bluuebunny/crossref_metadata_2025 huggingface dataset:
Special Issue on Human Robot Interaction
Authors: Nakauchi Yasushi
Published: April 2016

Recent advances in robotics are disseminating robots into the social living environment as humanoids, pets, and caregivers. Novel human-robot interaction techniques and interfaces must be developed, however, to ensure that such robots interact as expected in daily life and work. Unlike conventional personal computers, such robots may assume a variety of configurations, such as industrial, wheel-based, ambulatory, remotely operated, autonomous, and wearable. They may also implement different communications modalities, including voice, video, haptics, and gestures. All of these aspects require that research on human-robot interaction become interdisciplinary, combining research from such fields as robotics, ergonomics, computer science and, psychology. In the field of computer science, new directions in human-computer interaction are emerging as post graphical user interfaces (GUIs). These include wearable, ubiquitous, and real-world computing. Such advances are thereby bridging the gap between robotics and computer science. The open-ended problems that potentially face include the following: What is the most desirable type of interaction between human beings and robots? What sort of technology will enable these interactions? How will human beings accept robots in their daily life and work? We are certain that readers of this special issue will be able to find many of the answers and become open to future directions concerning these problems. Any information that readers find herein will be a great pleasure to its editors.
An EMG-Controlled Hand Exoskeleton for Natural Pinching
Authors: Lucas Lenny ,   Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, DiCicco Matthew , Matsuoka Yoky ,   Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 5000 Forbes Ave. NSH3207, Pittsburgh, PA 15213
Published: April 2016

Spinal cord and other local injuries often lead to partial paralysis while the brain stays fully functional. When this partial paralysis occurs in the hand, these individuals are not able to execute daily activities on their own even if their arms are functional. To remedy this problem, a lightweight, low-profile orthotic exoskeleton has been designed to restore dexterity to paralyzed hands. The exoskeleton’s movements are controlled by the user’s available electromyography (EMG) signals. The device has two actuators controlling the index finger flexion that can be used to perform a pinching motion against a fixed thumb. Using this orthotic device, a new control technique was developed to allow for a natural reaching and pinching sequence by utilizing the natural residual muscle activation patterns. To design this controller, two actuator control algorithms were explored with a quadriplegic (C5/C6) subject and it was determined that a simple binary control algorithm allowed for faster interaction with objects over a variable control algorithm. The binary algorithm was then used as an enabling algorithm to activate the exoskeleton movements when the natural sequence of muscle activities found a pattern related to a pinch. This natural pinching technique has shown significant promise toward realistic neural control of wearable robotic devices to assist paralyzed individuals.
Three-Dimensional Movement in Water of the Dolphin Robot - Control Between Two Positions by Roll and Pitch Combination -
Authors: Nakashima Motomu ,   Department of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Tsubaki Takahiro , Ono Kyosuke ,   Mitsuba Corporation, 1-2681 Hirosawa-cho, Kiryu-shi, Gumma 376-8555, Japan,   Central Research Laboratory, Hitachi Ltd., 2880 Kouzu, Odawara-shi, Kanagawa 256-8510, Japan
Published: April 2016

The purpose of this study is to have a biomimetic robot realize the three-dimensional maneuverability of fast-swimming animals such as dolphins. In the preceding paper, a dolphin robot whose length is 1m was developed, and loop-the-loop motion in water performed. In the present report, a reference trajectory from a start position to an end position was first planned using the combined motions of roll and pitch. Next, a simulation method to analyze the three-dimensional dynamics of the dolphin robot was developed, then used to investigate feedback controls for roll, pitch, and yaw. It was found in the simulation that the proposed feedback control scheme was sufficient for tracking the reference trajectory. Finally, swimming experiments were conducted to determine the validity of the simulation method and the control algorithm. The control performance in experiments was found to be satisfactory, although the optimal feedback gain was found to be somewhat different from that in the simulation. This paper is the full translation from the transactions of JSME Series C, Vol.71, No.702, 2005.
Reconfigurable Cellular Satellites Maintained by Space Robots
Authors: Tanaka Hideyuki ,   Research Center for Advanced Science and Technology (RCAST), University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8904, Japan, Yamamoto Noritaka , Yairi Takehisa , Machida Kazuo
Published: April 2016

We propose new orbital reconfiguration and recycling that is robot-friendly for easy maintenance and reconfiguration. We designed and fabricated a prototype of the Cellular Satellite (CellSat) and demonstrated CellSat feasibility in assembly experiment.
Special Issue on System Cell Engineering by Multiscale Manipulation
Authors: Fukuda Toshio , Inoue Kenji
Published: April 2016

Recent advancements in micro/nano robotics and mechatronics technology have contributed to the discovery of new scientific knowledge in bioscience and the development of new treatments and examinations in medical fields. To promote interdisciplinary research among the engineering, biological, and medical fields and to promote further progress in these fields, Scientific Research on Priority Areas, ""System Cell Engineering by Multiscale Manipulation (Head Investigator: Toshio Fukuda),"" was begun in 2005. In this research area, we study system cell engineering seeking an understanding of communication and control principles of bare and integration functions of cells. We focus on manipulation technology for work from nano- to macro-scale, i.e., multiscale manipulation. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then work to clarify the mechanism behind the cell system and to realize an artificial cell model based on gene expression control and regenerate tissue by function control. Using innovative engineering technology, we obtain new scientific knowledge in the life sciences and develop medical engineering, ultimately contributing to the good of society. This special issue presents 2 reviews and 13 papers on the latest achievements in this research area. The reviews introduce challenging work in medical and biological fields, presenting suggestions on robotics and mechatronics engineers. Eight of the papers propose novel sensors, actuators, and other devices useful in bioscience and cell engineering. Two papers present methods of manipulating micro/nano-scale objects based on laser manipulation, and 2 concern the teleoperations of micro-hands and micro-manipulators for micromanipulation. The final paper discusses the interaction between living neuronal networks and the outer world. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.
Development of Novel Nanopipette with a Lipid Nanotube as Nanochannel
Authors: Nogawa Kousuke ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Tagawa Yusuke , Nakajima Masahiro , Arai Fumihito , Shimizu Toshimi , Kamiya Shoko , Fukuda Toshio ,   Department of Mechanical Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan,   Department of Bioengineering and Robotics, Tohoku University, Aramaki Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan,   Nanoarchitectonics Research Center, National Institute of Advanced, Industrial Science and Technology, Higashi, Tsukuba, Ibaraki 305-8565, Japan
Published: April 2016

Single cell analysis gets a lot of attentions to reveal the unknown biological aspects of individual cells. To analyze the properties of a single cell, local environmental control is desired. We propose a novel nanopipette where a lipid nanotube (LNT) as a nanochannel is attached to apply the minimal changes to the environment. LNTs have hollow cylindrical nanostructures consisting of lipid bilayer membranes and their outer and inner surfaces are hydrophilic. Fabrication process of the LNT nanopipette includes two main parts; picking up an LNT and sealing the interspace between it and the glass micropipette. The fluorescent solution was spouted from the fabricated LNT nanopipette. The nanopipette is effective to local environmental control as an end-effecter for biological applications.
Celebrating JRM Volume 20 and Three Epoch-making Robots from Japan
Authors: Yamafuji Kazuo
Published: April 2016

The Journal of Robotics and Mechatronics is celebrating its 20th volume since its launch in 1989. As the JRM’s founding Editor-in-Chief, I would like to express my heartfelt gratitude to all of those persons and organizations that have helped make the JRM so successful.

This is also a time for celebrating the development of three epoch-making robots in Japan between 1978 and 1997.

Scara Robot: The Scara robot was developed in 1978 by Professor Hiroshi Makino of Yamanashi University and four Japanese companies – Fujitsu, Telmec, Ultrasonic Ind. Co., and Sankyo. As John Hartley wrote in ""The Industrial Robot"" (March 1982, UK), ""More startling, perhaps, was the announcement that IBM was to sell Sankyo Skilam robot in the USA as the IBM 7535. Most of Japanese robots were based on overseas designs. The exception, of course, is the Scara robot.” The Scara was honored as the first Japanese robot dedicated at the Robotic Pavillion at Carnegie Mellon University in 2006.

Parallel Bicycle Robot: The parallel bicycle (PB) robot developed in 1986 by Professor Kazuo Yamafuji of the University of Electro-Communications was driven by a parallel bicycle consistting of a pair of parallel wheels and an inverted pendulum body supported on the wheel axis. The PB robot has been applied both to locomotion for mobile robots and to personal vehicles. It was first successfully commercialized as the Segway Personal Transporter developed by Dean Kamen in 2001 in the US. Applications to a humanoid drive were realized by Toyota in 2004 and by Hitachi in 2007.

Biped Walking Robot: Honda introduced its epoch-making humanoid P2 with biped and double hand in 1997. Driven by an on-board battery, the biped robot walked smoothly for over 30 minutes at 4 km/h similar to a human being. Honda P2 movie surprised and delighted people worldwide, and its release of ASIMO in 2002 was an advanced type of P2. ASIMO has became the de facto standard of the biped humanoid and is expected to have many applications in social and industrial environments.
Congratulations on the 20th Anniversary of JRM
Authors: Fukuda Toshio
Published: April 2016

Congratulations on the the 20th year of publication of the Journal of Robotics and Mechatronics (JRM).

I would like to express my heartfelt thanks to all those who have supported the journal since it premiered in June 1989. The JRM has the longest history among journals specializing in its field, Robotics and Mechatronics, and I am pround of the high reputation it has earned among researchers and engineers both within and outside of Japan.

Upon this occasion, I recall the long-standing relationship between the Division of Robotics and Mechatronics (DRM), the Japan Society of Mechanical Engineers (JSME), and the JRM.

In 1988, Professor Emeritus Kazuo Yamafuji of the University of Electro-Communications, Associate Professor Makoto Kaneko of the Kyushu Institute of Technology, and I Kaneko, (associate professor of Kyushu Institute of Technology were working to reorganize the Industrial Machinery Committee (IMC) of the JSME to establish the DRM to meet the requirements of a new age. Prof. Yamafuji had heard that Keiji Hayashi, the publisher of Fuji Technology Press, was seeking a chance to publish a journal specializing in robotics, thanks to Hiroharu Suda's introduction of Mr. Hayashi to Prof. Yamafuji.

As we three began preparing to set up the DRM in 1989, we also began preparing to launch the JRM. The JSME Board of Trustees accepted the establishment of the DRM and committed its positive support. After the DRM was established in April 1989, the JRM was inaugurated two months later in July 1989. These two efforts succeeded thanks to the contribution of these people and will grow as like twins hereafter.

The DRM has demonstrated many active achievements among JSME divisions in providing activities useful to division members. It has earned a global reputation from overseas specialists in both robotics and mechatronics.

Incidentally, the JRM editorial board consists of 20 Japanese editors and 10 overseas editors. Such an organization promotes a positive exchange among domestic and overseas experts, while the JRM promotes cooperative editing with the DRM on a high level of information.

Again, I congratulate you and wish both the JRM and the DRM all the best in their ongoing dual presentation of scientific findings and knowledge.
Congratulations on the 20th Memorial Year!
Authors: Kaneko Makoto
Published: April 2016

I am more than happy to congratule you on the 20th year of Journal of Robotics and Mechatronics (JRM) publication. The first issue was published in June 1989 under the Editor-in-Chief Kazuo Yamafuji, Professor Emeritus of Electro-Communication University. Since then, the Journal has been published bimonthly as a special issue featuring timely topics.

The JRM is the first journal including “Mechatronics” in its name. Through the JRM, much information on robotics and automation proceeded from Japan to around the world. We recognized that there are great needs to provide with the information on robotics and mechatronics with the increase of application technology in this area. Dr. Toshio Fukuda of Nagoya University took over as editor-in-chief in 1990 and has devoted himself to extending the popularity of the JRM through collaboration with academic societies. Thanks to his efforts in 1999, the JRM became technically cosponsored by the Japan Society of Mechanical Engineers (JSME).

I became editor-in-chief in 2000. After an agreement with JSME, we regularly published special issues on ROBOMEC with the support of the Robotics and Mechatronics Division (RMD) of JSME, where ROBOMEC is an annual conference sponsored by the RMD.

Based on peer evaluation, we are recommending that authors submit papers to the JRM. Accepted papers are published after further review in two separate issues. We believe that these two issues highlight JRM as different from other journals.

Currently, the number of papers submitted yearly is increasing with the recognition of this journal. Our policy is to publish papers on timely, original topics. I look forward to the JRM gaining an ever higher reputation thanks to the fine leadership of fourth Editor-in-Chief Tatsuo Arai.

Let's see how this journal advances in the next decade!
A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1
Authors: Sugita Saori ,   Department of Mechanical & Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Ogami Kazunori , Michele Guarnieri , Hirose Shigeo , Takita Kensuke ,   Canon Inc. Robot Development Propulsion Project, 70-1 Yanagi-cho, Saiwai-ku, Kawasaki-shi, Kanagawa 212-8602, Japan,   HiBot Corporation, 201 University Corporate Relations Bldg., 2-10-1 Kamata, Ota-ku, Tokyo 144-0052, Japan
Published: April 2016

This paper presents ACM-S1 (Active Cord Mechanism - Slime model 1), a snake-like robot. Conventional snake-like robots have difficulty negotiation uneven ground. In this paper, we propose “a bending and expanding joint unit” which has three degrees of freedom (3DOF) in inchworm/angleworm-like motion and has been developed to solve this problem. The ACM-S1 we developed is composed of a series of these joint units. Experiments conducted to evaluate ACM-S1's performance demonstrate the effectiveness of inchworm motion over uneven ground and of angleworm motion over flat, smooth ground.
Learning of Joint Attention from Detecting Causality Based on Transfer Entropy
Authors: Sumioka Hidenobu ,   Asada Synergistic Intelligence Project, ERATO, JST, Yoshikawa Yuichiro , Asada Minoru ,   Graduate School of Eng., Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

Joint attention, i.e., the behavior of looking at the same object that another person is looking at, plays an important role in human and human-robot communication. Previous synthetic studies focusing on modeling the early developmental process of joint attention have proposed learning methods without explicit instructions for joint attention. In these studies, the causal structure between a perception variable (a caregiver’s face direction or an individual object) and an action variable (gaze shift to a caregiver’s face or to an object location) was given in advance to learn joint attention. However, such a structure is expected to be found by the robot through interaction experiences. In this paper, we investigates how transfer entropy, an information theory measure, is used to quantify the causality inherent in face-to-face interaction. In computer simulations of human-robot interaction, we examine which pair of perceptions and actions is selected as the causal pair and show that the selected pairs can be used for learning a sensorimotor map for joint attention.
Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report : Gait Strategy)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, Nakano Eiji
Published: April 2016

1. This paper is the full translation from the transactions of JSME Vol.72, No.721.
Evaluation of Driver's Temporary Arousal Level by Changes of Nasal Skin Temperature – Effect of Basic Arousal Level –
Authors: Asano Hirotoshi ,   Faculty of Electrical Engineering and Electronics, Aoyamagakauin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Mizuno Tota , Ide Hideto ,   National Institute of Advanced Industrial Science and Technology, Central 6, 1-1-1 Higashi, Tsukuba, Ibaraki, Japan
Published: April 2016

The report evaluates the influence that the pitch of the basic arousal level gives awakening degree evaluation of the driver by the facial thermal image. We compared both of data, after conducting two experiments from which a fundamental awakening level differs. Consequently, we were able to evaluate the difference in a basic arousal level by the index of facial thermal image.
Special Issue on Machine Intelligence for Robotics and Mechatronics
Authors: Kawabata Kuniaki , Luo Zhi-Wei , Huang Jie
Published: April 2016

Machine intelligence is important in realizing intelligent recognition, control, and task execution in robotics and mechatronics research. One major approach involves developing machine learning / computational intelligence. This exciting field displays continuous dramatic progress based on new computer performance advances and trends. The 15 papers in this special issue present the latest machine intelligence for robotics and mechatronics and their applications. The first four papers propose interactive human-machine systems and human interfacing supporting human activities and service operations. One example of the major applications of robotics and mechatronics research is supporting daily life and work. The next four papers cover the issues of multiagents and multirobot systems, including intelligent design approach to control based on advanced distributed computational intelligence. Two papers on visual/pattern recognition discuss the asbestos fiber counting problem in qualitative analysis as a typical machine intelligence application. The next two papers deal with bio-related issues - social insects (termites) inspiring labor control of multirobots and “nonsocial” insects (crickets) inspiring a novel experimental interactive robot-insect tool. The last three papers present intelligent control of robot manipulators, mainly using learning algorithms as computational intelligence. All explore cutting-edge research machine intelligence for robotics and mechatronics. We thank the authors for their invaluable contributions in submitting their most recent research results to this issue. We are grateful to the reviewers for their generous time and effort. We also thank the Editorial Board member of the Journal of Robotics and Mechatronics for helping to make this issue possible.
Development of Soft Power-Assist Glove and Control Based on Human Intent
Authors: Kadowaki Yoko ,   The Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama 700-8530, Japan, Noritsugu Toshiro , Takaiwa Masahiro , Sasaki Daisuke , Kato Machiko
Published: April 2016

The purpose of this study is to develop a soft-material power-assist glove for hand grasping in daily life by older or disabled persons. Such a glove must be compact, lightweight, and flexible. The glove we developed consists of rubber and cloth, and is user-friendly. This paper describes the types of rubber muscle and the soft power-assist glove, together with control based on human intent and the effectiveness of our proposal.
Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System
Authors: Tanaka Hirokazu ,   Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kaminaga Hiroshi , Nakamura Yoshihiko
Published: April 2016

This paper describes control methods of an Electro-Hydrostatic Actuators (EHA) for an exoskeletal power-assist systems. By increasing backdrivability of the electro-hydrostatic actuators, the exoskeletal power-assist systems can achieve haptic interaction with a human. We propose a pressure feedback controller based on singular perturbation method, which is used in a power-assist controller of the exoskeletal power-assist system. The controller assists human movements by increasing the sensitivity of the electrohydrostatic actuator with estimated torque feedback. The controllers were implemented on an exoskeletal power-assist system for a knee joint with an electrohydrostatic actuator. Their efficacy was evaluated by experiments.
MR-Safe Pneumatic Rotation Stepping Actuator
Authors: Sajima Hiroyuki ,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo, Japan, Kamiuchi Hiroki , Kuwana Kenta , Dohi Takeyoshi , Masamune Ken
Published: April 2016

Magnetic Resonance Imaging (MRI) is widely used not only for diagnosis but also for surgical navigation, etc. Surgeons and surgery-support systems can conduct surgeries less invasively because they derive accurate positional relationships between surgical instruments and anatomical regions of interest from preoperative or intraoperative MRI images. Many surgical robots intended for use within MRI gantries have been developed. Some of them use pneumatic actuators that are difficult to control accurately or that have many components, however, causing high fabrication cost, low durability and low sterilizability. To solve these problems, we have developed a φ30-mm pneumatic rotation stepping actuator. The actuator consists of three Direct Acting gears (D.A. gears) and a Rotation gear (R gear). When all of the D.A. gears are pushed sequentially up by compressed air, the R gear rotates because it engages all of them. In a fundamental performance experiment, the maximum angular error was 2.1° and maximum torque was approximately 150 mNm using 0.6 MPaG. Additionally, in an MR safety evaluation, the actuator was not found to cause any distortion or artifacts in MRI images. The actuator can therefore be applied to MR-safe positioning or puncturing robots.
Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles
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, Pebrianti Dwi , Ali Syaril Azrad Md. , Iwakura Daisuke , Song Yuze , Nonami Kenzo , Fujiwara Daigo ,   Department of Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
Published: April 2016

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.
Design of Large Motion Range and Heavy Duty 2-DOF Spherical Parallel Wrist Mechanism
Authors: Ueda Koji ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Yamada Hiroya , Ishida Hiroaki , Hirose Shigeo ,   Global Edge Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-5880, Japan
Published: April 2016

Wrist mechanisms are important elements of robotic arms because they significantly affect the arm’s handling ability. Although various wrist mechanisms have been developed to date, a mechanism with a compact structure, a wide range of motion and a large load capacity has not yet been realized. Thus, in this paper, we propose 2-DOF Spherical Parallel (2DSP) mechanism, a heavy-duty wrist mechanism with a large motion range, and clarify its features both analytically and experimentally. The 2DSP mechanism is driven by a 2-DOF spherical parallel mechanism and is supported by a universal joint located at its center. This structure allows the 2DSP mechanism to realize a large motion range and load capacity and simplifies its kinematic analysis. Based on this analysis, we clarify the design process to maximize the motion range and propose a preferable structure of passive joints from the viewpoint of load capacity and production cost. We also describe the detailed design of a 2DSP mechanism for a rescue robot we developed previously and verify the feasibility of the proposed mechanism.
Message from JRM Editor-in-Chief
Authors: Takita Yoshihiro
Published: April 2016

Rapid advances in semiconductors over the last 4 decades has enabled the transition from analog to digital systems and CPU progress from an 0.5 MHz clock rate to 3.5 GHz or higher multi-core processors. Robot-controlled devices also switching from analog to digital has made possible control with a high degree of freedom. Advances like these are expected to continue. On the other hand, an individual human is able to create new high-performance devices and systems by acquiring scientific and technological knowledge of the past generations through education and individual effort. The transmission of technology to next generations is seen as a critical issue in many fields. I believe, however, that one viable method for doing so is by publishing scientific and technological papers and building a knowledge base that is the common property of the human race — which I see this as one of our most important mission. Since its start in 1989 as the worlds’ first journal covering the mechatronics field in addition to robotics, our mission at the Journal of Robotics and Mechatronics (JRM) has been to make the latest developments and information on Japan’s cutting-edge robotics and mechatronics discoveries widely available to readers overseas. Co-editing the JRM with the Robotics and Mechatronics Division, Japan Society of Mechanical Engineers(JSME) from April 1999 has ended at December 2013, and we now make a fresh return to the JRM’s founding principles as our top priority in this year.I on behalf of the Editorial Board would therefore like to take this opportunity to express our deep gratitude to the past members of our editorial board, to those who contributed their papers to JRM, and to our many domestic and overseas readers. It is our strong resolve to continue upholding the principles we set forth at the time of our founding and to continue disseminating the latest in robotics and mechatronics technologies, taking full advantage of the merits of a journal which does not depend on specific academic societies. In doing this, we are asking for your continuing support as contributors and readers. In the last few years, the impact factor (IF) of the Science Citation Index (SCI) by Thomson Reuters, has been established as a set of evaluation criteria for academic journals that has been applied in some circles to the evaluation of academic papers. Even though there exists some controversy centering on the topic of scientific paper evaluation and the use of impact factors in European and American standards, it remains highly important that we maintain the highest standards of quality in those papers that are published in the JRM. This is done for the purpose of continuing to ensure that the JRM remains highly evaluated worldwide. We are asking for the ongoing support of our contributing researchers, engineers, and readers in this, our continued effort, towards inclusion in the Web of Science.Rest assured that we will continue to provide interesting, intriguing and valuable scientific information as we have in the past.
Autonomous Walking Humanoid that Astonished the World – Honda’s ASIMO
Authors: writer JRM staff
Published: April 2016

ASIMO, developed by HONDA Research Institute Japan Co., Ltd., is the world’s first humanoid robot to achieve autonomous biped walking. Despite the fact that research on humanoid robots began in the 1960s, no successful cases of dynamic biped walking robots existed before P2.

ASIMO, which is an abbreviation of its product name “Advanced Step for Innovative Mobility,” began being developed in 1986. Prototype 2 (P2) astonished the world when it was introduced to the public in December, 1996. A smaller, more multifunctional ASIMO, shown in Fig. 1, was unveiled in 2000.

In July 2002, ASIMO became famous around the world when it rang the New York Stock Exchange (NYSE)’s opening bell. In 2004, it was inducted into the Robot Hall of Fame at Carnegie Mellon University (CMU) [2].
A Basic Framework of Virtual Reality Simulator for Advancing Disaster Response Work Using Teleoperated Work Machines
Authors: Kamezaki Mitsuhiro ,   Research Institute for Science and Engineering (RISE), Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Yang Junjie , Iwata Hiroyasu , Sugano Shigeki ,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Green Computing System R&D Center, 27 Waseda-machi, Shinjuku-ku, Tokyo 162-0042, Japan
Published: April 2016

Virtual reality simulator
 A virtual reality (VR) simulator is developed to aid in advancing teleoperated construction machines for disaster response work. VR simulators, which can measure arbitrary data, allow the operator to reproduce desired situations repeatedly, and change the machine and environmental configurations more easily than is possible in real environments, can create teleoperation technologies and quantitatively evaluate them, and can improve operational skills in complex disaster response works. As basic components of a VR simulator, a VR environment, operation-input, and videooutput components are developed. The VR environment is built using a basic graphics library and dynamics engine for simplification. The operation-input component consists of control levers for a demolition machine that has a grapple and environmental cameras with yaw, pitch, and zoom functions. The videooutput component consists of a two-dimensional monitor that can display an in-vehicle camera view, multiple environmental camera views, and the machine status. Experiments conducted show that operators can adequately transport debris in the VR environment while watching views on the monitor from the in-vehicle and environmental cameras. The experiments also reveal the characteristics that reduce the machine’s time efficiency. 
Special Issue on Human Centric, Universal and Interactive Design for Robotics and Mechatronics
Authors: Kawarazaki Noriyuki , Yoshidome Tadashi , Matsuhira Nobuto , Tanaka Takayuki
Published: April 2016

According to the aged society in Japan, the expectation is high for the development of the human support robot or devices in daily life and in medical treatment and welfare. The human centered design and the universal design are very important concept for creating the useful human support devices. Human centric and universal designs are the designs of products and environments to be usable by all people, to the greatest extent possible, without the need for adaptation or specialized design. This special issue provides current researches and developments of human centric, universal and interactive design for robotics and mechatronics. Also, this special issue covers a broad range of research topics, such as human centric design, universal and interactive design, human machine interaction, transport system, housing environment system, rehabilitation devices, multi modal interface, evaluation of the usability, sensor/actuator technologies for assistive system, robotics and mechatronics to support elderly persons. We thank the authors for their fine contributions and the reviewers for their generous time and effort. In closing, we thank the Editorial Board of the Journal of Robotics and Mechatronics for helping make this issue possible.
Restaurant Service Robots Development in Thailand and Their Real Environment Evaluation
Authors: Eksiri Akkharaphong ,   Nagaoka University of Technology, Kimura Tetsuya
Published: April 2016

Developed restaurant robots
 This paper describes our development of service robots evaluated in real restaurants. Our objective is to develop two types of robot for 1) taking orders from customers and 2) delivering an order to the table. This project is done in collaboration between Bangkok University and MK Restaurants Group Public Company Limited. To achieve this objective, we have applied simple technologies from our experiences at the robot competition called Robocon. We have evaluated each of our robots for six months in a real environment where five branches of the MK restaurant chain are located in the Bangkok area of Thailand, from 2009 to 2012. In the evaluation, robots provided 14,280 services and attracted the interest of 235,680 customers. “Lessons Learned” from this four-year project have been summarized, and should prove useful to similar service robot development projects. 
Performance-Driven Adaptive Output Feedback Control with Direct Design of PFC
Authors: Takagi Taro ,   Department of Control Engineering, National Institute of Technology, Maizuru College, Mizumoto Ikuro , Tsunematsu Junpei ,   Department of Intelligent Mechanical Systems, Kumamoto University,   Department of Mechanical System Engineering, Kumamoto University
Published: April 2016

  Block diagram of proposed control
 An adaptive control system is configured simply by output feedback when the controlled system is almost strictly positive real (ASPR). ASPR conditions are, however, very severe restrictions for actual systems. The parallel feedforward compensator (PFC), which is designed for making augmented controlled system ASPR, has been proposed to solve this problem. We propose a performance-driven adaptive output feedback control system with a PFC designed via direct design. Our proposed adaptive control system is to be used for systems whose properties change during operation. Our PFC’s direct design uses the system’s input/output data and readjusts output feedback gain based on a performance index. The effectiveness of the proposed method is confirmed through experiments using liquid level control for the two-tank process system. 
A Hybrid Nonlinear ANC for Speech Recovery Using Both Bone- and Air-Conducted Measurements
Authors: Xiao Ran ,   NEC Solution Innovators, Ltd., Ma Yaping , Huang Boyan , Xiao Yegui , Hasegawa Koji ,   Harbin Institute of Technology,   Prefectural University of Hiroshima,   Hiroshima Prefectural Technology Research Institute
Published: April 2016

  Denoising nonlinear filter
 Speech recovery in the presence of very harsh noise is calling for R&D that take approaches different from those established to date, as the conventional systems and algorithms for speech denoising may suffer from serious performance degradation. In this paper, we propose a hybrid nonlinear adaptive noise canceller (ANC) to perform the speech enhancement task using both bone- and air-conducted measurements. In the proposed ANC, the bone-conducted speech serves as a reference signal while the air-conducted measurement with very large additive noise is adopted as a primary noise. A Volterra filter and a functional link artificial neural network (FLANN) are placed in parallel, forming a hybrid nonlinear ANC. Simulations using real bone- and air-conducted speech measurements are provided to demonstrate that the proposed system outperforms ANCs equipped with FIR filter or Volterra filter or FLANN alone. 
Toward Next Active Safety Technology of Intelligent Vehicle
Authors: Yoshida Hidehisa ,   Department of Mechanical Systems Engineering, National Defense Academy of Japan, Omae Manabu , Wada Takahiro ,   Graduate School of Media and Governance, Keio University,   College of Information Science and Engineering, Ritsumeikan University
Published: April 2016

 Intelligent vehicle technologies
Autonomous driving has attracted attention in recent years from the viewpoint of energy consumption and traffic accident prevention; hence, its introduction has been desired. In Japan, various accident prevention safety technologies were developed for cooperative control between the driver and the vehicle system. For example, “adaptive cruise control system” and “lane departure warning system” were developed in the 1990s and “lane keeping assist system” and “braking control device for reducing collision damage” in the early stages of the 2000s. Later in Europe, autonomous driving systems were actively studied, and an automated braking system to avoid collisions was introduced in the market in the second half of the 2000s. Studies and development have been promoted for the practical use of active safety technologies based on autonomous driving technologies. Autonomous driving technologies could be applied to various cases, such as convoy travelling to compensate for the insufficient number of professional drivers or to improve their work environment, last-one-mile travelling from a public transportation station to home for the elderly, people who have children and people who need assistance, dead-man system for sudden illness of the driver, and automated parking for assisting the driver who is not good at it, or for the parking space to be effectively used. In this paper, an overview of the transition and history of vehicular technologies for safety and reliability is given. In particular, active safety technologies for traffic accident prevention and the necessary related technology trend are reviewed, and future problems are pointed out.
Human Trafficking and Health: A Survey of Male and Female Survivors in England
Authors: Oram Siân , Abas Melanie , Bick Debra , Boyle Adrian , French Rebecca , Jakobowitz Sharon , Khondoker Mizanur , Stanley Nicky , Trevillion Kylee , Howard Louise , Zimmerman Cathy
Published: April 2016

Objectives. To investigate physical and mental health and experiences of violence among male and female trafficking survivors in a high-income country.

Methods. Our data were derived from a cross-sectional survey of 150 men and women in England who were in contact with posttrafficking support services. Interviews took place over 18 months, from June 2013 to December 2014.

Results. Participants had been trafficked for sexual exploitation (29%), domestic servitude (29.3%), and labor exploitation (40.4%). Sixty-six percent of women reported forced sex during trafficking, including 95% of those trafficked for sexual exploitation and 54% of those trafficked for domestic servitude. Twenty-one percent of men and 24% of women reported ongoing injuries, and 8% of men and 23% of women reported diagnosed sexually transmitted infections. Finally, 78% of women and 40% of men reported high levels of depression, anxiety, or posttraumatic stress disorder symptoms.

Conclusions. Psychological interventions to support the recovery of this highly vulnerable population are urgently needed.
Efficacy of a Computerized Intervention on HIV and Intimate Partner Violence Among Substance-Using Women in Community Corrections: A Randomized Controlled Trial
Authors: Gilbert Louisa , Goddard-Eckrich Dawn , Hunt Timothy , Ma Xin , Chang Mingway , Rowe Jessica , McCrimmon Tara , Johnson Karen , Goodwin Sharun , Almonte Maria , Shaw Stacey A.
Published: April 2016

Objectives. To test the efficacy of a computerized, group-based HIV and intimate partner violence (IPV) intervention on reducing IPV victimization among substance-using women mandated to community corrections.

Methods. Between November 2009 and January 2012, we randomly allocated 306 women from community corrections in New York City to 3 study arms of a computerized HIV and IPV prevention trial: (1) 4 group sessions intervention with computerized self-paced IPV prevention modules (Computerized Women on the Road to Health [WORTH]), (2) traditional HIV and IPV prevention intervention group covering the same HIV and IPV content as Computerized WORTH without computers (Traditional WORTH), and (3) a Wellness Promotion control group. Primary outcomes were physical, injurious, and sexual IPV victimization in the previous 6 months at 12-month follow-up.

Results. Computerized WORTH participants reported significantly lower risk of physical IPV victimization, severe injurious IPV victimization, and severe sexual IPV victimization at 12-month follow-up when compared with control participants. No significant differences were seen between Traditional WORTH and control participants for any IPV outcomes.

Conclusions. The efficacy of Computerized WORTH across multiple IPV outcomes highlights the promise of integrating computerized, self-paced IPV prevention modules in HIV prevention groups.
A Novel Indicator of Life-Course Smoking Prevalence in the United States Combining Popularity, Duration, Quantity, and Quality of Smoking
Authors: Christopoulou Rebekka , Lillard Dean R.
Published: April 2016

Objectives. To develop a smoking indicator that combines the popularity and duration of smoking and the quantity and quality of consumed cigarettes, factors that vary dramatically over time and across generations.

Methods. We used retrospective reports on smoking behavior and a time series of cigarette tar yields to standardize nationally representative life-course smoking prevalence rates of 11 generations of US men and women, spanning 120 years. For each generation and gender, we related the standardized data with the corresponding rates of smoking-attributable mortality.

Results. Our indicator suggests that US cigarette consumption spread, peaked, and contracted faster than commonly perceived; predicts a significantly stronger smoking–mortality correlation than unadjusted smoking prevalence; and reveals the emergence of a delay (by up to 8 years) in premature death from smoking that is consistent with increasing population access to effective treatments. In fact, we show that, among recent cohorts, smoking health-risk exposure is at a historic low and will account for less than 5% of deaths.

Conclusions. Relative to unstandardized measures, our novel, standardized indicator of smoking prevalence describes a different history of smoking diffusion in the United States, and more strongly predicts later-life mortality.
Impact of Text Message Reminders on Caregivers’ Adherence to a Home Fortification Program Against Child Anemia in Rural Western China: A Cluster-Randomized Controlled Trial
Authors: Zhou Huan , Sun Shuai , Luo Renfu , Sylvia Sean , Yue Ai , Shi Yaojiang , Zhang Linxiu , Medina Alexis , Rozelle Scott
Published: April 2016

Objectives. To test whether text message reminders sent to caregivers improve the effectiveness of a home micronutrient fortification program in western China.

Methods. We carried out a cluster-randomized controlled trial in 351 villages (clusters) in Shaanxi Province in 2013 and 2014, enrolling children aged 6 to 12 months. We randomly assigned each village to 1 of 3 groups: free delivery group, text messaging group, or control group. We collected information on compliance with treatments and hemoglobin concentrations from all children at baseline and 6-month follow-up. We estimated the intent-to-treat effects on compliance and child anemia using a logistic regression model.

Results. There were 1393 eligible children. We found that assignment to the text messaging group led to an increase in full compliance (marginal effect = 0.10; 95% confidence interval [CI] = 0.03, 0.16) compared with the free delivery group and decrease in the rate of anemia at end line relative to the control group (marginal effect = −0.07; 95% CI = −0.12, −0.01), but not relative to the free delivery group (marginal effect = −0.03; 95% CI = −0.09, 0.03).

Conclusions. Text messages improved compliance of caregivers to a home fortification program and children’s nutrition.
Variability and Limits of US State Laws Regulating Workplace Wellness Programs
Authors: Pomeranz Jennifer L. , Garcia Andrea M. , Vesprey Randy , Davey Adam
Published: April 2016

We examined variability in state laws related to workplace wellness programs for public and private employers. We conducted legal research using LexisNexis and Westlaw to create a master list of US state laws that existed in 2014 dedicated to workplace wellness programs. The master list was then divided into laws focusing on public employers and private employers. We created 2 codebooks to describe the variables used to examine the laws. Coders used LawAtlasSM Workbench to code the laws related to workplace wellness programs.

Thirty-two states and the District of Columbia had laws related to workplace wellness programs in 2014. Sixteen states and the District of Columbia had laws dedicated to public employers, and 16 states had laws dedicated to private employers. Nine states and the District of Columbia had laws that did not specify employer type. State laws varied greatly in their methods of encouraging or shaping wellness program requirements.

Few states have comprehensive requirements or incentives to support evidence-based workplace wellness programs.