented Reality for Medical Training and Robot Evaluation
Authors: Ikeda Seiichi ,   Dept. of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Aichi 464-8603, Japan, Villagran Carlos Tercero , Fukuda Toshio , Okada Yuta , Arai Fumihito , Negoro Makoto , Hayakawa Motoharu , Takahashi Ikuo ,   Dept. of Bioengineering and Robotics, Tohoku University, Sendai, Miyagi 980-8579, Japan,   Dept. of Neurosurgery School of Medicine, Toyoake, Aichi 470-1192, Japan,   Dept. of Neurosurgery, Anjo Kosei Hospital
Published: April 2016

Endovascular intervention using interventional radiology (IVR) is most commonly used in cerebralvascular treatment. Medical imaging such as digital subtraction angiography (DSA) and vascular mapping make vasculature and catheters easier to read from fluoroscopy during endovascular intervention. We propose simulating IVR using augmented reality, reproducing fluoroscopic images and a patient-specific blood vessel model without X-ray imaging. The advantages of the patient-specific vascular model reproducing the human vasculature lumen with 13 μm resolution include 1) a realistic “feel,” 2) excellent tool behavior simulation during intervention, and 3) surgical training alternative to physician training in-vitro. Simulated fluoroscopic images are created in two steps: First, the blood vessel model refraction index is matched to surrounding glycerin solution to conceal the vascular model, making the silicone vasculature appear human as seen in endovascular intervention. Second, an augmented reality (AR) environment is created using image subtraction and overlap, making model-based endovascular simulation more understandable for catheter use and fluoroscopy use and reading.
Development of Cable Reel for Spherical Trailer – Uniform Cable Winding
Authors: Arai Masayuki ,   Dept. of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

Cabled communication is considered useful for rescue robots in post-disaster environments because the cable provides good signal communication and assists in retrieving the robot. Having said that, however, the cable could also hinder robot mobility and smaller robots lack payload capacity for reels. The spherical trailer cable reel we developed consists of a spherical trailer and a cable reel with a cable oscillator to oscillate the cable over the reel. Through experiments and studies, we identified a problem with the cable oscillator that prevented the cable from being wound uniformly over the reel. We propose three improvements to solve this problem involving optimization of the spatial cam structure. This paper describes the cable reel, improved mechanisms, and experiments to test their performances.
Identification of Human Bimanual Operation Using XY-Stages
Authors: Suzuki Yukihito ,   Department of Computers and Systems Engineering, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394, Japan, Pan Yaodong , Takase Hiroki , Furuta Katsuhisa ,   Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, Ontario M5B2K3, Canada,   21st Century COE Project Office, Tokyo Denki University, Ishizaka, Hatoyama, Hiki, Saitama 350-0394, Japan
Published: April 2016

Our bimanual operation experiments have shown that the movement of one hand affects that of the other at higher frequencies – a coupling that weakens for a skilled operator. To determine the bimanual operational properties, we designed a bimanual operation system with two XY-stages for studying Human Adaptive Mechatronics (HAM). Each XY-stage has two DC motors, a six-dimension force sensor, and two encoders. An operator moves the XY-stage through a grip on the force sensor. We first studied dynamic human properties, based on which we determined XY-stage specifications. The PID controller with a Virtual Internal Model (VIM) of the XY-stage, we designed enables XY-stages to follow the trajectory given by the operator, including locations and force commands. Using the XY-stages, we conducted bimanual operation experiments in which operators manipulate the XY-stages bimanually to track two orthogonal trajectories. To investigate bimanual operation properties, we analyzed variation, correlation, and the power spectrum density (PSD) of experimental input and output data and identified the transfer functions. This paper presents the design of the bimanual operation system and shows the experimental results and the analysis results of bimanual operations.
Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment
Authors: Nakamura Taro ,   Chuo University, Faculty of Science and Engineering, Department of Precision Mechanics, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Akamatsu Yuki , Kusaka Yuta
Published: April 2016

Recently, as robots and humans have increasingly come to share common space, especially in the fields of medical and home automation, it has become necessary to consider the frequent physical collision of robots and environments (e.g. humans). However, many robot joints employ actuators with high-ratio gear trains, and therefore, when this type of robot comes into contact with a human, physical pain may be caused. This study deals with the development of a manipulator using a smart flexible joint employing ER fluid and a pneumatic cushion that has a sensor function. In addition, position control and collision experiments were performed with the developed manipulator. The experimental results demonstrate the effectiveness of the manipulator.
Adaptive Modeling of Physical Systems Based on Affine Transform and its Application for Machine Learning
Authors: Nakamura Shingo ,   Department of Applied Physics, Waseda University, Tokyo, Japan, Hashimoto Shuji
Published: April 2016

We describe the adaptive modeling of a physical system using the affine transform and its application to machine learning. We previously proposed a method to implement machine learning in physical hardware, where we built a simulator based on actual hardware input/output, and used it to optimize a controller. The method decreases stress on hardware because the controller is optimized by software via the simulator. Moreover, it does not require specific physical information on hardware. We also did not need to formulate hardware kinematics. When hardware changes, however, optimization must be redone to build the simulator -a clearly inefficient procedure. We therefore considered using previous optimization results when reoptimizing for new hardware. In the physical system, the aspect of the phase space does not vary much if the system structure remains the same. We applied affine transform to phase space of the physical system, to remodel the simulator for new hardware characteristics triggered by parameter changes. We used the remodeled simulator in machine learning to reoptimize the controller. In experiments, we used the swing-up pendulum problem to evaluate our proposal, comparing our proposal and original methods and finding that our proposal accelerates reoptimization.
Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics
Authors: Hatsukari Takuro ,   Paramount Bed Co. Ltd., Higashisuna 2-14-5, Koutou-ku, Tokyo, 138-8670, Japan, Miyase Norihisa , Higuchi Jun'ichi , Hirata Yasuhisa , Kosuge Kazuhiro ,   IT Systems Middleware Lab., IT Systems Laboratories, Fujitsu, 4-1-1 Kamikodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa 211-8588, Japan,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01, Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

The standing-up support device with an elbow-support face we propose for elderly people and physically-handicapped persons, enables comfortable and stable posture changes based on physical and motion characteristics. Using electromyogram (EMG), posture holding moment (PHM), and subjective evaluation, we demonstrate its effectiveness.
Development of a Gait Rehabilitation System With a Spherical Immersive Projection Display
Authors: Yano Hiroaki ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1,Tennoudai,Tsukuba-shi, Ibaraki 305-8573, Japan, Masuda Takayuki , Nakajima Yosuke , Tanaka Naoki , Tamefusa Shintaro , Saitou Hideyuki , Iwata Hiroo ,   Denso corporationm, Dai-1-Oyamaryo #1202J, 18, Oyama-cho 3-chome, Kariya-shi, Aichi 448-0043, Japan,   Mitsubishi Electric Kamakura Works, 325, Kamimachiya, Kamakura-shi, Kanagawa 247-8520, Japan,   Department of rehabilitation, Tsukuba Memorial Hospital, 1187-299 Kaname, Tsukuba-shi, Ibaraki 300-2622, Japan,   College of Engineering Systems, University of Tsukuba, 1-1-1, Tennoudai, Tsukuba-shi, Ibaraki 305-8573, Japan
Published: April 2016

This paper describes the development of an integrative system for gait rehabilitation. The system can present visual images and the sensation of walking to a user. The system consists of a locomotion interface, “GaitMaster4,” and a spherical immersive projection display. The locomotion interface moves the users' feet while it keeps their bodies in the real world. Wide-angle images captured from an omnidirectional camera are projected onto the immersive projection display. To evaluate the system, subjects' brain activity was measured using near infrared spectroscopy (NIRS), and the effectiveness of the system was confirmed.
Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair
Authors: Hashimoto Masafumi ,   Faculty of Science and Engineering, Doshisha University, 1-3 Miyakodani, Tatara, Kyotanabe, Kyoto 610-0321, Japan, Nakamura Yuuki , Takahashi Kazuhiko ,   Chugai Technos Corporation, 2-14-2 Nakahiro-machi, Nishi-ku, Hiroshima 733-0012, Japan
Published: April 2016

This paper presents a method of fault diagnosis and fault-tolerant control for a nonholonomic powered wheelchair. Hard faults of sensors and actuators in two drive/steering units of the wheelchair are handled. The fault diagnosis is based on the interacting multiple-model (IMM) estimator. In order to improve fault decisions, we implement mode probability averaging and heuristic decision-making rule in the IMM-based algorithm. A fault-tolerant controller designed based on Ackerman geometry enables safe motion of the wheelchair even if sensors and actuators have partially failed. Experimental results verify the proposed method.
Emergent Approach to Circle Formation by Multiple Autonomous Modular Robots
Authors: Miyamae Takehiro ,   Department of Mechanics and Systems Design, Faculty of Systems Engineering, Tokyo University of Science, Suwa, 5000-1 Toyohira, Chino, Nagano 391-0292, Japan, Ichikawa Sumiaki , Hara Fumio ,   Faculty of Engineering, Tokyo University of Science, 1-14-6 Kudankita, Chiyoda-ku, Tokyo 102-0073, Japan
Published: April 2016

This paper deals with the problem of circle formation by multiple autonomous robots on emergent approach. The robots in question are simple, having fan-shaped local vision consisting of three areas to detect three states in each area – whether the number of robots in an area is zero, one, or more than one. We suggest heuristic action decision rule having robots form a circle stochastically. Using computer simulation, we make it clear that view angles of the local vision and the number of robots in the arena affect circle forming process, and that the certainty of circle formation is high enough if robots have certain view angles. We describe that view angles control the distance between robots using kinematic view. The keys to designing robots to form a circle are the front-view angle for making virtual attraction force toward one robot, and the side-view angle for making equilibrium of virtual force toward two robots.
Force Compensating Trajectories for Redundant Robots: Experimental Results
Authors: Vassileva Daniela ,   Harmonic Drive Systems Inc., 1856-1 Hotakamaki, Azumino, Nagano 399-8305, Japan, Boiadjiev George , Kawasaki Haruhisa , Mouri Tetsuya ,   Mechatronics Systems Department, Institute of Mechanics, BAS, Acad. G. Bonchev Str., bl. 4, Sofia 1113, Bulgaria,   Department of Human and Inf. Syst., Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Published: April 2016

We proposed a new approach for redundant robots trajectories planning, based on the Null space (or Kernel) features. The Null space (Kernel) exists only in the case of redundant robots and it describes these joints motion which do not affect the robot end-effector motion in the sense of both position and orientation. Based on this “hidden motion” realized in the configuration space, which does not affect the motion in the working zone, we can control independently the robot end-effector position and orientation motions, or just maintain its state while some external force is applied to it.

The proposed control strategy is simple, no additional penalty functions are used to restraint the end-effector motion as in the case of the conventional methods. No pseudo inverse kinematics calculations are required; the desired trajectories are generated directly in the configuration space. No complicated control schemes are introduced, the proposed method is based on solving algebraic systems of equations and finding eigenvectors and eigenvalues.

In the paper the results from simulations and experiments based on the proposed method are presented and discussed.
Intelligent Cutter for Pork Deboning Robot (Automatic Processing of Complete Pre-Deboning Process of Pork Arm)
Authors: Itoh Akitoshi ,   Tokyo Denki University,, Mori Yoshiaki , Sugiyama Yuuki , Mammoto Shinzo ,   Mayekawa MFG. Co., Ltd.
Published: April 2016

Recent innovation of the robot deboning technology is remarkable. Now in Japan, 70% of deboned chicken thigh meat in the market is processed by the deboning robot, “Toridas.” The robot deboning of pork or beef, however, is still difficult because of their complexness and strong combination of meat and bone. This paper describes new intelligent cutter for pre-deboning process of pork shoulder meat, which has not been automated in robot deboning. In this research, the authors made the cutting process of the tendon and the periostea on a bone in the condition that a cutter was set perpendicularly to a bone (perpendicular cutting process), and the process which cutter was guided along the bone (parallel cutting process) was investigated how to control automatically in the both processes. The joint separation process was also developed with sensing the position of the joint by the cutter itself (a joint separation process). The process which cuts off the periosteum of the backside of the scapula was also developed. A meat peeling plate was also developed and attached to the cutter. After all, the prospect for the full-automatic pre-deboning was obtained through these studies.
Dynamic Remodeling of Environmental Map Using Range Data for Remote Operation of Mobile Robot
Authors: Matsumaru Takafumi ,   Faculty of Mechanical Engineering and Graduate School of Engineering, Shizuoka University, Hamamatsu, Japan, Yamamori Hiroshi , Fujita Takumi
Published: April 2016

In studying dynamic remodeling of environmental mapping around a mobile robot operated remotely while data measured by the robot range sensor is sent from the robot to the operator, we introduce the Line & Hollow method and the Cell & Hollow method for environmental mapping. Results for the three types of environmental situation clarifies features and effectiveness of our approach. In Line & Hollow method, an isosceles triangle is set based on the range data. The base line is pulled to express obstacle shape and the inside is hollowed out to express vacant space. In Cell & Hollow method, the cell value corresponding to the range data is incremented, and an obstacle is assumed to be exist if the cell value exceeds the ascending threshold. The cell value is decremented on the line between the cell that measured data indicates and the cell located at the sensor, and the obstacle is deleted if the value drops below the descending threshold. We confirmed that environmental mapping for either reflects a dynamic environmental change.
Trajectory Generation for Adaptive Motion by Phase Feedback - Synchronization of Multicycle Human Movement -
Authors: Ubukata Takayuki ,   Graduate school of Science and Engineering, Saitama University, Kotosaka Shinya , Ohtaki Hideyuki
Published: April 2016

Synchronous motion is one of the important ability for the co-operation work by human. The focus of our research is to develop a robust and adaptive synchronous trajectory generation method for the robot. To be able to follow the uncertain action by human co-worker, the trajectory generation method must be required adaptability to frequency and phase of movement of human co-worker. Key techniques for our method are PLL (Phase Locked Loop), Fourier series approximation, wavelet transformation for trajectory. PLL technique achieves the phase synchronization with an arbitrary cyclic motion, like as human walking. Fourier series approximation of target trajectory allows us description of wide variety cyclic motion for the robot. More over, we can select the synchronous frequency from human movement with multiple cycles by wavelet transformation. The experiment of synchronization with 3-DOF manipulator and human demonstrator are carried out. As a result, we confirm synchronous performance and the effectiveness of proposed method.
Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot
Authors: Hyodo Kazuyuki ,   Toyota technological Institute, Oshimura Takeshi , Mikami Sadayoshi , Suzuki Sho'ji ,   Faculty of Systems Information Science, Future University-Hakodate
Published: April 2016

This paper proposes a foot shape design to enhance the stability of passive dynamic walk by constraining fall down phenomenon in both sagittal and lateral planes. We focus on excessive side-to-side and forward leg swinging that causes a passive dynamic biped walker to fall over. Geometrical analysis showed that stability under a wide range of slope inclinations is achievable by limiting the swinging leg spatially to within a certain angle. Such a limit, or constraint, on swinging effectively prevents falling down on the lateral plane, while stable walking is maintained on the sagittal plane by constraining forward movement using a sharp edge at the head of a foot. We propose a foot prototype realizing these two constraints using a three-dimensional (3D) sole design and show that the proposed constraint is more effective for walking than an arctic foot shape. In verification experiments, the constraint stabilized the passive dynamic walker in a wide range of outdoor environments.
Special Issue on Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie
Authors: Mizukawa Makoto ,   Dean, College of Engineering,, Yokoi Kazuhito , Hasegawa Tsutomu , Sugano Shigeki , Nakauchi Yasushi
Published: April 2016

The history of science and technology evolution plays a great role in expanding human ability. Physical enhancement is done by controlling power after invention of steam engines and governor. These lead inventions of various useful machines to improve the productivity of material, food, and many attractive consumer products such as automobiles. Electrics and electronics also provided social infrastructure for industries and individual life.

From ancient times, media have been developed to assist in intellectual activities such as characters, clay boards, papers, printing machines to carry knowledge. The accumulation of knowledge was one source of governance power and social movement of the Enlightenment promoted spreading such knowledge to citizens by editing Encyclopedias. This movement opened modern and civilized era. Telecommunication and computer technologies have accelerated to develop tools that help thinking and communication using the enormous knowledge stored in storages distributed worldwide. Kukanchi —Interactive Human-Space Design and Intelligence— enhances human physical boundary limited by its body to its surrounding space adopting and fusing technologies such as robotics, structured information, sensor network, object oriented software, software engineering of Robot Technology (RT) middleware, human–robot–interaction, etc. Kukanchi is expected to provide barrier–free environment and support to maintain QoL of daily life for any kind of handicapped people.

This special issue features nine excellent papers from researchers devoting efforts to establishing kukanchi field and concept. This special issue is edited by guest editors, Prof. Makoto Mizukawa (Shibaura Institute of Technology) and four editors, Drs. Kazuhito Yokoi (AIST), Tsutomu Hasegawa (Kyushu University), Shigeki Sugano (Waseda University), Yasushi Nakauchi (University of Tsukuba). We thank the authors for their contributions and reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for providing the opportunity to take part in this work.

In closing, we would like to express our deep gratitude to the late Dr. Kazuo Tanie, who founded the Kukanchi research group.
User-Adaptive Reconfigurable Interface for In-Vehicle Information Systems
Authors: Kim Sangho ,   Department of Micro-Nano Systems Engineering, Nagoya University, Sekiyama Kosuke , Fukuda Toshio
Published: April 2016

To reduce the visual workload produced by information systems and their use during vehicle operation, we propose a user-adaptive, reconfigurable vehicle information interface with a reconfigured navigation sequence and reshaped operating switches (buttons). Our proposed user-adaptive interface consists of user modeling using a hidden Markov model (HMM) and reconfiguration of a preferred navigation sequence. The interface learns a user's navigation patterns based on accumulated navigation sequences. The navigation sequence with the highest likelihood is recommended as preferred among possible sequences, and the navigation sequence is reconfigured omitting intermediate steps. The reconfigurable keypad we propose reflects personal differences because information is customized through the physical reconfiguration of switches corresponding to recommended contents. Information is displayed tactilely and visually together through tactile and visual displays. To analyze the effect of navigation sequence and switch reconfiguration, we conducted experiments using two examples. Experimental results showed that reconfiguring the navigation sequence and switches reduced navigation reaction time.
Improvement of Vibration Sensitivity by Tangential Vibration
Authors: Jeong Hie-yong ,   Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Higashimori Mitsuru , Kaneko Makoto
Published: April 2016

A vibration sensitivity is usually defined by the minimum amplitude when a subject perceives the vibration with ω1which is the frequency of perpendicular direction on the skin surface. In this work, we are interested in how the vibration sensitivity at ω1is changed under the condition adding the tangential vibration with ω2which is the frequency of tangential direction on the skin surface. Through all experiments, we found that the vibration sensitivity at ω1= 8, 10, and 25 Hz is improved approximately 30% with thep-value of below 0.1% by an adequate setting condition of ω2= 3 Hz.
Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times
Authors: Nakano Motoki ,   Hokkaido University, Sapporo, Hokkaido, Japan, Tanaka Takayuki , Kaneko Shun'ichi , Yamano Koichi , Tsutsui Yoichiro ,   Morita Corporation, Iga, Mie, Japan
Published: April 2016

In this paper, we report the development of a power-assisted valve for fire engines. In Japan, the number of firefighters is decreasing year by year; therefore, it is important to reduce the amount of labor involved in firefighting. Although the development of an automatic system is possible in strictly technical terms, firefighting regulations in Japan require that the valve be operated by hand. In this study, we aim to develop a power-assisted system that can be controlled in accordance with the intent of the operator. First, we confirm a relationship between the impedance parameters and valve opening time. From this relationship, we propose a method for predicting the valve opening time based on the initial value of the operation torque. Evaluating this method, we found that the average operation torque and average tracking error are improved by a factor of two. Second, we reduce prediction error by using a real-time prediction method. While a prediction method based on initial torque can adjust parameters only once, the proposed real-time prediction method can update parameters continuously. As a result, the evaluation score of the method improved from 0.46 to 0.29, and average prediction error was improved from 172 ms to 105 ms.