bluuebunny/crossref_metadata_2025 huggingface dataset:
An Eye-To-Hand Panoramic Vision System for 3D Positioning of a Robotic Arm
Authors: Kulpate Chaiyapol ,   Electronic Systems Engineering, University of Regina, Regina, Saskatchewan, Canada, Mehrandezh Mehran , Paranjape Raman ,   Industrial Systems Engineering, University of Regina, Regina, Saskatchewan, Canada
Published: April 2016

A novel visual servoing structure is presented for robot positioning under an eye-to-hand camera configuration using panoramic vision. The proposed algorithm is based upon Image-Based Visual Servoing (IBVS) and uses only one fixed camera in conjunction with a stationary flat mirror. A single landmark mounted on the robot's end-effector along with its mirror reflection provide enough information for 3D reasoning based on a 2D image when viewed by a camera. The equations describing the relationship between the velocity of the coordinate frame attached to the robot's end-effector and rate of change in image features called the image Jacobian are presented. A novel set of image features that yield a full-rank image Jacobian is introduced. The Visual servoing based on an online estimation of the image Jacobian using a Kalman Filter (KF) is also presented. Simulated and experimental results illustrate the robustness of the proposed visual servoing structure. In addition, the accuracy of the proposed visual servoing structure is evaluated with an error analysis and sensitivity tests.
A New Adaptive Control Scheme Using Dynamic Neural Networks
Authors: Nouri Khaled ,   Laboratoire d’Etude et Commande Automatique de Processus, Ecole Polytechnique de Tunisie, BP, 748 La Marsa, 2078 Tunisie, Dhaouadi Rached , Braiek Naceur Benhadj ,   Department of Electrical Engineering, School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE
Published: April 2016

A new adaptive neuro-control structure is proposed for the speed control of a nonlinear motor drive system and the compensation of the nonlinearities. A dynamic artificial neural network is used for the on-line adaptive control of the nonlinear motor drive system with high static and Coulomb friction. The neural network is first trained off-line to learn the inverse dynamics of the motor drive system using a layer decoupled extended Kalman filter algorithm. The proposed control scheme is validated experimentally on a dc motor drive system using a standard personal computer. The results obtained confirm the excellent tracking performance and disturbance rejection properties of the system.
A Detection System of Location and Direction Angle by a RF Tag Reader Using a Rotary Antenna
Authors: Asakawa Takashi ,   Graduate School of Engineering, Kanagawa Institute of Technology, Nishihara Kazue , Yoshidome Tadashi ,   Faculty of Engineering, Kanagawa Institute of Technology, 1030 Shimo-ogino, Atsugi, Kanagawa 243-0292, Japan
Published: April 2016

This paper describes the method of presuming the angle of moving direction of an electric wheelchair by reading information of RF tags put on a floor using a rotary antenna, which is fixed underneath the wheelchair, revolving constantly above RF tags of the floor at a turning point. Our primary intention is to make a detection system of direction angle using RF tags for a voice controlled electric wheelchair. The voice instruction cannot give smooth nor detailed controls with ease unlike the joystick control. Because the voice control system can use only a few discrete instruction words. Thereby to assist smooth indoor motion, we proposed here a new method of automatic correction of the direction angle measured by the above rotary antenna and RF tags. We demonstrated experimentally to detect and correct the angle of moving direction when the wheelchair passes over the turning point, which was found to give accurate orientations.

This paper is the full translation from the transactions of JSME Vol.73, No.729.
Wheel-Based Stair Climbing Robot with Hopping Mechanism  – Demonstration of Continuous Stair Climbing Using Vibration –
Authors: Asai Yuji ,   Dept. of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Chiba Yasuhiro , Sakaguchi Keisuke , Bushida Naoki , Ohtsuka Hiroshi , Saito Yusuke , Kikuchi Koki ,   TOYOTA BOSHOKU CORPORATION, 1-1 Toyoda-cho, Kariya-shi, Aichi, 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 vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, 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 mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and 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 without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.
KOMEKAMI Switch: A Novel Wearable Input Device Using Movement of Temple
Authors: Taniguchi Kazuhiro ,   Department of Mechanical Science and Bioengineering,  Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka City, Osaka 560-8531, Japan, Nishikawa Atsushi , Kawanishi Seiichiro , Miyazaki Fumio
Published: April 2016

A wearable computing system plays a leading role in the ubiquitous computing era, in which computers are used at any place and at any time.

Now the mobile multimedia communication technology based devices, such as mobile phone, handy-type PC, etc., have come to be used in such a broad range of areas, the features of wearable hands-free computing system, which people can constantly use in their daily life or workplace while doing some other job, are highly valued more than ever.

However, the wearable computing system has not yet spread so widely owing to various factors. Among such factors is the delay in the development of human machine interface, which is applicable to the wearable computing system. Conventional technologies that require either manual manipulation of keyboard, mouse, touch panel, etc., or a large equipment to make use of electroencephalogram, eyeball movements, etc. for realizing hands-free interface, are not suitable for the wearable computing system.

We, therefore, developed a human-machine interface for the wearable computing system. This interface makes it easy to manipulate machine with intentional movements of temple. User can constantly use machine with no interference, as well as with hands free. It is compact and lightweight, permitting ease of manufacturing at a low cost. It does not react to daily actions like conversation, diet, etc., other than movements intended to control the machine. This interface consists of one optical distance sensor mounted in the vicinity of the left and right temples each and of one single-chip microcomputer.
A New Device for Converting Rotary Motion into Linear Motion Study of Rotary-to-Linear Harmonic Drive® (Harmonic Linear Drive®)
Authors: Moune Stéphanie ,   Harmonic Drive Systems Inc., Ueura Keiji , Takizawa Noboru
Published: April 2016

This paper describes a new concept for linear motion based on the similar theory of strain wave gearing, which has been used for more than forty years by Harmonic Drive Systems Inc. Gear teeth are replaced by screw threads and rotation of the input side generates linear translation at the output. Besides design flexibility and reasonable costs, the new rotary-to-linear harmonic drive® has shown promising potential in positioning accuracy as well as in high load capacity. It is able to compete (and to surpass in some features) with ball screw or lead screw systems.
Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor
Authors: Abe Koyu ,   Department of Aerospace Engineering,  Graduate School of Engineering, Tohoku University, Aoba-yama 6-6-01, Sendai 980-8579, Japan, Uchiyama Masaru
Published: April 2016

Overload prevention is important in force sensors to avoid fatal damage due to unexpected external impact. Until now, some mechanisms using screws or straight pins have been proposed for preventing damage to the sensor. However, nothing has been reported regarding the utility of this mechanism. The unidirectional force sensor based on an H-slit type parallel beam we proposed in previous work. This sensor structure alone can be realized for overload prevention without any other parts and can be embedded as overload protection mechanism in the structure. In this paper, we verify the utility of conventional type's mechanisms and evaluate the usefulness of the slit type one which we have developed.
Markerless Motion Capture with Structure Estimation Capability
Authors: Yamane Katsu ,   Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Fukuda Daisuke , Nakamura Yoshihiko
Published: April 2016

We present a markerless motion capture system able to determine the kinematic structure while measuring joint movement. In addition to volume data, we also use texture data to precisely measure the degrees of freedom that do not affect the shape, e.g., pronation/supination angles of the forearm and shank. We first obtain topology using a Reeb graph and independently build a tentative articulated-body chain model of the subject for each frame. We then extract a common optimized chain model by comparing joint angles of tentative models of all frames to identify which joints are related to describing the movement of the subject. Our system thus measures movement without prior knowledge of the structure. The system identifies the link length of objects with known structures based on measured data.
Special Issue on Selected Papers from ROBOMEC’07 (Part 2)
Authors: Umeda Kazunori ,   Co-Editor, Professor,, Kosuge Kazuhiro ,   Co-editor, Professor,
Published: April 2016

The Robotics and Mechatronics Conference 2007 (ROBOMEC'07) was held at “ALVE,” Akita, Japan, on May 10-12, 2007, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Chonan of Akita Prefectural University was the general chair and Prof. Kosuge of Tohoku University program chair. With the possibilities to help and develop solutions for managing quality of life of all people, the conference was organized based on the motto “Robotics and Mechatronics Improving the Quality of Life.” A record-breaking 918 papers were presented and more than 1300 attended the conference. This special issue presents 18 papers from the conference. Of 100 outstanding presentations recommended for submission, 46 were submitted and reviewed. Of these, the first 17 have already been published in Part 1 (Vol.20, No.2). We thank the authors for their invaluable contributions to this issue and the reviewers for their extensive time and effort. We also thank Editor-in-Chief, Prof. Tatsuo Arai of Osaka University for organizing this special issue.
Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors
Authors: Kume Yohei ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Hirata Yasuhisa , Kosuge Kazuhiro
Published: April 2016

The coordinated control algorithm for multiple mobile manipulators without force/torque sensors handling a single object in coordination controls individual mobile manipulators as if the grasping point has impedance dynamics by using the real manipulator’s dynamics. Mobile manipulators handle the object in coordination using the leader-follower control algorithm we propose, based on impedance dynamics. After discussing the effect of parameter error and how to reduce it, we confirm the proposed control algorithm’s feasibility in experiments using two mobile manipulators.
Statistical Characteristics of Biomimetic Image-Based Inverted Pendulum Control Systems Using Just-In-Time Method
Authors: Ushida Shun ,   Department of Mechanical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi, Osaka 535-8585, Japan, Fukuda Ken-ichiro , Deguchi Koichiro ,   Sony Corporation, 1-7-1 Konan, Minato, Tokyo, Japan,   Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba, Sendai, Japan
Published: April 2016

In attempting to statistically answer the question, “In what ways should robots attempt or imitate human-like behavior?” We focus on a human stick-balancing task and a biomimetic visual servoing system for the stabilization of an inverted pendulum. In particular, we applied proportional and differential (PD) and Just-In-Time (JIT) control, which is a memory-based scheme. This method can stabilize the inverted pendulum for a certain period of time, similar to the case of humans.

We analyzed the behavior of such mechanical systems statistically to determine the on-off intermittency and the power law in the human stick-balancing task. Statistically analyzing pendulum behavior may enable us to interpret human motor control.
Analysis and Systematic Classification of Human Hand Movement for Robot Hand Design
Authors: Ninomiya Takeshi ,   Keio University, Graduate School of Science and Technology, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan, Maeno Takashi ,   Keio University, Faculty of Science and Technology, Department of Mechanical Engineering
Published: April 2016

The systematic classification of hand movements, which indicates the minimum mechanism of robot hands, is suggested. The performance of existent robot hands is not as high as that of human hands because the performance of existent actuators does not come up to that of human muscles in the same volume. It is important for robot hands to accomplish targeted tasks with a minimum mechanism. Human hand movements are analyzed quantitatively considering robot hands such as associated movement of DIP and PIP joints. Based on the results of analysis, we obtain three items, i.e., fingers, joints that must be set up actuators and basic movements we define. We systematically classify human hand movement for the robot hand based on three items.
Fluid-Resistive Bending Sensor Compatible with a Flexible Pneumatic Balloon Actuator
Authors: Konishi Satoshi ,   Department of Micro System Technology,  Ritsumeikan University, Japan, Sawano Satoshi , Kusuda Shinya , Sakakibara Tsuyoshi ,   Graduate School of Science and Engineering,  Ritsumeikan University, Japan
Published: April 2016

The bending sensor we propose for flexible microstructures, specifically the polydimethylsiloxane (PDMS) pneumatic balloon actuator (PBA), features a soft structure and flexible movement restricted by conventional solid-state sensors. The proposed sensor detects fluid resistance changes based on the bending of the fluidic PBA. We can use a pneumatic channel as the fluid-resistive bending sensor. We also designed a 5×10 mm×300 μ m PDMS cantilevered stiffness sensor by combining the PBA and the bending sensor for medical applications.
An Amoeboid Locomotion That Exploits Real-Time Tunable Springs and Law of Conservation of Protoplasmic Mass
Authors: Umedachi Takuya ,   Department of Electrical and Communication Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Kitamura Taichi , Ishiguro Akio
Published: April 2016

The control and mechanical systems of an embodied agent should be tightly coupled so as to emerge useful functionalities such as adaptivity. This indicates that the mechanical system as well as the control system should be responsible for a certain amount of computation for generating the behavior. However, there still leaves much to be understood about how such “computational offloading” from the control system to the mechanical system can be achieved. In order to intensively investigate this, here we particularly focus on the “softness” of the body, and show how the computational offloading derived from this property is exploited to simplify the control system and to increase the degree of adaptivity. To this end, we employ a two-dimensional amoeboid robot as a practical example, consisting of incompressive fluid (i.e. protoplasm) covered with an outer skin composed of a network of real-time tunable springs. Preliminary simulation results show that the exploitation of the “long-distant interaction” stemming from “the law of conservation of protoplasmic mass” allows us to simplify the control mechanism; and that adaptive amoeboid locomotion can be realized without the need of a central controller. The results obtained are expected to shed light on how control and mechanical systems should be coupled, and what the “brain-body-interaction” carefully designed brings to the resulting behavior.
Compliance Analysis of Construction Machinery Front by Direct Stiffness Method
Authors: Muramoto Hiroaki ,   Department of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi, Khoku-ku, Yokohama, Kanagawa 223-8522, Japan, Tomita Kunitsugu , Morita Toshio ,   Hitachi Construction Machinery Co., Ltd., 650 Kandatsu-machi, Tsuchiura, Ibaraki 300-0013, Japan
Published: April 2016

It is considered effective for simplification of complex work and assurance of work quality to provide a hydraulic excavator with passive compliance.

In designing passive compliance, however, it is essential to conduct prior verification by analysis. In this study we proposed a method for calculating a compliance ellipsoid of a hydraulic excavator front end by the direct stiffness method. In addition, we conducted validation of the stiffness equation for calculating a compliance ellipsoid, using a model boom. We also demonstrated that a compliance ellipsoid could be derived regardless of varying front structures. Furthermore, we derived stiffness parameters that produce reaction forces not exceeding target values from the working plane in contour following by an unskilled worker, and confirmed validity of the stiffness parameters in experiments.
Target Identification Through Human Pointing Gesture Based on Human-Adaptive Approach
Authors: Tamura Yusuke ,   Research into Artifact, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8568, Japan, Sugi Masao , Arai Tamio , Ota Jun
Published: April 2016

We propose a human-adaptive approach for calculating human pointing targets, integrating (1) calculating the user’s subjective pointing direction from finger direction, (2) integrating sensory information obtained from user pointing and contextual information such as user action sequences, and (3) arranging target candidates based on the user’s characteristics of pointing and action sequences. The user's subjective pointing direction is approximated by the linear function with the finger direction. Integration of sensory and contextual information using a probabilistic model enables the system to calculate the target accurately. Using a force-directed approach, we obtained good placement in which false estimations are decreased and not moved much from initial placement. Experimental results demonstrate the usefulness of our proposal.
Development of Leg-Wheel Hybrid Quadruped “AirHopper”: Lightweight Leg-Wheel Design
Authors: Tanaka Takahiro ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

The “AirHopper” leg-wheel hybrid jumping robot we propose is expected to navigate uneven terrain difficult to traverse for ordinary vehicles carrying supplies for disaster-hit areas or isolated districts. To give it high mobility and enable jumping, the AirHopper consists of (1) 4 widespred spiderlike legs for stability, (2) active wheels on its feet driven by built-in motors and transmissions, (3) 2 decoupled pneumatic cylinders, and (4) a built-in piston that drives a 4-bar linkage leg. We propose a powerful leg with a wide movable range and a compact, lightweight wheel drive that minimizes adverse effects. Experiments verified the feasibility of these mechanisms. We also developed an “AirHopper-II” leg-wheel hybrid jumping robot using these 2 mechanisms. AirHopper-II jumped 850 mm vertically and landed softly by controlling in-cylinder pressure. In preliminary experiments, we tested wheel drive jumping to acquire basic data for the next model.
Constructive Approach to Role-Reversal Imitation Through Unsegmented Interactions
Authors: Taniguchi Tadahiro ,   Department of Human & Computer Intelligence, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan, Iwahashi Naoto , Sugiura Komei , Sawaragi Tetsuo ,   National Institute of Information and Communications Technology, 4-2-1 Nukui-Kitamachi, Koganei, Tokyo 184-8795, Japan,   Advanced Telecommunications Research Institute International, 2-2-2 Hikaridai, Seikacho, Sorakugun, Kyoto 619-0288, Japan,   Graduate School of Engineering, Kyoto University, Yoshida Honmachi, Sakyo, Kyoto 606-8501, Japan
Published: April 2016

This paper presents a novel method of a robot learning through imitation to acquire a user’s key motions automatically. The learning architecture mainly consists of three learning modules: a switching autoregressive model (SARM), a keyword extractor without a dictionary, and a keyword selection filter that references to the tutor’s reactions. Most previous research on imitation learning by autonomous robots targeted motions given to robots, were segmented into meaningful parts by the users or researchers in advance. To imitate certain behavior from continuous human motion, however, robots must find segments to be learned. To achieve this goal, the learning architecture converts a continuous time series into a discrete time series of letters using the SARM, finds meaningful segments using the keyword extractor without a dictionary, and removes less s meaningful segments from keywords using the user's reactions. In experiments, an operator showed unsegmented motions to a robot, and reacted to the motions the robot had acquired. Results showed that this framework enabled the robot to obtain several meaningful motions that the operator hoped it would acquire.
Psychological Influence of Wheelchairs on the Elderly Persons from Qualitative Research of Daily Living
Authors: Nihei Misato ,   Department of Engineering Synthesis, The University of Tokyo, 3-4-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Inoue Takenobu , Fujie Masakatsu G. ,   Research Institute of National Rehabilitation Center for Persons with Disabilities, 4-1 Namiki, Tokorozawa, Saitama 359-8555, Japan,   Faculty of Science and Engineering, Waseda University, 3-4-1 Ohkubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

The aging of society has triggered advances in research on geriatric and other assistive devices (ADs), collectively called assistive technologies (ATs). We focused on the relationship between ADs and psychology, e.g., the psychological effect of the AD on users, taking the wheelchair as an example. Participants were 12 elderly persons whom we qualitative studied to identify detrimental factors. We found that elderly persons face the dilemma of maintaining physical function versus expanding mobility via aids such as wheelchairs. Users faced problems in physical function and body image – what impression does a wheelchair user make on other? We considered these problems and adapted a psychological model to aid AD developers in understanding the elderly psychological mindset. No matter how fancy or useful a device developed, after all, it cannot be practically applied without taking into account the physical aspects, lifestyles, and psychological circumstances of elderly persons.
Special Issue on MEXT 21st Century COE Programs (II)
Authors: Arai Tatsuo ,   Professor,, Yokokohji Yasuyoshi , Kurisu Masamitsu , Iwata Hiroyasu ,   Associate Professor,,   Professor,,   Associate Professor,
Published: April 2016

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008. Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, 23 papers have been accepted for publication after a careful review. We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.

 Prof. Tatsuo Arai

Editor-in Chief
Control of Human Generating Force by Use of Acoustic Information? Substituting Artificial Sounds for Onomatopoeic Utterances
Authors: Iimura Miki ,   School of Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan, Sato Taichi , Tanaka Kihachiro ,   Faculty of Engineering, Saitama University, 255, Shimo-okubo, Sakura-ku, Saitama-shi, Saitama 338-8570, Japan
Published: April 2016

We have conducted basic experiments for applying onomatopoeia to engineering problems. Subjects were made to conduct lifting while listening to acoustic information consisting of onomatopoeic utterances and artificial sounds. We demonstrated a relationship between acoustic information and lifting-forces exerted by subjects. Here, we replaced onomatopoeic utterances with artificial sounds related to onomatopoeic utterances “with or without emotion,” and show that onomatopoeic utterances “with emotion” can indeed be replaced by composite sounds, including sweep sounds with a high center frequency. We also show that onomatopoeic utterances “without emotion” and pure sound have the same effect on the magnitude of lifting-force.
Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion
Authors: Kondo Hideki ,   Graduate School of Advanced Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Ogura Yu , Shimomura Kazushi , Momoki Shimpei , Okubo Tatsu , Lim Hun-Ok , Takanishi Atsuo ,   Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama 221-8686, Japan,   Department of Modern Mechanical Engineering, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan
Published: April 2016

The foot mechanism and pattern generation we propose for a biped humanoid robot achieves human-like heel-contact toe-off walking. Placing its heel and toes simultaneously on the ground while walking makes it difficult for a robot to take long strides and mimic human gaits. To solve this problem, we developed a biped foot with one passive toe joint based on human gaits analyzed by motion capture and propose pattern generation for human-like walking based on the zero moment point (ZMP) criterion. Using a genetic algorithm, we optimize walking parameters to generate continuous, smooth foot trajectories. Results of experiments in heel-contact toe-off walking in ground reaction force (GRF) using the biped humanoid robot WABIAN-2 demonstrated the similarity between proposed and human walking.
Reinforcement Signal Propagation Algorithm for Logic Circuit
Authors: Kim Chyon Hae ,   Department of Mechanical Engineering, Waseda University, 3-4-1, Okubo, Shinjuku-ku, Tokyo 169-8555, Japan, Ogata Tetsuya , Sugano Shigeki ,   Graduate School of Informatics, Kyoto University, Yoshida-Honmachi, Sakyo-ku, Kyoto 606-8501, Japan
Published: April 2016

This paper proposes a group of network elements, SONE, that self-organizes network topology, aiming at online and real-time learning and adaptation in robots. SONE, consisting of node elements and link elements, develops network topology by repeating generation and elimination of themselves based on reinforcement signals that are propagated and stored between the elements. This technique proved successful in simulations in which a mobile robot avoided obstacles, and it convinced us of its feasibility for online learning.
Gait Generation for a Walking Robot with Passive Joints
Authors: Kaede Kazunori ,   Graduate school of Science and Engineering, Shizuoka University, 3-5-1 Jyohoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan, Nogai Tooru ,   Faculty of Engineering, Shizuoka University, 3-5-1 Jyohoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan
Published: April 2016

We selected a three-legged robot to study passive walking. The robot consists of one actuated leg and one pair of passive legs. The active leg has a knee joint and an ankle joint. The passive legs, which we call “crutches,” have no knee joints, but it do have passive ankle joints. The crutches and the leg are connected by a hip joint. The robot behavior is passive while it supports itself on its crutches and swings its leg. In order for the robot to have a wide stride and be stable after the leg swings out and lands, a referenced trajectory of the leg's swing is generated by a planar, four-link model simulation to evaluate its posture after the leg lands. The pattern of walking applies to the robot's actual walk on level ground. An additional walking robot that has a knee joint that is permitted to rotate freely has been designed. The lower leg is equipped with a solenoid magnet which keeps the knee joint straight. The knee joint bends and the leg swings in response to a change in the input torque to the hip joint.
Development and Control of a Small Biped Walking Robot Using Shape Memory Alloys
Authors: Nishida Mami ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585 Japan, Wang Hua O. , Tanaka Kazuo ,   Department of Aerospace and Mecanical Engineering, Boston University
Published: April 2016

This paper presents a study on the development and control of a small biped walking robot using shape memory alloys (SMAs). We propose a flexible flat plate (FFP) consisting of a polyethylene plate and SMAs. Based on a detailed investigation of the properties of the SMA-based FFP structure, we develop a lightweight small walking robot incorporating multiple SMA-based FFPs. The walking robot has four degrees of freedom and is controlled by switching the ON-OFF current signals to the SMA-based FFPs. The switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The small robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA-based FFPs) to kinematic energy. The resulting small biped walking robot weighs a mere 2.8 g (with a height of 70 mm). Our experimental results demonstrate the viability and utility of the small walking robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior.
Special Issue on Service Technology for Health and Well-Being
Authors: Otake Mihoko ,   Associate Professor,
Published: April 2016

Thanks to the growing awareness that human health is inextricably linked to the health of our planet and environmental change, it is difficult to envisage an integrated scientific approach to sustainable development that does not include human health issues. In parallel with science for health and well-being (SHWB), which is recognized today as a major challenge, the field of service science, management and engineering (SSME) has emerged as a potential solution. How can robotics and mechatronics, both used in SHWB and SSME, contribute to solving human health issues?

This special issue focuses on service technology for health and well-being. It starts with studies on on-demand bus services for alternative transportation systems and home healthcare service for disease prevention based on ICT. Devices and systems then introduced include stand-up support devices, gait rehabilitation, omnidirectional wheelchairs and wheelchair design simulators, musculoskeletal simulators for rehabilitation, force display communication analysis systems, and evaluation method of driver's temporary arousal level. These technologies for health and welfare services are the core of sustainable development.

We thank the authors for their invaluable contributions and the reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for the opportunity to take part in this work.
Evaluation of On-Demand Bus Services Applicability to Older Persons
Authors: Yamato Hiroyuki ,   Graduate School of Frontier Sciences, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8563, Japan, Tsubouchi Kota , Hiekata Kazuo , Honda Ken , Sugimoto Chika ,   Department of Systems Innovation, Graduate School of Engineering, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa-shi, Chiba 277-8563, Japan
Published: April 2016

This paper describes evaluation of applicability of an on-demand bus system for older persons as a public transportation alternative that passengers use after making reservations. An on-demand bus service, in which buses arrive when reserved by users, has been developed and demonstrated by the community test conducted in City of Kashiwa's Kashiwa-no-ha area, Chiba Prefecture to evaluate its effectiveness. Results suggest that services are used by those 65 years old and older, who rate services more highly and are more willingness to pay on the average than the younger persons, as found in a questionnaire.
Accurate, Easy-to-Use Sphygmomanometer – “Arm-in Memo” Blood-Pressure Meter Developed Based on “Compliance with Measurement”
Authors: Asou Yousuke ,   Marketing Development and Planning Home Healthcare Products Group Terumo Corporation, 1-8-2 Marunouchi, Chiyoda-ku, Tokyo, Japan
Published: April 2016

The Japanese Society of Internal Medicine and its seven related organizations, in announcing its diagnostic criteria for metabolic syndrome on April 8, 2005, demonstrated the importance of lifestyle change in minimizing the syndrome's effects. Needless to say, the control required to change lifestyles is difficult to cultivate and to continue. We looked at how self-control is supported using a home-use sphygmomanometer, or blood-pressure meter, detailing an actual development case centering on the “compliance with measurement” concept.
A 4WD Omnidirectional Wheelchair with Enhanced Step Climbing Capability
Authors: Wada Masayoshi ,   Department Human-Robotics, Faculty of Engineering Saitama Institute of Technology, 1690 Fusaiji, Fukaya, Saitama 369-0293, Japan
Published: April 2016

In developing an omnidirectional wheelchair tilted to climb single high steps, we enhanced standard step climbing by introducing a four-wheel drive (4WD). One pair of front and back wheels is connected by transmission belts to rotate in unison with a drive motor, i.e., synchrodrive transmission. To avoid wheel slippage as the mechanism turns, two omniwheels are installed in front and two regular tires in back, enabling the front wheels to slide freely sideways while the two back wheels continuously contact the ground. A third motor on the 4WD platform rotates the chair at the center of the mobile base around the vertical axis. The 4WD enhances step climbing over that of standard wheelchairs, but back wheels limit the step height climbed, meaning that front wheels climb higher steps than back wheels. We analyzed 4WD statics to clarify differences in front and back wheel step climbing, finding that drive torque caused the difference and that this influence depends on the wheelbase and vehicle weight distribution ratio of the front and back wheel axes. We varied the load distribution ratio among wheels to maximize back wheel step climbing. To do so, we developed chair tilting with a linear drive and an inclination sensor. The linear drive changes the chair's tilt angle for keeping the wheelchair statics and to vary positioning of the center of gravity (COG) to enable back wheels to climb steps more efficiently. To confirm the effectiveness of chair tilting in this scheme, we tested step climbing in experiments in which a prototype wheelchair carrying a user climbed a 90 mm step, but the back wheels failed when chair tilting was disabled.
Simulator for Optimal Wheelchair Design
Authors: Sasaki Makoto ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga-shi, Saga, 840-8502, Japan, Kimura Takumi , Matsuo Kiyomi , Obinata Goro , Iwami Takehiro , Miyawaki Kazuto , Kiguchi Kazuo ,   Department of Mechanical Engineering, Saga University, 1 Honjomachi, Saga-shi, Saga, 840-8502, Japan,   Saga Medical School Faculty of Medicine, Saga University, 5-1-1 Nabeshima, Saga-shi, Saga 849-8501, Japan,   Division of Integrated Research Projects, EcoTopia Science Institute, Nagoya University, Furo-cho, Chikusa, Nagoya-shi, Aichi 464-8603, Japan,   Department of Mechanical Engineering, Akita University, Tegatagakuen-cho Akita-shi, Akita 010-0852, Japan,   Akita Prefectural R&D Center, 4-21 Sanuki, Araya-cho, Akita-shi, Akita 010-1623, Japan
Published: April 2016

This paper presents an adaptive simulator for a manual wheelchair to reduce the user's upper limb load during wheelchair manipulation and to increase the efficiency of wheelchair propulsion. The proposed simulator provides an optimal position of the handrim/lever and the desired angular position of the seat and backrest of the wheelchair based on the user's body function.
Development of a Virtual Arm Wrestling System for Force Display Communication Analysis
Authors: Yamada Takashi ,   Faculty of Education, Kagawa University, 1-1 Saiwai-cho, Takamatsu-shi, Kagawa 760-8522, Japan, Watanabe Tomio ,   Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan
Published: April 2016

The virtual arm wrestling system prototype we propose for force display communication analysis uses a 5-DOF force display system with 4 air cylinders and a force sensor we developed for virtual human affect display and interaction based on nonverbal human behavior and physiological measurement in arm wrestling. We evaluated the relationship between force display and a physiological index of peripheral finger skin temperature associated with circulation dynamics responding to forced action. We confirmed the system's effectiveness in analyzing force display communication.
Simulation of a Pneumatic Hand Crane Power-Assist System
Authors: Doi Tatsuya ,   Graduate School of Engineering, Gifu University, Gifu, Japan, Yamada Hironao , Ikemoto Toshihisa , Naratani Hiroshi ,   Department of Human and Information Systems, Gifu University, Gifu, Japan,   Aikoku Alpha Corporation, Aichi, Japan
Published: April 2016

Simulation of a pneumatic hand crane for work support was developed for system design. The crane's mathematical model consists of a pneumatic cylinder model, a crane link model, and a controller that includes a human model to passively operate the hand crane by operating force. The human model's inverse system learns using a neural network. The feasibility of the simulation was demonstrated in comparison with measurement results from operating force and acceleration.
Stepwise Locomotion on a Deformable Surface Using Shear Displacement Produced by a Pneumatic Suction Device
Authors: Horie Toshiaki ,   Panasonic Electronic Device Co., Ltd. Corporate Components Development Center. Material&Process Laboratory, 1453 Tastutachou, Moriyama-City, Shiga 525-8577, Japan, Konishi Satoshi ,   Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu-City, Shiga 525-8577, Japan
Published: April 2016

The present paper introduces a stepwise locomotion of a micro robot using the shear displacement of a deformable object by a pneumatic suction device. We consider a locomotion function of a micro robot for medical application. A medical micro robot introduced into the abdominal cavity has been investigated as an extension of endoscopic technology. A micro robot with a locomotion function can be made to move within the body when performing medical examinations or surgery. The proposed locomotion mechanism employs suction devices in order to provide a shear displacement as well as stable contact with the object. The proposed stepwise locomotion mechanism does not require an additional stretching actuator for inchworm motion. The present paper describes the design, implementation, characterization, and demonstration of a micro robot based on the proposed locomotion principle. The micro robot will successfully demonstrate one-dimensional, two-dimensional, and diagonal movements, and an in vitro experiment will be conducted as a representative medical application.
Evaluation of Cognition of Information Which is Stimulated by the Sense of Touch Using Phantom Sensation and Apparent Movement
Authors: Mizuno Tota ,   Faculty of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Asano Hirotoshi , Ide Hideto
Published: April 2016

The use of a car navigation device by a heavy auditory handicapped person is anticipated because acquisition restriction of driver's license becomes easy. This study is aimed for development of the sense of touch navigation which assumed the use of a car navigation device by a heavy auditory handicapped person. It is occurrence by phantom sensation to tactile perception with the tactile motor of the Flatness type and the core is unbalanced which attached to the both ears back, and we tried transmission of position information. The result of having compared an occurrence position by the vibration strength ratio with a recognition occurrence position by phantom sensation, high correlation was provided in all subjects. In addition, we evaluated performance as a presentation method. The resolving power that could show Phantom Sensation by a vibration motor was 6 from 4. As result, possibility of transmission of right and left direction information was suggested.
Performance Evaluation of Rotor Flux-Oriented Control on FPGA for Advanced AC Drives
Authors: Simard Stéphane ,   Department of Applied Sciences, University of Quebec at Chicoutimi, 555, boul. de l'université, Chicoutimi, Quebec, G7H 2B1, Canada, Beguenane Rachid , Mailloux Jean-Gabriel
Published: April 2016

Hardware implementation of mechatronic systems become more and more feasible with the constant development of simulation software tools and more performing computer hardware. The work presented here explains the use of Matlab/Simulink and Xilinx System Generator tools and FPGA hardware in designing, simulating and evaluating control laws for mechatronic systems. Particularly, this paper reports improved results for FPGA implementation and hardware/software co-simulation of a rotor flux-oriented control loop for three-phase AC induction motors. On FPGA, the computation time achieved for the complete control loop proves to be short enough that many enhancements proposed in theory become possible, including the use of neural networks, matrix calculations, on-line monitoring, advanced control of PWM inverter-fed AC machines, and multiple hybrid controls, without affecting system performance or sacrificing precision.
Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System
Authors: Kurozumi Ryota ,   JST, ERATO, Maenaka Human-Sensing Fusion Project, 2167 Shosha, Himeji, Hyogo 671-2280, Japan, Yamamoto Toru , Fujisawa Shoichiro , Sueda Osamu ,   Graduate School of Education, Hiroshima University, 1-1-1, Kagamiyama, Higashi-Hiroshima, Hiroshima, Japan,   Faculty of Engineering, University of Tokushima, 2-1, Minamijyosanjima, Tokushima, Tokushima, Japan
Published: April 2016

The training equipment we propose for persons with stiff or paralyzed hands. A balloon actuator-sensor system (BASS) adaptively control stiffness using an adaptive learning impedance controller. The highly compliant, flexible pneumatic actuator so useful in a human-machine system, however, is also nonlinear, making high-precision control difficult. We added cerebellar model articulation control, proportional integral derivative control (CMAC-PID) to overcome this advantage and evaluated BASS control in experiments.
Realizing Spiral Laminar Flow Interfaces with Improved Micro Rotary Reactor
Authors: Furusawa Hiroaki ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530, Japan, Suzumori Koichi , Kanda Takefumi , Muto Akinori , Sakata Yusaku
Published: April 2016

Research and development of micro-fluidic systems, such as μ-TAS and micro reactor system, has recently become active in the fields of chemical engineering and biotechnology. Micro mixing devices are an essential element in the realization of micro-fluidic systems. Therefore, in this research, a micro rotary reactor has been developed as a micro mixing device incorporated into micro-fluidic systems. The micro rotary reactor can form spiral laminar flow interfaces of two liquids through the rotation of a rotor. The spiral laminar flow interfaces increases the length and surface area of the reaction area between two liquids. But the previous prototype micro rotary reactor was only able to form spiral laminar flow interfaces under certain conditions. Therefore, the micro rotary reactor has been improved to form stable spiral laminar flow interfaces under a greater number of conditions. The full length and diameter of the improved micro rotary reactor are 60 mm and 15 mm, respectively. Experiments have shown that the improved micro rotary reactor can form spiral laminar flow interfaces under more varied conditions. This paper details the structure and the characteristics of the improved micro rotary reactor, as well as the experiments on its ability to form spiral laminar flow interfaces.