bluuebunny/crossref_metadata_2025 huggingface dataset:
Fabrication of a Microfluidic Device for Axonal Guidance
Authors: Nakashima Yuta ,   Graduate School of Life Science and System Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0196, Japan, Yasuda Takashi
Published: April 2016

This paper presents the fabrication and testing of a microfluidic device having a hydrophobic passive microvalve and a nano-hole array for releasing NGF (Nerve Growth Factors). This device was realized by the microfabrication process of a SOI (Silicon on Insulator) wafer. The microvalve was constructed inside a microchannel and driven by inlet pressure. The nano-hole array was fabricated in a SiO2 membrane of 500nm in thickness using FIB (Focused Ion Beam) etching. Each nano-hole measured 500nm in diameter, and was smaller than the diameter of an axon terminal. The time and inlet pressure required for valve switching depended on the contact angle of the liquid and the material of the hydrophobic channel. Experiments using a fluorescent solution showed that chemical release through the nano-holes was successfully controlled by opening and closing the microvalve. This result suggests that the fabricated device can control NGF release that is required to guide a nerve axon in a specific direction.
Tele-Existence Vision System with Image Stabilization for Rescue Robots
Authors: Hayashi Koichiro ,   Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan, Yokokohji Yasuyoshi , Yoshikawa Tsuneo
Published: April 2016

The purpose of this research is to develop an intuitive interface to control rescue robots. We propose a new image stabilization system for operating rescue robots easily. The use of teleoperated rescue robots is promising in searching for victims in rubble. In the rescue activities with such robots, operators control the robots remotely through images captured by cameras mounted on the robots. Since the orientation of the robots change rapidly while they move in rubble, image stabilization is necessary so the operators can search for victims without suffering from fatigue or motion sickness. However, robot orientation changes so much that conventional image stabilizing methods does not work. In this paper, we propose a new image stabilization system which cancels camera motion caused by such rapid changes of robot orientation on an uneven terrain. After a preliminary experiment, a 3-DOF camera system was designed based on the newly proposed mechanism. To verify the performance of the camera system, we conducted two experiments. The results of the experiments confirmed that the proposed mechanism shows good image stabilization and good tracking of commanded head motion.
Development of a Power Assist System of a Walking Chair (Proposition of the Speed-Torque Combination Power Assist System)
Authors: Wu Yunfeng ,   Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Higuchi Masaru , Takeda Yukio , Sugimoto Koichi
Published: April 2016

In this paper, we discussed the mechanism and control strategy of the power assist systems for the walking chair and proposed a new power assist system. The composition of the leg mechanism, which generates the motion for periodic walk at horizontal plane by driving the input link at constant velocity, and driving torque of the leg mechanism of the prototype walking chair were presented. Velocity variation in user’s cranking operation was also presented. We proposed a system architecture for driving the walking chair by human’s and assisting actuator’s powers. We proposed a hybrid power assist system with two assisting actuators for reducing the effects of variations in user’s driving velocity and in driving torque of the leg of the walking chair on the output velocity of the walking chair and on user’s discomfort.
Development of Optical Communication Marks for Mobile Robots to Recognize Their Environment and to Handle Objects
Authors: Nagatani Keiji ,   The Graduate School of Natural Science and Technology, Okayama  University, 3-1-1 Tsushima Naka, Okayama 700-8530, Japan, Sato Hiroyasu , Tasaka Hidenori , Gofuku Akio , Tanaka Yutaka ,   Denso Corp.,   Tasaka Ironworks,   Department of Systems Engineering, Faculty of Engineering, Okayama University
Published: April 2016

In an environment in which robots and human beings coexist, it is difficult for a mobile manipulator to grasp an object autonomously. Generally, the most difficult aspect of realizing such action is object recognition. Such an environment includes many of irregular shapes and sizes (because of unknown distance from sensors to each object) and blocking of vision sensors. Object’s abstraction and recognition thus remains far from practical use of current sensing technology. To solve the recognition problem, we developed marks recognized through optical communication rather than attempting to improve sensing technology. Marks using light-emitting diodes (LEDs) have the advantages of (1) being visible as far as they remain in sight, (2) having the properties of the target correctly using digital signals, and (3) localizing the mark position using stereovision. Once the marks are attached to several movable objects, a robot can find a location of a target object easily by communicating with the mark attached to the target object. Also, if the marks are located at known positions such as walls, a mobile robot can localize itself by detecting such marks. In this research, we developed an Intelligent Mark System (IMS) between a robot and marks which uses visible and infrared LEDs for communication. Using this system, we performed (1) object grasping tasks (the target is a small can with IMS) using a mobile manipulator, (2) localizing a mobile robot using IMS on several walls and (3) recognizing large objects (desks). In this paper, we explain an overview of communication between marks and robots, and we discuss task performance results for an autonomous mobile manipulator using IMS in a real environment. Also, we report the feasibility and limitations of our proposal.
Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots
Authors: Okada Kei ,   Graduate School of Information Science and Technology, University of Tokyo, Morishita Takeshi , Hayashi Marika , Inaba Masayuki , Inoue Hirochika ,   Kanagawa Prefectural Sagamidai Technical High School
Published: April 2016

We designed a small stereovision (SSV) sensor module for easily adding visual functions to a small robot and enabling their use. The SSV sensor module concept includes 1) a vision sensor module containing a camera and a visual processor and 2) connecting to a robot system through general-purpose interface. This design enables the use of visual functions as ordinary sensors such, as touch or ultra-sonic sensors, by simply connecting a general-purpose interface port such as an IO port or serial connector. We developed a prototype module with small CMOS image sensors for a mobile phone and a 16 bit microprocessor. The 30×40mm prototype is small enough to attach even to palm-top robots. Our module demonstrates image processing including binarization, color extraction and labeling, and template matching. We developed self-contained robots, including a 2DOF head robot, a humanoid robot, and a palm-top robot, and realized vision-based autonomous behavior.
Navigation Using Local Landmarks in a Corridor Environment
Authors: Oikawa Kazumi ,   Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan, Takauji Hidenori , Emaru Takanori , Okubo Shigenori , Tsuchiya Takeshi ,   Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan,   University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan,   Hokkaido Institute of Technology, 7-15-4-1 Maeda, Teine-ku, Sapporo, Hokkaido 006-8585, Japan
Published: April 2016

We propose a robot navigation using local landmarks and topological maps to make robots easy to use. To popularize the use of robots in the home and welfare institutions, robots must be easy for anyone to use. Conventional robots are generally expensive to implement due to extensive preparation such as providing maps with Cartesian coordinates and setting precise environmental landmarks called “setup costs [1].” For robots to navigate precisely, they must measure locations precisely, which may require sensors with high precision and sophisticated computing, e.g., to compensate for accumulated error caused by wheel slippage. Approaches without position coordinate make difficult, but we solve the problem using a user-friendly robot with inaccurate sensors and unsophisticated computing – “human” approach.
Displaying Partial Slippage for Virtual Grasping
Authors: Mori Masayuki ,   Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan, Maeno Takashi , Yamada Yoji ,   AIST, 1-2-1 Tsukuba East, Namiki, Tsukuba 305-8564, Japan
Published: April 2016

We display partial slippage in human precision gripping. Partial slippage provides important information for gripping because we control grasping by detecting expansion in partial slippage. Displaying partial slippage makes it easier for remote controlled mechanical hands to grasp objects, regardless of the friction coefficient between the mechanical hand and object. To display partial slippage, we analyzed finger deformation in contact with a rigid plate using a finite element model. We analyzed finger model deformation in contact with the display of partial slippage. Analysis confirmed the possibility of displaying partial slippage using a tactile display that stimulates the finger at three points. Finally, we confirm the model’s effectiveness.
Development of a Simple Search Device Driven by a Human-Powered Generator
Authors: Doi Tomoharu ,   Osaka Prefectural College of Technology, 26-12 Saiwai-cho, Neyagawa-city, Osaka 572-8572, Japan, Sasahara Tatsuki , Kaneda Tadahiro , Umemoto Toshitaka , Yoshitani Yasumasa
Published: April 2016

Interest has grown in the potential application of robot technology at accident and disaster sites where there exists the possibility of secondary disasters, and much effort is being channeled into research in this area. Yet, much of this effort has been directed at advanced, expensive robot technologies. We have been looking at ways of realizing a readily applicable robot technology for such disaster sites, and propose a relatively low-cost rescue robot with simple intuitive operation that does not require power supply lines. We report on a simple search device based on a human-powered generator, an improved version of an earlier device using a direct mechanical drive for mobility.
A 3.7×3.7mm² 310.9mW 105.2msec 512×512-Pixel Phase-Only Correlation Processor
Authors: Miyamoto Naoto ,   Department of Electronic Engineering, Graduate School of Engineering, Tohoku University, 6-6-05 Aza-Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Kotani Koji , Ohmi Tadahiro ,   New Industry Creation Hatchery Center, Tohoku University, 6-6-10 Aza-Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

The image recognition processor we propose implements the phase-only correlation (POC) algorithm. Its arithmetic-logic unit (ALU) is dynamically reconfigurable to any necessary circuitry for POC by itself. 2-stage cached-memory architecture (CMA) is developed so that high-radix batch processing is possible. By transforming the original POC algorithm into the optimum form for the dynamically reconfigurable ALU and 2-stage CMA, the proposed processor executes two-dimensional 512×512 pixel image recognition within 105.2msec and 310.9mW at 80MHz in an area 3.7×3.7mm². Its power consumption is over 11.3 times lower than that of previously reported work.
Design and Implementation of the Multimedia Operation Mechanism for Responsive Multithreaded Processor
Authors: Itou Tsutomu ,   School of Science for Open and Environmental Systems, Keio University, Yokohama, Kanagawa 223-8522, Japan, Yamasaki Nobuyuki ,   Department of Information and Computer Science, Keio University, Yokohama, Kanagawa 223-8522, Japan
Published: April 2016

Responsive Multithreaded (RMT) Processor is designed for distributed real-time systems. This paper focuses on the multimedia processing architecture of RMT Processor. Multimedia processing requires high-throughput calculation for bulky data processing. RMT Processor architecture is based on eight-way prioritized simultaneous multithreading, which executes each thread in order of priority. Since the priority of hard real-time threads is higher than that of multimedia processing threads, instruction issue slots used by the multimedia processing threads are few in RMT Processor when hard real-time threads are executed simultaneously. Therefore multimedia processing threads need to utilize instruction issue slots effectively to achieve high performance. We have designed a novel vector operation mechanism to process multimedia data efficiently in parallel. Because the same instructions are iterated in multimedia processing, the compound operation mechanism is designed to calculate more data per instruction in multimedia processing.
Field Emission of Individual Carbon Nanotubes and its Improvement by Decoration with Ruthenium Dioxide Super-Nanoparticles
Authors: Liu Pou ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito , Dong Lixin , Fukuda Toshio , Noguchi Tsuneyuki , Tatenuma Katsuyoshi ,   Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH), CLA H 17.2, ETH-Zentrum, Tannenstrasse 3, CH-8092 Zürich, Switzerland,   KAKEN Inc., Hori-cho, Mito, Ibaraki 310-0903, Japan
Published: April 2016

To reduce energy consumption by carbon nanotubes (CNTs) used as emitters in applications such as field emission display, and electron-beam-induced deposition (EBID), nano-sized metallic super-nanoparticles of ruthenium dioxide are decorated on the surface of CNTs. We studied field emission properties and found that the work voltage is 23% lower than that of as-grown CNT emitters. To obtain conductive nanostructures, electron-beam-induced deposition using an individual multiwalled carbon nanotube (MWNT) emitter decorated with ruthenium dioxide is realized by introducing tungsten hexacarbonyl (W(CO)6) as a precursor. The tungsten mass in deposits is rich at 98.89% as determined by energy x-ray dispersive spectrometer (EDS). We thus obtained nearly pure-metal deposits.
Special Issue on Selected Papers from ICAM'04
Authors: Kaneko Makoto ,   Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima 739-8527, Japan, Furukawa Masashi ,   Asahikawa National College of Technology, #6 2-2-1 Shunkodai, Asahikawa 071-8142, Japan
Published: April 2016

This special issue on the International Conference on Advanced Mechatronics (ICAM'04) held at Asahikawa, Hokkaido, October 3 to 5, 2004, sponsored by the Japan Society of Mechanical Engineers, covers three major areas focused on by the Conference: mechatronics, robotics, and information technology (IT). Among the 110-plus excellent papers accepted for the conference, guest editors chose roughly 40%, recommending that authors submit papers for this journal. This special issue features 13 papers that passed final tough reviews, making the acceptance ratio 60%. We believe you will find this issue both interesting and informative in providing the latest information on mechatronics. We thank all who submitted articles to this special issue and the anonymous reviewers who took so much time from their busy schedules to review manuscripts and respond with constructive suggestions and comments. The high-quality reviews and timely completion of revised manuscripts have certainly helped make this special issue successful. We are sure the news in this issue will be of great help to researchers in the mechatronics community.
Development of a Forging Type Rapid Prototyping System; Automation of a Free Forging and Metal Hammering Working
Authors: Tanaka Hidetake ,   Division of Innovative Technology and Science, Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa City, Ishikawa, Japan, Asakawa Naoki , Hirao Masatoshi ,   Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa City, Ishikawa, Japan
Published: April 2016

The forging rapid prototyping we proposed based on CAD data involves numerically controlled free forging and metal hammer working as new three-dimensional modeling. Almost all products are now designed and developed using CAD/CAM, and rapid prototyping using CAD data is also used to model design previews or mock ups. Free forging and plastic working, however, have few ways to automate the process. We developed numerical controlled free forging and metal hammer working as new modeling for rapid prototyping. Experimental results demonstrate that our proposal provides feasible three-dimensional modeling as rapid prototyping.
Development of Wearable Pneumatic Actuator and Multiport Pressure Control Valve
Authors: Akagi Tetsuya ,   Department of Intelligent Mechanical Engineering, Faculty of Engineering, Okayama University of Science, 1-1 Ridai-cho, Okayama 700-0005, Japan, Dohta Shujiro
Published: April 2016

Recently, force feedback devices in virtual reality and power assisted nursing care systems have received much attention and active research. Some involve an actuator and a driving device, such as a pneumatic cylinder and a control valve, worn by the user. Such devices must be compact, lightweight and flexible to avoid excessive load on and injury to the user. The purpose of our study is to develop a flexible and lightweight actuator which can be safe enough to be attached to the human body. We proposed new flexible pneumatic actuators that operate even if the actuator is deformed by external force. We tested a push-pull and flexible pneumatic actuator that moves straight and rotates. We proposed and developed a multiport pressure control valve that drives multiple wearable actuators while reducing the weight of the control valve for multiple degrees of freedom of motion.
Development of Pneumatic Power Assist Splint “ASSIST” Operated by Human Intention
Authors: Sasaki Daisuke ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan, Noritsugu Toshiro , Takaiwa Masahiro
Published: April 2016

The purpose of this study is to develop a pneumatic power assist splint for a human arm. In the wearable device, a high human friendliness such as a light weight, a safety is required. The developed splint is constructed with soft actuators to confer a human friendliness. In this paper, the structure of ASSIST for a human arm is described. In addition, the control method based on a human intention is proposed. In the proposed method, a center of pressure calculated from contact force between the forearm and appliance is used as an intention input signal. Finally, the effectiveness of ASSIST is evaluated using EMG.
Autonomous Role Assignment in a Homogeneous Multi-Robot System
Authors: Yasuda Toshiyuki ,   Graduate School of Science and Technology, Kobe University, 1-1 Rokkodai, Nada, Kobe 657-8501, Japan, Ohkura Kazuhiro ,   Dept. of Mechanical Engineering, Faculty of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657-8501, Japan
Published: April 2016

This paper describes an approach for controlling an autonomous homogeneous multi-robot system. An extremely important topic for this type of system is the design of an on-line autonomous behavior acquisition mechanism that is capable of developing cooperative roles as well as assigning them to a robot appropriately in a noisy embedded environment. Our approach applies reinforcement learning that adopts the Bayesian discrimination method for segmenting a continuous state space and a continuous action space simultaneously. In addition, a neural network is provided for predicting the average of the other robots’ postures at the next time step in order to stabilize the reinforcement learning environment. The proposed method is validated through computer simulations as well as our hand-made multi-robot system.
Special Issue on Human Modeling in Robotics
Authors: Mori Taketoshi ,   Associate Professor, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

Human modeling is becoming an essential key technology for robotics and mechatronics systems that aid and expand human activities. Human modeling is indispensable in designing systems that conduct tasks difficult or even impossible for human beings to accomplish. Such systems include humanoid robots, power assistance suits, communication robots, intelligent support rooms, and user interface devices. This special issue focuses on the latest state-of-the-art human modeling research, especially in robotics, presenting a wide variety of human modeling areas. To support human beings in real-world environments, human behavior model is considerably important. Adaptation to personal characteristics may be the core function of next-generation system mechanisms, and human social modeling is the principal focus of interfacing for interaction systems. Cognitive and psychological models of human beings have always been an important domain in human-machine systems. Probabilistic and static methods have attracted attention in this research field. Not only mechanical but physiological human modeling may soon become 'vital' for all kind of robotic systems. This special issue is the kernel node for cultivating these rapidly advancing areas. I thank the authors of the articles in this issue for their invaluable effort and contributions. I also thank the members of the Editorial board, without whose work this special issue would not have been possible.
Motion Analysis of Human Lifting Works with Heavy Objects
Authors: Matsunaga Nobutomo ,   Department of Computer Science, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan, Kawaji Shigeyasu
Published: April 2016

Advances in robot development involves autonomous work in the real world, where robots may lift or carry heavy objects. Motion control of autonomous robots is an important issue, in which configurations and motion differ depending on the robot and the object. Isaka et al. analyzed that lifting configuration is important in realizing efficient lifting minimizing the burden on the lower back, but their analysis was limited to weight lifting of a fixed object. Biped robot control requires analyzing different lifting in diverse situations. Thus, motion analysis is important in clarifying control strategy. We analyzed dynamics of human lifting of barbells in different situations, and found that lifting can be divided into four motions.
Off-Policy Natural Policy Gradient Method for a Biped Walking Using a CPG Controller
Authors: Nakamura Yutaka ,   Theoretical Life Science Lab., Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara 630-0192, Japan, Mori Takeshi , Tokita Yoichi , Shibata Tomohiro , Ishii Shin
Published: April 2016

Referring to the mechanism of animals’ rhythmic movements, motor control schemes using a central pattern generator (CPG) controller have been studied. We previously proposed reinforcement learning (RL) called the CPG-actor-critic model, as an autonomous learning framework for a CPG controller. Here, we propose an off-policy natural policy gradient RL algorithm for the CPG-actor-critic model, to solve the “exploration-exploitation” problem by meta-controlling “behavior policy.” We apply this RL algorithm to an automatic control problem using a biped robot simulator. Computer simulation demonstrated that the CPG controller enables the biped robot to walk stably and efficiently based on our new algorithm.
Classification of Motion Constraints by Explorative Manipulation by a Compliant Multi-Fingered Hand
Authors: Fukano Ryo ,   The University of Tokyo, Engr. Bldg.8, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kuniyoshi Yasuo , Otani Takuya , Kobayashi Takumi , Otsu Nobuyuki ,   The University of Tokyo, Currently with Toshiba,   National Institute of Advanced Industrial Science and Technology, The University of Tokyo
Published: April 2016

We propose acquiring several properties of an unknown manipulated object, through without using arbitrary information. It consists of explorative manipulation and observation with sensors. By observing self-motion with the target object, it acquires time series sensor data embedded in the motion constraints of the manipulated object. We assume that manipulation features are expressed as a cooperative relation between the fingers and the relation is extractable as a correlation of the time series sensor data. High-order local autocorrelation widely used in image recognition provides the feature vector from data. In feature space, contrastive motion constraints construct the axis of variance. Principal component analysis (PCA) finds the axis mapping constraints. Clustering is used to make classes corresponding to constraints in PCA space. The classes correspond to symbolic representation for the robot. The efficacy of our proposal is demonstrated through simulation and experiments in a task involving opening a screw on lid of unknown size from a bottle.
Pinching at Fingertips for Humanoid Robot Hand
Authors: Hoshino Kiyoshi ,   Institute of Engineering Mechanics and Systems, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Kawabuchi Ichiro ,   Specialized Instrumentation and Mechanics Division, TechExperts Incorporation, 4-15-5 Omori-nishi, Ota-ku, Tokyo 143-0015, Japan
Published: April 2016

Delicate actions such as picking up paper or a needle with the fingertips – an important function for robot hands – are extremely difficult. We propose a lightweight robot hand based on extracting minimum required motor functions and implementing them in a robot. We also propose a robot hand that realizes appropriate pinching by adding the minimum required degree of supplementary freedom realizable only mechanically. In the robot hand, we focus mainly on adding degrees of freedom for independent finger motion to the terminal joints and a degree of freedom for twisting by the thumb. The results showed that providing the fingertip with a joint with broad force control even with weak force effectively ensures delicate fingertip control in a humanoid robot hand.
A Dialogue Control Model Based on Ambiguity Evaluation of Users’ Instructions and Stochastic Representation of Experiences
Authors: Inamura Tetsunari ,   Dept. of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan, Inaba Masayuki , Inoue Hirochika
Published: April 2016

To operate in everyday environments, robots much accomplish complex tasks following often mbiguous and uncertain instructions, mainly through advanced inference or recognition. We focus on an intelligent human-robot interaction framework that reduces the burden of the user. Robots compensate for ambiguities by active sensing and dialogue control through questions and suggestions to users. Robots also use experience to reduce the user’s burden. We propose a criterion for ambiguity evaluation of user instructions, stochastic representation of personal experiences and a dialogue control model for accomplishing tasks in complex environments. We demonstrate the feasibility of our proposal in demonstrate experiment where a robot searches for an object in disorganized work space with ambiguous instructions.
Basic Study on Self-Transfer Aid Robotics
Authors: Takahashi Yoshihiko ,   Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Manabe Go , Takahashi Katsumi , Hatakeyama Takuro ,   Faculty of Rehabilitation, Seijoh University, 2-172 Fukinodai, Tokai City, Aichi 476-8588, Japan
Published: April 2016

We conducted burden measurement experiments on users and aid transfer equipment to develop a self-transfer aid system for users. The users targeted were people with impaired legs who use a wheelchair, however are able to walk to some extent. With aid transfer, these users can maneuver themselves independently to and from apparatus, in this case, toilets. In practice, users lean their upper-bodies onto the saddle of a robotic arm, which lifts and transfers them to their destination. The experimental setup was developed to determine the burden on users and transfer aid devices. We confirmed that a longer robotic arm decreases the burden on users, and increases the burden on the robot, whereas the reverse holds true for a shorter arm. Based on experimental results, we have built a self-transfer aid test system.
Development of Space Environment Preservation System Using Robot
Authors: Machida Kazuo ,   The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan, Iwata Toshiaki ,   AIST, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
Published: April 2016

We propose the concept of a robot-oriented space system called the “Space Environment Preservation System” that maintains a satellite constellation and orbit, and develop the basic technologies. A space maintenance vehicle carries and assembles modularized satellites, and places them in orbit. It captures and diagnoses them and replaces malfunctioning modules, to increase the reliability and life of the satellite constellation. It also collects, disassembles and removes satellites from orbit at the end of a mission, helping to preserve the space environment. In order to realize the system, the modularized satellite that can be easily assembled, maintained and disassembled by a robot must be devised. We developed the ground model of such a satellite, as well as the multifunctional space maintenance vehicle that functions as an in-orbit satellite assembly plant, diagnostic station, and satellite captor. These functions were demonstrated on a space simulated testbed.
PSD Sensor Decomposing Multiple Light Spots
Authors: Kouno Susumu ,   Hiroshima R&D Center, Mitsubishi Heavy Industries, ltd., 4-6-22 Kanon-shimmachi, Nishi-ku, Hiroshima 733-8553, Japan
Published: April 2016

Position-sensitive detectors (PSDs) detect light spots point and total lights focused on it. The PSD provides high-speed response and precision due to its simple working principle. Inexpensive one-dimensional (1D) PSDs are commercially available, but when multiple lights focus on the PSD, it can only the center of multiple light positions making it unable to detect individual light positions separately. We propose a sensor that breaks down multiple light spots individua1ys by combing the rotation of a polygon mirror and two 1D PSDs. We consider how many light spots is broken down. We designed and developed a PSD sensor consisting of two 1D PSDs, a polygon mirror, and an actuator for rotating the polygon mirror. We broke down multiple light spots into individuals in scanning at 50.8Hz.
Concept of a Micro Gyroscope Using Electro-Conjugate Fluid (ECF) and Development of an ECF Micro Gyro-Motor
Authors: Yokota Shinichi ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259-R2-41 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan, Nishizawa Ryuta , Takemura Kenjiro , Edamura Kazuya ,   New Technology Management Co., Ltd., 2-9-1-306 Higashi-Shinkoiwa, Katsushika-ku, Tokyo 124-0023, Japan
Published: April 2016

We propose a novel micro gyroscope using electro-conjugate fluid. The electro-conjugate fluid (ECF) is a dielectric fluid that produces a powerful flow (ECF jet) when subjected to high DC voltage. Using the ECF, we developed a micromotor having no output axis (an ECF micro gyro-motor) in which a disk plate rotor rotates and floats due to the ECF jet. When angular velocity is applied to the ECF gyro-motor, the floating rotor declines against the stator. Measuring the deflection angle enables us to detect the angular velocity. We fabricated ECF micro gyro motors with a rotor diameter of 3mm and 1.5mm to obtain design guidelines for the ECF micro gyroscope, and developed an ECF micro gyroscope. Experiments confirm the possibility of the ECF micro gyroscope.
Self-Localization Method Utilizing Environment-Embedded Information and Range Sensory Information
Authors: Kawabata Kuniaki ,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan, Itoh Daisuke , Hada Yasushi , Chugo Daisuke , Kaetsu Hayato , Asama Hajime ,   SOFTBRAIN Co. Ltd., 2-24-2 Chuo-ku, Hacchoubori, Tokyo 104-0032, Japan,   Intelligent Modeling Lab., The University of Tokyo, 2-11-16 Yayoi, Bunkyo-ku, Tokyo 113-8656, Japan,   RACE, The University of Tokyo, 5-1-5 Kashinoha, Kashiwa, Chiba 277-8568, Japan
Published: April 2016

In this current research, we are developing an automatic navigation system for outdoor vehicles. Especially, in this paper we propose self-localization method based on the information stored in Information Assistant (IA) devices and range sensor information. IA is a sort of electronics device with wireless communication function based on RF-ID and stored local environment map. The vehicle reads reference data from distributed IAs in the environment and compares such data and scanning range data by using Laser Range Finder (LRF). A probabilistic calculation is introduced to match the sensory information and environment-embedded information. We had the experiment for verifying the validity of our localization method using outdoor vehicle.
3D 6DOF Manipulation of Microbead by Laser Tweezers
Authors: Arai Fumihito ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan, Endo Toshiaki , Yamauchi Ryuji , Fukuda Toshio ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

Laser tweezers are suitable for manipulation of a single microscopic biological object. It can manipulate micro bio-object by noncontact in closed space. Single cell manipulation is important for biological research works, and 3D 6DOF manipulation (Position control and Orientation control) is useful technique in many biological experiments. Here we proposed 3D synchronized laser manipulation system by which we can manipulate multiple micro-objects along each designed trajectory in 3D space. Position and orientation of microbeads can be controlled by the newly developed 3D synchronized laser micromanipulation system. We succeeded in the orientation control of the microbead by using the laser trapped microtools. We demonstrate 3D 6DOF manipulation of the microbead by the experiment.
Virtual Driving Simulator for Measuring Dynamic Properties of Human Arm Movements
Authors: Tanaka Yoshiyuki ,   Department of Artificial Complex Systems Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan, Kanda Ryoma , Yamada Naoki , Fukuba Hitoshi , Masamori Ichiro , Tsuji Toshio ,   Mazda Motor Corporation, 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima 730-8670, Japan
Published: April 2016

This paper presents a virtual driving simulator using robotic devices as an example of human-machine systems to investigate dynamic properties of human movements in the operation of drive interfaces, such as steering wheels and transmission shifters. The simulator has virtual steering and transmission systems under variable impedance control, providing the operators with realistic operational response. Mechanical impedance parameters around the steering rotational axis were measured to demonstrate the effectiveness of the developed simulator.
Special Issue on Selected Papers from ROBOMEC'05 (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, Tsubouchi Takashi ,   Program Chair of ROBOMEC'05 and Co-editor, Professor, Dr. Eng., Dept. of Information Interaction Technologies, Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 305-8573, Japan
Published: April 2016

The 2005 JSME Conference on Robotics and Mechatronics (ROBOMEC'05) was held at Kobe International Exhibition Hall, Kobe, Japan, on June 9-11, 2005, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Tadokoro of Kobe University at that time served as general chair and Prof. Tsubouchi of Tsukuba University as program chair. The conference, whose theme was ""Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives,"" was to help establish new industries using advanced robotics and mechatronics technologies. Organized sessions numbered 64 and papers 880, again a record for the conference. This special issue presents 14 papers from the conference culled from 110 outstanding presentations - some 12% of the total - which were further narrowed to 47 before final selection for Part 2 (Vol.18, No.3). 13 papers have already been published in Vol.18, No.2. We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University for organizing this special issue.
Modeling and Stability Analysis of Dynamic Control Through a Soft Interface
Authors: Shibata Mizuho ,   Department of Robotics, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan, Hirai Shinichi
Published: April 2016

To analyze the stability of dynamic control through asoft interface-the viscoelastic material between a manipulating finger and a manipulated object- we model dynamic control through the soft interface in continuous-discrete time. We then formulate dynamics using a modified z-transform in continuous-discrete time for feedback and feedforward control. We show that system stability depends on the viscoelasticity of the soft interface for feedback control. The relationship between material viscosity and sampling time in critical stability is not monotonous, a phenomenon we analyze by root locus. We compare stability analysis by the modified z-transform, simulations based on the Runge-Kutta method, and a regular z-transform, demonstrating that the relationship is specific to a continuous-discrete time.
On-Chip Microparticle Manipulation Using Disposable Magnetically Driven Microdevices
Authors: Maruyama Hisataka ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito , Fukuda Toshio ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

We propose novel microdevices that are driven by magnetic force for microparticles manipulation in a microchip. We developed two microdevices - a particle sorter and a particle filter. In the particle sorter, we perform sorting by switching the microchannel flow by driving a magnetic shuttle. In the particle filter, we perform size-based particle filtering by using the space between a magnetic shuttle and a microchannel. The microparticles which are bigger than the available space are stuck in the microchannels and solution passes through the space. These devices are easily implemented into a microchip at low cost. We make the microchip disposable by making the electromagnet part detachable. We succeeded in driving the magnetic shuttle in the microchannel and confirmed the functionality of the particle sorter and the particle filter. Our proposal has the following advantages: (1) Treatment of the target or complicated control systems are not needed, (2) Microdevices are easily implemented in a microchip, (3) The microchip is made disposable by making the electromagnet part detachable.
Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot
Authors: Taira Tetsuya ,   School of Science for Open and Environmental Systems, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan, Yamasaki Nobuyuki
Published: April 2016

This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences using reconfigurable modular humanoid robot prototype R1. Experimental results show that the proposed mechanism achieves expandable and flexible reconfiguration for researchers and users by changing the robot configuration to different types of robots for many purposes. We believe that our humanoid robot with the proposed reconfiguration mechanism will enable user-specific humanoid robots more easily than ever before.
Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion
Authors: Nakamura Taro ,   Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Kato Takashi , Iwanaga Tomohide , Muranaka Yoichi
Published: April 2016

Earthworm locomotion, called peristaltic crawling, requires less space than other types of movement, making it practical across irregular ground and inside narrow areas such as pipes and a thus a candidate for use with rescue and exploration robots. We developed a multiple-segment peristaltic crawling robot that uses servomotors. We discuss the basics of locomotion patterns, e.g., the length of longitudinal waves, period, friction force, and number of segments. We confirmed that robot movement resembled that of an actual earthworm and found in experiments that an appropriate period exists for the robot’s peristaltic crawling and that speed tends to decrease with decreasing friction force.
Development of Practical 3-Dimensional Active Cord Mechanism ACM-R4
Authors: Yamada Hiroya ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

Despite the many studies on snake-like robots and long, thin super-redundant manipulators targeting their potential applications in complex environments, e.g., containing obstacles such as water and/or dust that impede robot movement, most have limited their investigation to robot maneuverability within the laboratory and few have attempted to develop robots in practical environments. We propose a practical, dust- and water-proof snake-like robot and its prototype. We start by discussing the practical functions required and the mechanism developed. We then discuss joint control and an experiment testing the prototype.
Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity
Authors: Yokoyama Tetsuya ,   Gifu Prefectural Research Institute of Manufacturing Information Technology, 4-179-19 Sue, Kakamigahara, Gifu 509-0108, Japan, Tanahashi Hideki , Kawasaki Haruhisa ,   Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Published: April 2016

We proposed a method that enables to deform a soft object using a linear Finite Element Method (FEM) in real-time. In the proposed technique, since the calculation amount is reduced to O (n) (n: number of nodes), grasping is enabled in virtual space. In this paper, we studied grasping of a soft object taking gravity into consideration. Some simulations using a stiffness equation containing gravity demonstrated the validity of our proposal.
Robotic Facial Expression Using a Curved Surface Display
Authors: Hashimoto Minoru ,   Interdisciplinary Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan, Morooka Daisuke ,   Design Center, Nissan Motor Co., Ltd., 560-2 Okatsukoku, Atsugi, Kanagawa 243-0192, Japan
Published: April 2016

We propose robotic facial expression using a curved surface display. An image of the robot’s face is displayed on a curved screen to form a facial expression easily compared to other mechanical facial expression. The curved surface gives the face a three-dimensional effect due to not possible using a plane image. The curved surface display consists of a domed screen, a fish-eye lens, and a projector. The face robot has a neck to move the head. We detail the domed display, compensation for image distortion, and the drawing of shadow images indicating the direction of a light source. The facial expression is animated and the head moves using the neck conducted. Experiments confirmed the effectiveness of our proposal.
Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion
Authors: Lan Guangping ,   Department of Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi 316-8511, Japan, Ma Shugen ,   Organization for Promotion of the COE Program, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu 525-8577, Japan
Published: April 2016

The novel crawler-driven robot we designed used a planetary gear reducer as the major power transmission device and provides two types of output in different form using one actuator. The crawler mechanism switches between two outputs autonomously based on the terrain. Using this feature, the crawler-driven robot is expected to perform adaptably and effectively in irregular environments. We conducted 2-dimensional quasi-static analysis to explain the condition under which the robot performs some locomotion modes in an irregular environment. Experimental results showed that the crawler-driven robot moves over even ground and uses efficient locomotion modes or postures to adapt autonomously to irregular environments.
Soft Tissue Pushing Operation Using a Haptic Interface for Simulation of Brain Tumor Resection
Authors: Sato Daisuke ,   Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan, Kobayashi Ryosuke , Kobayashi Akira , Fujino Shohei , Uchiyama Masaru
Published: April 2016

The goal of this research is development of a surgery simulator to train surgeons concretely in brain surgery under microscope so that they can pick up the skills needed for brain tumor resection more skillfully and in less time. For achieving this objective, in this paper, basic operations are selected for brain tumor resection based on actual surgery skills. To provide the visual and tactile sensations of brain surgery, we develop an interface consisting of a stereoptic head mounted display and a 6-DOF haptic device that feeds back position and force from a virtual environment. The models used to develop the virtual brain microsurgery environment include a geometrical model to produce numerical model shapes, a physical model to calculate model deformation and reaction force and collision detection used for simulating contact between the brain tissue model and the surgical instrument model. We also model brain tissue deformation for pushing aside tissues by a surgical instrument (brain spatula) to widen the operative field. Consequently, a system of surgery simulator is constructed by combining the interface with the virtual environment. The two experiments we conducted confirmed the feasibility of our proposed surgery simulator. One involves deformation and reaction force of brain tissue when an operator pushes two numerical models having different physical parameters. The other involves pushing aside brain tissue using brain spatula.