bluuebunny/crossref_metadata_2025 huggingface dataset:
Pilot Study of Split Belt Treadmill Based Gait Rehabilitation System for Symmetric Stroke Gait
Authors: Ando Takeshi ,   Robotics and Design for Innovative Healthcare, Graduate School of Medicine, Osaka University, 1-7 Yamada-oka, Suita, Osaka 565-0871, Japan, Ohki Eiichi , Nakashima Yasutaka , Akita Yutaka , Iijima Hiroshi , Tanaka Osamu , Fujie Masakatsu G. ,   Graduate School of Creative Science and Engineering, Faculty of Science and Engineering, Waseda University, 59-309, 3-4-1 Ohkubo, Shinjuku, Tokyo 169-8555, Japan,   Yokohama Rehabilitation Foundation, 1770 Karasuyama-cyo, Kouhoku-ku, Yokohama, Kanagawa 222-0035, Japan
Published: April 2016

A split belt treadmill for gait rehabilitation was developed to improve the symmetry of the stance phase time of patients with stroke. The system, which increases the stance phase time of the affected leg and then realizes a well-balanced gait, is divided into two components. First, the stance phases of the sound and affected legs were measured and presented visually in real time to the patient and physical therapist as biofeedback. Second, using stance phase biofeedback, the physical therapist sets two different velocities of treadmill belts for sound and affected legs. In an experiment, 11 patients with chronic stroke participated in a short-term intervention trial (20 gait cycles) of the developed treadmill system. Three of the five subjects who had lost balance between the stance phase of the sound leg and that of the affected one improved their gait balance in the intervention trial. In addition, one subject kept the well-balanced gait after the intervention.
A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion
Authors: Yokomichi Takumi ,   Department of Brain Science and Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0196, Japan, Ushimi Nobuhiro ,   Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka 813-8503, Japan
Published: April 2016

This paper describes the study of a biped robot foot sole mechanism for use in unknown rough terrain locomotion. The mechanism has a structure consisting of three toes and frictional locking and unlocking mechanisms. The mechanisms level the bottom of the biped robot’s foot by using the three toes when on unknown rough terrain. To stabilize the sole of the biped robot on a level surface, the frictional locking and unlocking mechanisms of the three toes are used for the sole mechanism. Stable walking control of the biped robot is simplified by the sole mechanism we developed.
Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader
Authors: Osumi Hisashi ,   Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Uehara Tomoya , Okada Naoto , Fujiwara Takuya , Sarata Shigeru ,   Canon Corp., Japan,   Graduate School of Science and Engineering, Chuo University, Japan,   University of Tsukuba, Japan
Published: April 2016

We propose a method for the efficient scooping of sediment by a wheel loader. We performed experiments to verify the effectiveness of the proposed method. First, in order to calculate the energy required for the scooping operation, we derived a model of the reaction force that is generated on the bucket. We verified the validity of the model by experiments. We then used the reaction force model to determine the optimal trajectory for the bucket. A mechanical simulator was used to verify the trajectory. Although experimental results showed the unexpected effects of sediment that settled inside the bucket, we obtained results that reflect theoretical values.
Construction Robot Operation System with Object’s Hardness Recognition Using Force Feedback and Virtual Reality
Authors: Huang Lingtao ,   Mechanical and Civil Engineering Division, Gifu University, Kawamura Takuya , Yamada Hironao ,   Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Published: April 2016

We developed a master-slave operation system for a teleoperation construction robot that recognizes the hardness of a grasped object. To manipulate an object, the system uses an excavator with four degrees of freedom as a slave and two joysticks with force feedback equipment as a master. Based on creating a friendly user interface, the operation system uses multimodel sensory force and visual feedback to successfully discriminate among soft object types during operation. The construction robot measures the hardness of an object using the pressure of a piston obtained by pressure sensors on the cylinder and the closed or open state of a fork glove in the process of grasping an object. By incorporating an object-hardness calculation method with master-slave control of the system, an operator then can feel the sense of reaction force to joysticks and distinguish the hardness of an object while controlling the construction robot. In addition, parameters on object-hardness calculation are presented to the operator to improve the system’s controllability. Color prompting is provided in virtual space to enable the operator to identify the hardness of an object. To evaluate the system, object-type recognition tests were conducted, including the grasping and conveying of blocks of concrete, tires, urethane foam and sponge foam. According to statistical analysis of experimental results, we confirmed that the operation system contributes to achieving the successful discrimination of object hardness during teleoperation work.
Examination of Information Presentation Method for Teleoperation Excavator
Authors: Hirabayashi Taketsugu ,   Sensing and System Technology Group, Port and Airport Research Institute, 3-1-1 Nagase, Yokosuka, Kanagawa 239-0826, Japan
Published: April 2016

In the teleoperation of construction machinery, the work situation is usually determined from images shown on several screens. However, because images displayed on screens are flat, information presented is poor compared to information obtained with the naked eye, such as the view angle, resolution, and depth information. Focusing on information presentation during the teleoperation of construction machinery, this report investigates information presentation methods in mound-leveling work, grasping work, and drilling positioning conditions.
Master-Slave Control Method for Hydraulic Excavator
Authors: Yoshinada Hiroshi ,   Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan, Okamura Kenji , Yokota Shinich ,   Komatsu Ltd., 1200 Manda, Hiratsuka-shi, Kanagawa 254-8567, Japan,   Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan
Published: April 2016

A new master-slave controlmethod is presented with a different configuration that will suit a hydraulic excavator operation. A new coordinate conversion method between master and slave manipulators is introduced. This method provides good agreement in direction of movement between master and slave manipulators in the almost entire work area without any mode change. The authors also developed a new 3-dimensional joystick as a master manipulator that has affinity with a conventional joystick and gives a comfortable feeling to conservative operators. In this paper, an outline of the new method is described and results of evaluation tests are presented.
Development of 3D Scanning System Using Automatic Guiding Total Station
Authors: Endou Ken ,   Institute of Technology, Tokyu Construction Co., Ltd., 3062-1 Tana, Chuo-ku, Sagamihara, Kanagawa 252-0244, Japan, Ikenoya Takafumi , Kurazume Ryo ,   Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
Published: April 2016

Techniques for creating 3D shape model are expected to be applied to as-built management for structures under construction. However, common techniques currently widely used, still have lacks in usability and accuracy, hence still haven’t reached the stage of actual use in the field. Due to the above circumstance, the authors have developed a 3D tunnel shape scanning system that uses a moving platform and auto tracking total station. The system provides improved usability and accuracy. Using the developed system, we have carried out a verification experiment in a mock tunnel, and we confirmed the possibility of real-time evaluation and the system’s measuring accuracy under actual conditions. We also carried out measurements on three actual tunnel sites. We confirmed that it is fully capable of measurements not only in favorable environments but also in harsh environments, such as in tunnels that are under construction.
Application of Images and Laser Range to Detection of Workers Around Heavy Construction Equipment
Authors: Chae Soungho ,   Kajima Technical Research Institute, 19-1 Tobitakyu, Chofu-shi, Tokyo 182-0036, Japan
Published: April 2016

This paper describes the application of sensors to prevent collision accidents with heavy equipment such as hydraulic excavators and cranes. From the results of an existing system evaluation, the author developed a system that measures distance from heavy equipment to personnel using a camera, 2-D laser range finder, and 3-D orientation sensor. A prototype wasmade and it has been confirmed that the detection of personnel is possible based on camera images and laser range data.
A Two Dimensional Model to Apprehend the Dynamic Response of Shallow Buried Structures due to Impact Loading Related to Mechanical Landmine Clearing Operations
Authors: Sulaiman Nuhansyah ,   Graduate School of Environmental Studies, Tohoku University, 6-6-20 Aramaki-Aza Aoba, Aoba-ku, Sendai 980-8579, Japan, Takahashi Hiroshi
Published: April 2016

The study of buried structures under various burial conditions and loadings is incomplete and inconclusive owing to the various and peculiar applications. Mechanical mine clearing with mine flails is one example where the application features are distinct from other geo-mechanical applications. The response of structures in soil has been modeled using a dynamic model that considers the soil characteristics. Further refinement of the established model was conducted and validated in the first iteration of the model’s completion. The lateral component of the soil is now considered and factored in to study the buried structure’s response. This study showed that a simple yet comprehensive mechanical model may be used to study the responses of buried structures to surface impact loadings. The validity of the proposed model may demand a certain degree of further refinement to accommodate other loadings, buried structures, and burial conditions while considering all physical phenomena that occur in the soil medium before, during, and after loading.
Model Tests of Regolith Packaging Mechanism
Authors: Inoue Daisuke ,   Tokyu Construction Co., Ltd., 3062-1 Tana, Chuo-ku, Sagamihara, Kanagawa 252-0244, Japan, Yanagihara Yoshitaka , Ueno Hiroshi , Nishida Shin’ichiro ,   Japan Aerospace Exploration Agency, 2-1-1 Sengen, Tsukuba, Ibaraki 305-8505, Japan
Published: April 2016

A robot construction method is developed for burying a lunar outpost. With this method, sandbags are made and piled up on the lunar surface to build a sandbag stack around an outpost and bury it. This method makes it possible to build a lunar base efficiently while minimizing risky manned space operations. In this study, we focused on the “sandbag,” which is the most critical element in a burying mission using a sandbag stacking robot, made a basic design based on soil pressure analysis, and evaluated the validity of design by conducting model tests. We confirmed the validity of the basic design of the sandbag stacking robot from these studies.
Development of a Mobile Robot for Transport Application in Hospital
Authors: Takahashi Masaki ,   Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan, Moriguchi Toshiki , Tanaka Shoji , Namikawa Hirofumi , Shitamoto Hideo , Nakano Tsuyoshi , Minato Yuichirou , Ihama Takashi , Murayama Takahiko ,   Murata Machinery, Ltd., Japan,   Murata Engineering, Ltd., Japan
Published: April 2016

We have been developing the Muratec Keio Robot (MKR), an autonomous omnidirectional mobile robot system for transport applications in the hospital domain. This robot has a chamber to transfer luggage, specimens, and other materials safely. The robot has sensor devices such as a stereocamera, laser range finder and ultrasonic sensors to recognize surrounding environment and user interfaces such as a touch panel display and a display scrolling messages for interaction with human beings. Experiments are carried out at hospitals to verify the performance of elemental MKR-003 technology. Experimental results confirmed that the robot canmove without colliding with static or moving obstacles in a hospital. This paper presents the omnidirectional mobile transfer mechanisms, bumper switch, elevator passenger system and transport information systems.
Recognition of Face Orientations Based on Nostril Feature
Authors: Nakazawa Nobuaki ,   Graduate School of Engineering, Gunma University, 29-1 Hon-cho, Oota, Gunma 373-0057, Japan, Mori Takashi , Maeda Aya , Kim Il-Hwan , Matsui Toshikazu , Yamada Kou ,   Department of Electrical and Electronic Engineering, Kangwon National University, 1 Kangwondaehak-gil, Chuncheon-si, Gangwon-do 200-701, Korea
Published: April 2016

This paper describes a noncontactman-machine interface based on face orientation. Real-time images of an operator’s face were observed by a USB camera and changes in the dark area of the nostrils were utilized for the recognition of face orientation. When the operator faced up, dark areas of both nostrils increased in area, and when the operator faced down, such dark areas decreased, respectively. In contrast, the difference between nostril areas could be caused when the face was turn to the side. Here, these characteristics were reflected in face-orientation recognition. The interface we developed was applied to electrical wheelchair operation.
Consideration of Scanning Line Density and Capture of Shape of Human Movement from 3D Laser Scanning Sensor Using Roundly Swinging Mechanism
Authors: Matsumoto Mitsuhiro ,   Department of Control and Information Systems Engineering, Kurume National College of Technology, 1-1-1 Komorino, Kurume-shi, Fukuoka 830-8555, Japan, Yuta Shin’ichi ,   Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba-shi, Ibaraki 305-8573, Japan
Published: April 2016

A 3D SOKUIKI sensor (3D laser scanning sensor) with a roundly swinging mechanism can detect the range distance of a belt area at a certain vertical height and horizontal view angle without any converging points and without twisting any signal cables. It is useful for observing the movement of people and for capturing the shape of human movement. We analyzed the line-to-line distance as the scanning line density for this type of sensor. The entire belt area of directions is scanned twice by both positively and negatively inclined scanning lines in one period of a whole scan. The line-to-line distance depends on the vertical height and is dense at both vertical ends and sparse in the middle. As a result, the scanning density at center front is 1/2.5 (40%) compared to using ideal vertical direction control. Since ideal vertical direction control of a range-measuring beam is not technically possible at this time, this scanning density provided by the roundly swinging mechanism can be considered to be reasonably good and useful. The 3D SOKUIKI sensor using this roundly swinging mechanism can capture the shape of human movement.
Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles
Authors: Nakano Motoki ,   System Sensing Control Laboratory, Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan, Tanaka Takayuki , Kaneko Shun’ichi
Published: April 2016

A number of studies have focused recently on the musculoskeletal systems of the human arm and foot with the support of human-machine systems. These studies aim to evaluate the performance of manipulators or analyze human characteristic. We focus on the fact that some postures reduce the effort necessary for the application of force from musculoskeletal systems. In this research, we apply the system to a power assist system. Using a musculoskeletal model, we propose the Compensation Considering Posture (CCP) method, which adjusts the assist ratio and consequently the applied force in accordance with the arm position of the operator. Then we apply it as a one link manipulator to a standard valve used in firefighting operations. In this regard, operation responsiveness changes when output force is reduced with the correct arm position.CCPimproves valve maneuverability by providing additional assistance in such cases, and ensures that operation responsiveness is uniform regardless of arm position. To experimentally verify the proposedmethod, we firstmeasure the armposition of the operator in real time by using a musculoskeletal simulator. Next, we quantitatively defined the reduction of the output force according to the arm position as an output force level. Finally, we determine the appropriate amount of compensation by normalizing the force applied with the maximum output force level. The effectiveness of this method is experimentally confirmed using visual tracking.
New Method of Evaluating Muscular Strength of Lower Limb Using MEMS Acceleration and Gyro Sensors
Authors: Yoshioka Shinsuke ,   Faculty of Sport and Health Science, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu city, Shiga 525-8577, Japan, Nagano Akinori , Hay Dean C. , Tabata Izumi , Isaka Tadao , Iemitsu Motoyuki , Fukashiro Senshi ,   Department of Computational Science, Kobe University, Japan,   School of Physical and Health Education, Nipissing University, Ontario, Canada,   Department of Life Sciences (Sports Sciences), The University of Tokyo, Japan
Published: April 2016

The purpose of this study was to develop a home-use method of evaluating muscular strength of the lower limb of a physically diverse range of people. Through a survey of previous findings regarding the mechanical load of daily activities, we propose that rapidly standing from an initial low squat posture is an appropriate movement to evaluate muscular strength of the lower limb. Additionally, we define a new index of muscular strength of the lower limb called “muscular strength margin.” This index shows the muscular strength relative to the minimum required muscular strength for activities of daily living. For easy measurement in a home setting, we utilize Micro-Electro-Mechanical Systems (MEMS) acceleration and gyro sensors to measure muscle strength. The MEMS sensor method highly correlates (r = 0.996) with optical motion capture system method, indicating that the MEMS sensor method has sufficient reliability for home use. The validity of the method developed in this study was verified through kinematic and kinetic analyses of 98 subjects whose age ranged from 14 to 98 yrs and from data of previous studies.
Quasi-Sliding Mode Control of a High-Precision Hybrid Magnetic Suspension Actuator
Authors: Li Dengfeng ,   Department of Mechanical & Aerospace Engineering, Florida Institute of Technology, 150 West University Boulevard, Melbourne, FL 32901, USA, Gutierrez Hector Martin
Published: April 2016

A novel 1-DOF hybrid magnetic suspension actuator for precise motion control is presented. The actuator is designed to achieve sub-micron positioning accuracy over a range of motion in excess of 1000 µm while avoiding large nominal levitation currents and iron core saturation. The proposed passive push-active pull configuration offers precise motion control with moderate actuator effort when a payload is to be accurately suspended over a large range of travel. The proposed actuator can be used modularly to control multiple axes of motion in a multi-DOF positioning application that requires millimeter-range travel with submicron accuracy. A Quasi-Sliding Mode controller (QSM) is presented in which the sliding mode dynamics are directly designed, as opposed to the typical Lyapunov function approach that is solely based on stability. Since full knowledge of the state vector is required, a nonlinear high-gain observer was also designed and implemented. Performance of the QSM algorithm in controlling the proposed actuator is compared to that of a PID controller with standard feedback linearization. Several experiments are conducted to demonstrate both the positioning and tracking capabilities of the proposed actuator. The proposed QSM method shows better transient performance than the standard PID feedback linearization approach. QSM also shows better tracking performance, which is highly desirable in systems in which fast and accurate motion control along a desired path is critical.
MAV Circular Leader-Follower Formation Control Utilizing Mass-Spring-Damper with Centripetal Force Consideration
Authors: Abas Mohammad Fadhil Bin ,   Department of Artificial System Science, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan, Ali Syaril Azrad Md. , Iwakura Daisuke , Song Yuze , Nonami Kenzo
Published: April 2016

Past research has dealt with numerous formation control problems related to leader-follower formation. In the move towards bio-inspired formation, this paper introduces flock formation based on migrating birds. Flock formation development can be subdivided into shape control, shape entrance control and leader change control. Shape control or keeping is the first part of development. Shape keeping in this paper utilizes a virtual spring and damper model to interconnect all the Micro Aerial Vehicles (MAVs) in the formation. Besides that, the algorithm also considers the centripetal force acting on each MAV since a circular/curve motion is being evaluated. The circular leader-follower formation control of multiple MAVs using virtual mass-spring-damper system with the consideration of centripetal force for flock formation shape keeping has been successfully designed and implemented. Based on the experimental result, it is seen that the performance of the algorithm is reliable.
Stabilization of an Inverted Pendulum Cart with a Balancing Mechanism by Consistent Trajectories in Acceleration Behavior
Authors: Matsuno Takayuki ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama City, Okayama Prefecture 700-8530, Japan, Huang Jian , Fukuda Toshio , Doi Katsunori ,   Department of Control Science & Engineering, Huazhong University of Science and Technology, No.1037, Luoyu Road, Hongshan District, Wuhan, Hubei, China,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Toyota Communication Systems Co., Ltd., Japan
Published: April 2016

New personal vehicles are required in current society because of necessity of low-carbon system. At present, most personal vehicles require a driver to have a certain level of physical ability. Low-carbon personal vehicles should, however, be made available to people with lower levels of physical ability, such as the elderly. The present paper therefore proposes an inverted pendulum cart that incorporates a balancing mechanism with actuating a seated driver. In the case of the proposed inverted pendulum cart, since the driver does not have to be able to maintain balance in order to cause the vehicle to accelerate, the proposed cart can be used by almost anyone. In addition, a control method using both input generated by desired acceleration trajectories and dynamics-canceling input is proposed. The effectiveness of the proposed control method is confirmed by simulation.
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Experimental System and Creation of Virtual Guiding Surfaces)
Authors: Higuchi Mineo ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-honmachi, Amagasaki, Hyogo 661-8661, Japan, Ogasawara Tsukasa ,   Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma City, Nara 630-0192, Japan
Published: April 2016

We describe a new robotic assist device: the passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator. PASArms are physically passive. The force to manipulate the arm end must be provided by the operator. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces that constrain and guide the motion of the operator. PAS-Arms have three joints and a three dimensional workspace, but possess only two degrees of freedom due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. In this paper, we first discuss the manipulability ellipsoid for the PAS-Arm. The major axis of the ellipsoid is the direction in which the arm end may be easily manipulated, and vice versa. We have developed an experimental system for the PAS-Arm. The CVTs of the experimental system may not adjust the transmission ratio to zero. Second, we describe an algorithm to address that problem. Finally, we present initial experiments that verify the PAS-Arm mechanism. The experimental results successfully produced virtual guiding surfaces.1 1. This paper is the full translation from the transactions of JSME, Series C, Vol.76, No.763, pp. 611-618, 2010.
Development of Stacked-Type Electrostatic Actuator Using Two Ribbon Films
Authors: Okuda Kazuo ,   Electrical and Electronics Engineering Department, Suzuka National College of Technology, Shiroko-cho, Suzuka City, Mie 510-0294, Japan, Saneyoshi Keiji ,   Center for Biological Resources and Informatics, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan
Published: April 2016

A new stacked-type electrostatic actuator with two ribbon films has been developed to be applied to artificial muscles. In this paper, spring characteristics of the actuator have been simulated and compared to measured data. There are two regions in spring characteristics of the actuator: one is the working region where the actuator contracts easily, and the other is the overload region where the actuator is extended only negligibly by the load. Spring characteristics of the actuator have been simulated by nonlinear structural analysis including the contact problem using the finite element method. It is understood that spring characteristics of working and overload regions can be improved by thinning the hinge and by thickening the electrode. The stroke of the actuator can be controlled, furthermore, by changing the length of the hinge. When the size of the actuator is reduced and actuators are integrated until they become the same volume, voltage applied to the actuator to generate the same force is reduced in proportion to the reduction rate while the actuator keeps the same spring characteristics and stroke.
Kinetic Energy Maximization on Elastic Joint Robots Based on Feedback Excitation Control and Excitation Limit Hypersurface
Authors: Hondo Takatoshi ,   Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan, Mizuuchi Ikuo
Published: April 2016

This paper describes amethod of realizing high kinetic energy utilizing mechanical elasticity within the joint limit ranges of multiple-joint robots. By utilizing series elastic elements, a robot obtains high kinetic energy compared with a rigid robot. In this paper, we propose feedback excitation control that realizes high kinetic energy utilizing series elastic joints. Robot motion has to be kept within the joint limit range. We propose a control method based on an excitation limit hypersurface to realize robot motion within the joint limit range. The feasibility of the method was evaluated in experiments. We performed a ball throwing task as an application of the method.
Development of Noncircular Wheel “TFW” for Traveling over a Single Step only by Rotational Movement
Authors: Oki Tomohiko ,   Keio University, 3-14-1 Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan, Morita Toshio
Published: April 2016

Wheeled vehicles are used daily because they have high movement efficiency, simple structures and low cost. However, their travel ranges may be limited due to the low traveling performance of wheels when they encounter a step. Variousmovement mechanisms have been developed to solve this issue, but they have become complicated and heavy in attempts to meet each design condition, so they are hard to use daily in some cases. The authors therefore devised a simple, low cost movement mechanism the TFW(Transformable Flexible Wheel) that can travel over a step without special controls. This is a noncircular wheel that can travel over a step without slipping by denting the outer circumference of the wheel when it comes into contact with a step and catching the step with the internal mechanism of the TFW. In this paper, the outline of the structure and movement of the TFW is discussed. In addition, its effectiveness is verified through the creation of two vehicles, the simple prototype SRIDERzero and the experimental model SRIDER, to prove that the traveling performance of the TFW over a step is superior to that of conventional wheels and to demonstrate the basic movements of the TFW.
Ultrasonic Motor Using Two Sector-Shaped Piezoelectric Transducers for Sample Spinning in High Magnetic Field
Authors: Yamaguchi Daisuke ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan, Kanda Takefumi , Suzumori Koichi , Fujisawa Kazuya , Takegoshi Kiyonori , Mizuno Takashi ,   Graduate School of Science, Kyoto University, Kitashirakawa-Oiwakecho, Sakyo-ku, Kyoto 606-8502, Japan,   JEOL RESONANCE Inc., 3-1-2 Musashino, Akishima, Tokyo 196-8558, Japan
Published: April 2016

This paper presents the design, fabrication process, and evaluation of an ultrasonic motor for sample spinning in a high magnetic field of solid-state Nuclear Magnetic Resonance (NMR). To decrease effects of the magnetic field on rotation, all motor components are made of materials that have low magnetic permeability. The motor, including the sample casing, is a maximum 31 mm in diameter and 50 mm high. The motor has two sector-shaped piezoelectric transducers. One transducer generates two different vibration modes, longitudinal and flexural, when two sinusoidal voltages are applied to transducers. To confirm that transducers can be driven in a high magnetic field, the effect of the magnetic field on the transducer was evaluated. The motor was driven at a frequency of 329.0 kHz. The maximum rotation speed and starting torque were 1.50 × 103rpm and 26 µNm when applied voltage was 40 Vp-p. The rotation speed, controlled by a proportional-integral control system, was 1.20 × 103rpm in a 7.0-T magnetic field. The motor was also applied to the sample spinning system of a high-resolution NMR spectrometer. We succeeded in obtaining1H-NMR signals of H2O. The motor can therefore be used for a sample spinning system in a high magnetic field.
Control and Development of Cylindrical Mobile Robot
Authors: Hirano Tetsuro ,   Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Ishikawa Masato , Osuka Koichi
Published: April 2016

Mobile robots are often exposed to various hazardous situations such as wet or dusty environments. However, it is easy for robots whose components are totally covered with a rigid shell to travel in such environments. For these robots, rolling is an effective way of locomotion. In this study, we focused on a rolling robot with a cylindrical shell to operate in such environments. We analyzed and developed the robot utilizing its interesting geometrical properties and established a control strategy for static locomotion.
Path Planning for Autonomous Vehicles Using QZSS and Satellite Visibility Map
Authors: Kitamura Mitsunori ,   Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Yasuoka Yoichi , Suzuki Taro , Amano Yoshiharu , Hashizume Takumi ,   JSPS Research Fellow, Tokyo University of Marine Science and Technology, 2-1-6 Etchujima, Koto-ku, Tokyo 135-8533, Japan
Published: April 2016

This paper describes a path planning method that uses the Quasi-Zenith Satellites System(QZSS) and a satellite visibility map for autonomous vehicles. QZSS is a positioning system operated by Japan that has an effect similar to an increase in the number of GPS satellites. Therefore, QZSS can be used to improve the availability of GPS positioning. A satellite visibility map is a special map that simulates the number of visible satellites at all points on the map. The vehicle can use the satellite visibility map to determine the points that receive more satellite signals. The proposed method generates the artificial potential fields from the satellite visibility map and obstacle information around the vehicle, and it generates the path following the potential fields. Thereby, the vehicle can select the path that has more satellite signals, improving the availability of GPS fixed solutions. Hence, the vehicle can reduce the accumulated error by dead reckoning, and it can improve the safety of self-control. In this study, we evaluate the satellite visibility maps and the path planning method. The results show that the proposed method does improve the availability of GPS fixed solutions.
Development of Transfer Assist Robot System Supporting Self-Reliant Life
Authors: Kume Yohei ,   Panasonic Healthcare Co., Ltd., 2-7 Matsuba-cho, Kadoma City, Osaka 571-8502, Japan, Shimoda Tomohiro , AkihiroOhta  , Tsukada Shohei , Kawakami Hideo , Nakamura Mio , Suzurikawa Jun , Inoue Takenobu ,   Research Institute of National Rehabilitation Center for Persons with Disabilities, 4-1 Namiki, Tokorozawa, Saitama 359-8555, Japan
Published: April 2016

To improve the practicality and safety of the transfer assist robot system “Roboticbed ®,”1which combines an electric bed and an electric wheelchair, trial use evaluation and risk assessment were conducted and Roboticbed was improved based on these results. In trial use evaluation, behavior was observed and subjects were interviewed to identify requirements for improving the prototype. In risk assessment, safety measures based on a three-step method were examined in hazardous situations for which risk reduction was necessary. This paper reports details of these studies. 1. Roboticbed is a domestic trademark of Panasonic.
Applicability of Equilibrium Theory of Intimacy to Non-Verbal Interaction with Robots: Multi-Channel Approach Using Duration of Gazing and Distance Between a Human Subject and Robot
Authors: Kamide Hiroko ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Kawabe Koji , Shigemi Satoshi , Arai Tatsuo ,   Honda R&D Co., Ltd., 8-1 Honcho, Wako, Saitama 351-0188, Japan
Published: April 2016

This study discusses the applicability of the equilibrium theory of intimacy to non-verbal interaction between a human and a robot through how long they maintain eye contact and through a multi-channel approach to distance. According to the equilibrium theory of intimacy, in interpersonal communication, multiple non-verbal channels are simultaneously adjusted to maintain equilibrium of the intimacy level. This study includes a self-introduction situation by a robot in which the duration of eye contact and the distance between them are manipulated and how long the participant looks at the robot is measured. As a result, as the equilibrium theory of intimacy predicts, how long the robot is looked at increases when the distance between them is great, while the duration is short when the distance is short. Discussions here include problems with and prospects for applying the equilibrium theory of intimacy to interactions with a robot.
Grasp Motion Planning with Redundant DOF of Grasping Pose
Authors: Nagase Kazuyuki ,   Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Aiyama Yasumichi
Published: April 2016

In this paper, we propose a new method of grasp planning for a manipulator with a parallel jaw gripper in obstacle environment. We consider collision avoidance as a problem of motion planning in obstacle environments. In general, however, a redundant degree of freedom (DOF) is required to avoid obstacle and to grasp. In our proposal, we pay attention to redundant DOF in a grasping pose. Using redundant DOF in a grasping pose, a manipulator can avoid obstacles and grasp a target object. It does not require any redundant manipulators.
Path Planning for Mobile Mapping System Considering the Geometry of the GPS Satellite
Authors: Ishikawa Kiichiro ,   Waseda University, 17 Kikui-cho, Shinjyuku-ku, Tokyo 162-0044, Japan, Amano Yoshiharu , Hashizume Takumi
Published: April 2016

In this paper, we propose a path planning method for a Mobile Mapping System (MMS) considering GPS geometry for the purpose of increasing GPS availability. We calculate Position Dilution of Precision (PDOP) using aerial laser survey data that provides geography and height of buildings near roads. PDOP is used for weighting road network data. By using the Chinese postman problem, we then calculate the optimum path that passes through all routes at least once. We describe currentMMS operation first and clear up problems with the current method. We then describe the proposed method in detail. Finally, we conduct evaluation tests and describe results in detail. The evaluation test verifies that the proposed method increases the GPS FIX ratio by 5% under the same GPS geometry and proves the effectiveness of the proposed method.
Basic Study of Touchless Human Interface Using Net Structure Proximity Sensors
Authors: Miyamoto Ichiro ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Suzuki Yosuke , Ming Aiguo , Ishikawa Masatoshi , Shimojo Makoto ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Published: April 2016

In this paper, we examine the touchless human interface using proximity sensors array. Touchless human interfaces, including Microsoft’s Kinect, are being studied intensively. We have developed Registor Network-Structure Proximity Sensor featuring a highspeed response, touchless operation, and freely determined arrangement. It is thought that intuitive input is possible by using a human interface with highspeed response proximity sensors. We simulated interface sensor output and examined the possibility to distinguish gestures performed using sensors in experiments.
A Real-Time Microscopic PIV System Using Frame Straddling High-Frame-Rate Vision
Authors: Kobatake Motofumi ,   Robotics Laboratory, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Aoyama Tadayoshi , Takaki Takeshi , Ishii Idaku
Published: April 2016

In this paper, we propose a novel concept of realtime microscopic particle image velocimetry (PIV) for apparent high-speed microchannel flows in lab-on-achip (LOC). We introduce a frame-straddling dualcamera high-speed vision system that synchronizes two different camera inputs for the same camera view with a submicrosecond time delay. In order to improve upper and lower limits of measurable velocity in microchannel flow observation, we designed an improved gradient-based optical flow algorithm that adaptively selects a pair of images in the optimal frame-straddling time between the two camera inputs based on the amplitude of the estimated optical flow. This avoids large image displacement between frames that often generates serious errors in optical flow estimation. Our method is implemented using software on a frame-straddling dual-camera high-speed vision platform that captures real-time video and processes 512 × 512 pixel images at 2000 fps for the two camera heads and controls the frame-straddling time delay between them from 0 to 0.25 ms with 9.9 ns step. Our microscopic PIV system with frame-straddling dualcamera high-speed vision simultaneously estimates the velocity distribution of high-speed microchannel flow at 1 × 108pixel/s or more. Results of experiments using real microscopic flows on microchannels thousands of µm wide on LOCs verify the performance of the real-time microscopic PIV system we developed.
Fluorescent-Based Temperature Measurement with Simple Compensation of Photo-Degradation Using Hydrogel-Tool and Color Space Conversion
Authors: Maruyama Hisataka ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Masuda Taisuke , Arai Fumihito
Published: April 2016

We developed a method to obtain stable and longlifetime temperature measurements using a fluorescence micromeasurement system. A hydrogel tool containing nano-semiconductor quantum dots (Q-dots) was developed as a fluorescent temperature indicator. We used image processing to convert RGB information to other color information to compensate for photodegradation. The temperature was calibrated using the hydrogel tool in several color spaces, includingRGB(R: red,G: green,B: blue),HSV(H: hue,S: saturation,V: value (brightness)), andYCrCb(Y: brightness,Cr: red color difference,Cb: blue color difference). The calibration results showed thatR,G,B,Y, andCrdecreased monotonically with increasing temperature, whereasHandCbdid not decrease monotonically. The photodegradation analysis showed thatCrwas robust against the brightness fluctuation; however,R,G, andBstrongly affected the brightness fluctuation because these values included the brightness information. These results show that temperature measurements based onCrvalues are suitable to compensate for photodegradation and have a sensitivity of -1.3%/K and an accuracy of 0.3 K. These values are the same as those obtained using the fluorescence intensity method.
Measuring Mechanical Properties of Cell Sheets by a Tensile Test Using a Self-Attachable Fixture
Authors: Uesugi Kaoru ,   Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Akiyama Yoshitake , Hoshino Takayuki , Akiyama Yoshikatsu , Yamato Masayuki , Okano Teruo , Morishima Keisuke ,   Institute of Advanced BioMedical Engineering and Science, Tokyo Women’s Medical University, 8-1 Kawadacho, Shinjuku, Tokyo 162-8666, Japan
Published: April 2016

In this paper, we present a tensile test system and a new self-attachable fixture for measuring mechanical properties of cell sheets. Previously when measuring the mechanical properties of cell sheets, the sheets would be damaged because they dried out. With our system, the tensile test can be carried out while the cell sheets are in the culture medium, so there is no damage by drying. Previously, it has also been difficult to attach a cell sheet in the tensile test system owing to the structure of the conventional fixture, and there has been no tensile test system which had a measurement range that covered the tension force range of the cell sheets. Therefore, we have addressed these problems by developing a self-attachable fixture and a tensile test system. To confirm suitability of the fixture and test system, we measured mechanical properties of two different kinds of cultured cell sheets, C2C12 (cells mouse myoblast cells) and NIH-3T3 (3T3) cells (mouse fibroblast cells), and of the same kinds of sheets treated with cytochalasin-D. We confirmed differences in mechanical properties for each kind of cell sheet. This indicates that our new fixture and test system are applicable for measurement of mechanical properties of cell sheets without damage of the sheets by drying.
A Bio-Manipulation Method Based on the Hydrodynamic Force of Multiple Microfluidic Streams
Authors: Yalikun Yaxiaer ,   Graduate School of Engineering, Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita 565-0871, Japan, Akiyama Yoshitake , Hoshino Takayuki , Morishima Keisuke
Published: April 2016

This paper proposes a multiple microfluidic streambased manipulation (MMSM) system for bio-objects. It uses micro hydrodynamics and lab on chip (LOC) technology. Our method can implement the functions of micro manipulation and micro assembly of bio-objects in an open space without contact. Compared to other conventional bio-micro-manipulation and assembly methods, this system manipulates micro objects by controlling multiple microfluidic streams onto them from various directions. The advantages of this method are that it performs open space, multifunction, multi-scale, multi-degree-of-freedom, and non-invasive 3D manipulation. These microfluidic streams are generated simultaneously from multiple orifices. By regulating the parameters of the microfluidic stream, such as the position and number of operating orifices and the flow rate, the direction and velocity of the object can be controlled. To verify this principle, we design an open-space fluidic system for on-chip manipulation and calculated velocity and direction of the microfluidic stream using CFD simulation. Then the prototype microchip with an array of nine orifices is fabricated from glass. In experiments, demonstrations of rectilinear motion of a single cell andmicro particle are observed. The results presented in this paper show that this MMSM is capable of biomicromanipulation and micro assembly of bio-objects.
Pneumatic Micro Dispenser System for Ubiquitous Microchemical Devices
Authors: Hasegawa Tadahiro ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Kohto-ku, Tokyo 135-8548, Japan, Omatsu Fumiyuki , Ikuta Koji ,   Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka 535-8585, Japan,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

This paper describes the development of the pneumatic micro dispenser system for ubiquitous microchemical devices, such as health care devices. The pressurization and decompression switchable micropump chip, the dispenser chip, and the 10-directional switching valve chip are developed successfully as components of this system. This system assembled with these chips can divide liquids into approximately 0.5 µl samples if its disk is simply rotated manually, and the system can be reused by simply replacing the dispenser chip where the sample exits.
A High-Throughput Device for Patterned Differentiation of Embryoid Bodies
Authors: He Xiaoming ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Kimura Hiroshi , Fujii Teruo ,   JST CREST, Tokyo, Japan,   Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, Hiratsuka, Kanagawa 259-1292, Japan
Published: April 2016

Although ontogenesis in vivo may proceed in a spatiotemporally heterogeneous environment, in vitro differentiation of an embryoid body (EB) has been carried out in uniform conditions using conventional culture methods at low throughput. In the present study, a microfluidic device with multiple culture chambers for simultaneous patterned differentiation of multiple EBs of pluripotent stem cells is newly developed. Theoretical simulation and experiments using a suspension of fluorescent particles or fluorescent solution show that proper chemical gradients can be formed with almost no flow in the chambers. After multiple EBs are introduced into the device, these EBs move along the flow channel and into trapping cups. The EBs are pushed by air bubbles into the culture chambers. These multiple EBs can be cultured within the culture chambers after flowing culture medium removes the air bubble from the device. In our experiment, differentiation and proliferation of these multiple EBs are studied by exposing them to two different media for 6 days: one to induce differentiation and the other to keep the pluripotent and self-renewing state of the cells. It is shown that patterned differentiation of the multiple EBs is successfully conducted simultaneously in the device when these two media are perfused into the device. The results suggest that differentiation and proliferation of multiple EBs can be analyzed by applying chemical gradients in the present microfluidic device. This will be a helpful tool in a wide variety of experiments involving EBs or spheroids.