bluuebunny/crossref_metadata_2025 huggingface dataset:
Simultaneous Learning of Robot Impedance Parameters Using Neural Networks
Authors: Terauchi Mutsuhiro ,   Faculty of Psychological Sciences, Hiroshima International University, 555-36 Kurose-Gakuendai, Higashi-Hiroshima, Hiroshima 724-0695, Japan, Tanaka Yoshiyuki , Sakaguchi Seishiro , Bu Nan , Tsuji Toshio ,   Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan,   National Institute of Advanced Industrial Science and Technology, 807-1 Shunku, Tosu, Saga 841-0052, Japan
Published: April 2016

Impedance control is one of the most effective control methods for interaction between a robotic manipulator and its environment. Robot impedance control regulates the response of the manipulator to contact and virtual impedance control regulates the manipulator's response before contact. Although these impedance parameters may be regulated using neural networks, conventional methods do not consider regulating robot impedance and virtual impedance simultaneously. This paper proposes a simultaneous learning method to regulate the impedance parameters using neural networks. The validity of the proposed method is demonstrated in computer simulations of tasks by a multi-joint robotic manipulator.
Three-Dimensional Obstacle Avoidance of Blimp-Type Unmanned Aerial Vehicle Flying in Unknown and Non-Uniform Wind Disturbance
Authors: Kawano Hiroshi ,   NTT Corporation, NTT Communication Science Laboratories, 3-1 Wakamiya, Morinosato, Atsugi, Kanagawa 243-0198, Japan
Published: April 2016

A blimp-type unmanned aerial vehicle (BUAV) maintains its longitudinal motion using buoyancy provided by the air around it. This means the density of a BUAV equals that of the surrounding air. Because of this, the motion of a BUAV is seriously affected by flow disturbances, whose distribution is usually non-uniform and unknown. In addition, the inertia in the heading motion is very large. There is also a strict limitation on the weight of equipment in a BUAV, so most BUAVs are so-called under-actuated robots. From this situation, it can be said that the motion planning of the BUAV considering the stochastic property of the disturbance is needed for obstacle avoidance. In this paper, we propose an approach to the motion planning of a BUAV via the application of Markov decision process (MDP). The proposed approach consists of a method to prepare a discrete MDP model of the BUAV motion and a method to maintain the effect of the unknown wind on the BUAV’s motion. A dynamical simulation of a BUAV in an environment with wind disturbance shows high performance of the proposed method.
Improvement of Ride Quality of a Wheelchair When it Passes over Small Steps
Authors: Higuchi Masaru ,   Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Shinagawa Tomonori , Ito Hirohiko , Takeda Yukio , Sugimoto Koichi ,   Paramount Bed Co., LTD., 2078 Shirahata, Sammu-city, Chiba 289-1306, Japan
Published: April 2016

Wheelchairs, although the most widely used moving welfare implements, expose users to whole-body vibration and discomfort when it passes over obstacles such as steps and Braille blocks. To increase the comfort of wheelchair users, it is necessary to improve wheelchair ride quality. In this paper, we discuss dynamic characteristics of the human-wheelchair system, a ride-quality index of a wheelchair when it passes over small steps, and suspension design improving wheelchair ride quality. To simulate the dynamic characteristics of the human-wheelchair system, a model of human-wheelchair system that included a model of contact between the wheel and the terrain is proposed, and results of simulations and experiments are compared and discussed.
Development of Network Plug-in Actuator
Authors: Izuchi Takuya ,   Meijo University, 1-501 Shiogamaguchi, Tempaku, Nagoya 468-8502, Japan, Hotta Munetoshi , Oomichi Takeo , Seki Shigeo , Koyama Junji ,   Tamagawa Seiki Co., Ltd., 1020 Kega, Iida, Nagano, Japan,   Harmonic Drive Systems Inc., 1856-1 Hotakamaki, Azumino, Nagano 399-8305, Japan
Published: April 2016

We propose an intelligent connector (ICN) that uses a network plug-in actuator (NPA) or an intelligent connector (ICN) to reduce the number of signal and power cables and integrates an AC servomotor and motor drive with serial signal wires using a controller area Network (CAN). The ICN connects the NPA and a controller such as a personal computer and connects different networks such as the Ethernet, CAN, IEEE1394, or USB. We developed an NPA series from 5 W to 750 W and verified their functions. We also evaluated the ICN performance using the NPA. This system was installed on an “econovehicle” and its effectiveness was successfully demonstrated.
Development of a Transformable Mobile Robot with a Variable Wheel Diameter
Authors: Nagatani Keiji ,   Graduate School of Engineering, Tohoku University, 6-6-01 Aramaki Aoba, Aoba-ku, Sendai 980-8579, Japan, Kuze Mitsuhiro , Yoshida Kazuya ,   Fuji Heavy-Industries, 1-1 Subaru-machi, Ohta-city, Gunma 373-8555, Japan
Published: April 2016

A demand of search and rescue operations using robotic technology increases to mitigate a natural disaster. In searching tasks with mobile robots, particularly in debris-covered environment, there is a trade-off between high-traversability on bumpy surfaces (likely to large robots) and exploration in limited areas (likely to small robots). With this in mind, we developed a small transformable mobile robot that uses a variable wheel diameter and stabilizer length. In its most compact form, the robot is deployable in limited areas and, in its fully expanded form, it traverses relatively large obstacles by expanding its wheel diameter. In this paper, development is detailed in the former sections, and geometric analysis and experiment of its step-climbing capabilities is introduced in the latter sections.
Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors
Authors: Hikosaka Naotaka ,   Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Watanabe Kei , Umeda Kazunori
Published: April 2016

We discuss the recognition of obstacles by detecting a plane using relative disparity maps obtained from a small range image sensor incorporated in a humanoid. Our proposal enables easy plane detection and obstacle recognition using relative disparity from a reference plane alone. We built an integrated controller that feeds back obstacle information to the humanoid. We confirmed through experiments that the humanoid recognized obstacles and autonomously stopped walking.
Decision Making for a Mobile Robot Using Potential Function
Authors: Oikawa Kazumi ,   Yamagata Univ., 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan, Takauji Hidenori , Emaru Takanori , Tsuchiya Takeshi , Okubo Shigenori ,   Hokkaido Univ., Kita 14 Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan,   Hokkaido Univ., Kita 13 Nishi 9, Kita-ku, Sapporo, Hokkaido 060-8628, Japan,   Hokkaido Institute of Technology, 7-15-4-1 Maeda, Teine-ku, Sapporo, Hokkaido 006-8585, Japan
Published: April 2016

We discuss decision making for a behavior-based robot with modules which determining robot action. The subsumption architecture (SA) arranges modules in layers, giving upper-layer module action priority over lower-layer modules. Although implementation is easy, results in many inefficient actions because upper-layer module are used regardless of other modules. We solve this problem by representing actions by Potential Function (PF), in which maximum votes are collected from modules. Using event-driven state transition, the robot decides its action with appropriate sets of modules changed based on the situation. We apply this to navigation tasks in a corridor and show simulation results. When we give a map and path designation to the robot, we use a handwriting map interface. We compare object-oriented design SA and PMF with our proposal and show how inefficient actions are reduced using our proposal.
Development of an Articulated Mechanical Hand with Enveloping Grasp Capability
Authors: Imamura Nobuaki ,   Department of Mechanics and Robotics, Faculty of Engineering, Hiroshima International University, 5-1-1 Hirokoshingai, Kure, Hiroshima 737-0112, Japan, Nakamura Yuya , Yamaoka Seiichi , Shirasawa Hidenori , Nakamoto Hiroyuki ,   Mechanical system advanced course, Kobe City College of Technology, 8-3 Gakuen-Higashimachi, Nishi-ku, Kobe 251-2194, Japan,   Toyo Press Industry Co. Ltd., 1-9-36 Nagasu-Nishitori, Amagasaki, Hyogo 660-0807, Japan,   The Advanced Materials Processing Institute Kinki Japan (AMPI), 7-1-8 Doi-cho, Amagasaki, Hyogo 660-0083, Japan,   Hyogo Prefectural Institute of Technology, 3-1-12 Yukihira-cho, Suma-ku, Kobe 654-0037, Japan
Published: April 2016

Recently, factory automation and labor saving efforts have required that objects of different shapes and sizes be held and grasped by a single robot hand mechanism. To meet such needs, we have developed an articulated mechanical hand that has an enveloping grasp capability. Since this hand can envelope and grasp an object mechanically, it can be used widely in factories where parts of different shapes and sizes must be handled. This paper details the hand's design which we developed using GaeaDrive® in its joint driving mechanism. Grasping configuration of the mechanical hand for different object sizes and conditions for realizing a suitable Grasping configuration are discussed analytically. And the usefulness of the developed mechanical hand is demonstrated experimentally.
Development of a Face Robot Imitating Human Muscle Structures
Authors: Hashimoto Minoru ,   Interdisciplinary Graduate School of Science and Technology, ,Shinshu University, Nagano, Japan, Yokogawa Chisaki , Sadoyama Tsugutake , Sugahara Toru ,   Kissei Comtec Co., Ltd., Nagano, Japan,   Department of Kansei Engineering, Shinshu University, Nagano, Japan
Published: April 2016

When robots communicate with users, facial expressions play an important role. This paper explains the design and prototyping of robot facial expressions imitating human muscle structures i.e., skin, muscle, and frame. Facial expressions are generated by robot muscle constructions. The robot muscle consists of a motor, wires, and urethane sponge. Human muscle activities are measured and the robot muscles are controlled using values of muscle activity to make natural facial expressions natural.
A Study on Catheter Drives for Automatic Aspiration Working with Ventilator
Authors: Yamaguchi Yuzo ,   University of East Asia, 2-1 Ichinomiya-Gakuen-machi, Shimonoseki, Yamaguchi 751-8503, Japan, Yoshimizu Takumi , Muta Yoshihiro , Tashiro Mitsuo ,   Akane Medical Group, 35-1 Shioiri-machi, Shimonoseki, Yamaguchi 750-0059, Japan,   Showa Hospital, Akane Medical Group, 35-1 Shioiri-machi, Shimonoseki, Yamaguchi 750-0059, Japan
Published: April 2016

We developed a catheter drive with two rotors that pinch an aspiration catheter between them and incline along the perpendicular of the catheter axis at mutually opposite angles. Rotors are driven with the same torque in opposite directions to minimize residual torque devolving on the patient being treated. The catheter drive enables a flexible 4 mm diameter plastic catheter to be inserted into and withdrawn from a respiratory cannula over 200 mm long at a constant speed of 30 mm/s accompanying catheter rotation. The catheter drive is about 30 g mass, including a joint to a ventilator and a joint to a vacuum resource for aspiration. Aspiration tests of 5 types of dummy sputum confirmed the feasibility of aspiration by the catheter drive we developed.
Analysis of Multineuron Activity Using the Kernel Method
Authors: Nomura Masaki ,   CREST, Japan Science and Technology Corporation, Kawaguchi, Saitama 332-0012, Japan, Sakurai Yoshio , Aoyagi Toshio ,   Department of Psychology, Graduate School of Letters, Kyoto University, Yoshida-Honmachi, Sakyo-ku, Kyoto 606-8501, Japan,   Department of Applied Analysis and Complex Dynamical   Systems, Graduate School of Informatics, Kyoto University, Yoshida-Honmachi, Sakyo-ku, Kyoto 606-8501, Japan
Published: April 2016

We recorded multineuron spike time-series data from rat hippocampus region CA1 during a conditional discrimination task. We separated out individual single-neuron activity from multineuron activity data and prepared spike count data and calculated a kernel matrix using a Spikernel function, then applied k-means clustering and principal component analysis (PCA). Comparing spike count data to an appropriate time, we divided data into clusters and found the correspondence between the obtained cluster and rat activity. We discuss information expression in nervous-system activity expected from the kernel function.
Mechanical Dynamics That Enables Stable Passive Dynamic Bipedal Running – Enhancing Self-Stability by Exploiting Nonlinearity in the Leg Elasticity –
Authors: Owaki Dai ,   Dept. of Electrical and Communication Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Ishiguro Akio
Published: April 2016

Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, we intensively discuss the effect of intrinsic dynamics of a robot’s body on resulting behavior, in the hope that the mechanical systems appropriately designed will allow us to significantly reduce complexity of control algorithm required. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped and investigate how this influences stability of running. As a result, we found that a certain type of nonlinearity in leg elasticity plays a crucial role in enhancing the stability of passive dynamic running. To the best of our knowledge, this has not been explicitly addressed in papers presented thus far.
Linear Discrimination Analysis of Monkey Behavior in an Alternative Free Choice Task
Authors: Takenaka Kazuhito ,   Laboratory for Symbolic Cognitive Development, RIKEN Brain Science Institute, 2-1 Hirosawa, Wako, Saitama 351-0198, Japan, Nagasaka Yasuo , Hihara Sayaka , Nakahara Hiroyuki , Iriki Atsushi , Kuniyoshi Yasuo , Fujii Naotaka ,   Intelligent Systems and Informatics Lab., Dept. of Mechano-Informatics, School of Information Science and Technology, The Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Laboratory for Integrated Theoretical Neuroscience, RIKEN Brain Science Institute, 2-1 Hirosawa, Wako, Saitama 351-0198, Japan
Published: April 2016

When we observe people, we can often comprehend their intention from their behaviors. The intentions expressed by individuals can be considered as existing in interpersonal space and from a current social context. In our daily activity, choosing socially correct behavior through the observation of such social context is essential. However, it is not known how we can decode intention from another’s behavior. Here, we show how we can retrieve the intention of monkeys through external observation of their behavior patterns while performing alternative free choice tasks. We found that linear discriminant analysis on a monkey’s motion parameters could provide a discriminant score that appears to reflect the internal decision making process. The score showed a clear flexion point that we defined as a moment of outward expression of intention (OEI). This suggests that an alternative decision is made just before an OEI and that intention is expressed in the environment after this OEI in behavior, which in turn suggests that discriminant analysis may be useful in indicating how the brain implements nonverbal social communication. If we could embed the function in a human-machine interfaces, it could enable intuitive, smooth communication between machines and humans.
Autonomous Control of Reaching Movement by ‘Mobility’ Measure
Authors: Yoshihara Yuki ,   Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan, Tomita Nozomi , Makino Yoshinari , Yano Masafumi
Published: April 2016

Humans achieve reaching movements even when environmental conditions change unexpectedly, and because the human arm is redundant, a controller must incorporate constraints, and these constraints should adapt to changes in environmental conditions. In this paper, we propose new constraints that emerge in real-time from the sensory information acquired by the system during movement. In our model, the constraints needed to determine the control commands for each joint are implemented as autonomously decentralized interactions among the joints, based on a ‘mobility’ measure that evaluates instantaneous dynamic and kinematic properties of each joint. Simulated results indicate that these interactions can yield suitable motor commands in real-time, in such a way that the more mobile joints work dominantly and the less mobile joints work cooperatively, even when dynamic and kinematic perturbations are applied to the system during movement. The proposed constraints are thus adaptive to environmental and dynamic changes, and our controller is capable of functioning in the real world.
Grand Espoir: Robotics in Regenerative Medicine
Authors: Yamato Masayuki ,   Institute of Advanced Biomedical Engineering and Science, Tokyo Women’s Medical University, Tokyo, Japan, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan, Takagi Ryo , Kondo Makoto , Murakami Daisuke , Ohki Takeshi , Sekine Hidekazu , Shimizu Tatsuya , Kobayashi Jun , Akiyama Yoshikatsu , Namiki Hideo , Yamamoto Masakazu , Okano Teruo ,   Graduate School of Science and Engineering, Waseda University, Tokyo, Japan,   Department of Surgery, Institute of Gastroenterology, Tokyo Women’s Medical University, Tokyo, Japan
Published: April 2016

Here, we overlook the brief history of regenerative medicine, and summarize the expectation to breakthroughs achieved by robotics in the field. One expected application of robotics is an automatic cell culture system, which can dramatically reduce the cost for manufacturing bioengineered tissues conventionally requiring GMP (Good Manufacturing Practice) facility for Cell Processing Center. The other is a robotic surgery system for less invasive transplantation of cells and fabricated tissues. To show the feasibility of robotic surgery-assisted transplantation, we have shown the success of cell sheet transplantation to luminal surface of living canine esophagus by endoscopy. Thus, the contribution of robotics to regenerative medicine has been wanted to realize the greatest success of tissue engineering and cell-based medicine.
Tooth Regenerative Therapy, Approached from Organogenesis
Authors: Nakao Kazuhisa ,   Department of Biological Science and Technology, Faculty of Industrial Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Tsuji Takashi ,   Tissue Engineering Research Center, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan
Published: April 2016

Regenerative medicine is expected to be a novel therapeutic system in this century [1-3]. The human body consists of 200 cell species generated from immature stem cells. In the 1990s, a treatment transplanting hematopoietic stem cells to replace all blood cells was established and successfully cured leukemia [4]. With this as a model, stem cell transplantation therapy is being developed to restore the partial loss of organ function [5, 6]. The ultimate goal of regenerative medicine is to replace loss or damaged organs with artificial organs, so-called organ replacement therapy. Technical development to produce “tissues” made of a single cell species modeled on skin, bone, heart muscle, and cornea is advancing, but little development of organs per se has been attempted. In the sections that follow, we discuss why and explain how we are trying with the problems of “tooth regeneration.”
Liquid Crystal Actuator Using Nematic π-Cell
Authors: Mieda Yoshitaka ,   Department of Advanced Science and Technology, Toyota Technological Institute, 12-1 Hisakata 2-chome, Tempaku-ku, Nagoya 468-8511, Japan, Furutani Katsushi
Published: April 2016

We propose a liquid crystal actuator using the backflow effect in the nematic π-cell in which a unidirectional flow is generated after the electric field is removed. Applying rectangular AC voltage continuously drives dispersed objects in the π-cell in the direction of rubbing. Using this actuator, we drive microspheres and a film. The drive velocity of dispersed objects depends on the amplitude and frequency of applied voltage.
Development of a Multi-Compartment Micro-Cell Culture Device as a Future On-Chip Human: Fabrication of a Three-Compartment Device and Immobilization of Mature Rat Adipocytes for the Evaluation of Chemical Distributions
Authors: Nakayama Hidenari ,   Institute of Industrial Science (IIS), University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Kimura Hiroshi , Komori Kikuo , Fujii Teruo , Sakai Yasuyuki ,   Center for Disease Biology and Integrative Medicine (CBIM), University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Published: April 2016

Absorption, distribution, metabolism and excretion (ADME) are important in estimating the influence of chemicals on health. Distribution among internal organs is difficult to estimate without animal experiments. In vitro development targets the perfusion culturing of multiple cells derived from organs such as the liver, stomach, small intestines, and kidney. Using cheep, easily molded polydimethylsiloxane (PDMS), we produced a cell-culture microdevice having three compartments to determine the kinetic distribution of hydrophobic chemicals imaged by fluorescent imaging based on the presence of mature rat adipocytes. The disposable device uses liquid feeding using a magnetic stirrer. Separate and complete perfusion modes are easily changed by a valve after nurturing organ-derived cells in the device under separate conditions, enabling kinetic evaluation. To stabilize, disperse, and fix mature adipocytes whose specific gravity is lower than the culture solution, nonwoven fabric is used as a three-dimensional scaffold. When fluoranthene, a fluorescent hydrophobic chemical, is added during perfusion culturing, fluoranthene selectively accumulates in a fat compartment after six hours in a device to which adipocytes are added, enabling in vitro determination of hydrophobic chemical accumulation determining the distribution of chemicals in adipocytes. By introducing cells of target organs and metabolic organs in to other compartments, the device is extremely effective in experimentally determining the ADME of chemicals and the development of toxicity in vitro.
Microfluidic Perfusion Culture of Human Hepatocytes
Authors: Kimura Hiroshi ,   Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Nishikawa Masaki , Yamamoto Takatoki , Sakai Yasuyuki , Fujii Teruo
Published: April 2016

Analysis using human cells has been widely used in place of animal experiments. To obtain culture environments closer to those with in vivo, perfusion culture using microfluidic devices is being studied instead of stationary culture such as in a culture dish. With conventional perfusion culture with microfluidic devices, pumping system is externally provided, causing a large dead volume of culture medium. As a result, applied drugs as well as metabolites and signal transmitters from cells are diluted. We minimized this dead volume by embedding micropumps within the device to realize a high concentration of metabolites and signal transmitters from cells by perfusion with small amounts of culture medium and its effects on the cells. Using Hep-G2, established from a human hepatoma, we successfully formed Hep-G2 spheroids which are not observed in conventional culture. Evaluating activity from the DNA amount and albumin produced, we found that Hep-G2 spheroids formed in our device showed higher activity than conventional 2-dimensional culture. We demonstrated that the functionally highly integrated on-chip perfusion cell culture microdevice provided cells with a culture environment close to that in vivo and promoted morphological change and expression of high activity in cells.
Wearable Power Assist Device for Standing Up Motion Using Pneumatic Rubber Artificial Muscles
Authors: Noritsugu Toshiro ,   The Graduate School of Natural Science and Technology,  Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan, Sasaki Daisuke , Kameda Masafumi , Fukunaga Atsushi , Takaiwa Masahiro ,   Kawasaki Heavy Industries, Ltd., 1-1 Kawasaki, Akashi, Hyogo 673-8666, Japan,   Welding System Department, Welding Company, Kobe Steel, Ltd., 100-1 Miyamae, Fujisawa, Kanagawa 251-8551, Japan
Published: April 2016

As society ages and birth rates fall, the dropping number of caregivers for an increasingly elderly population is expected to become a serious problem, raising the need for devices to assist those having difficulty in leading independent lives. These devices must be used near or directly on their users, making safety and user-friendliness equally important. This raises the need for safe, user-friendly actuators that are compact, lightweight, and appropriately soft. The pneumatic rubber artificial muscle meets this requirement. We developed a wearable power assist device that aids people in standing and uses the McKibben pneumatic rubber artificial muscle. We discuss its structure, basic features, and control. We also present an example of its application to rehabilitation.
Evaluation and Development of Assistive Cart for Matching to User Walking
Authors: Miyawaki Kazuto ,   Akita R&D Center, 4-21 Sanuki, Araya-cho, Akita City, Akita 010-1623, Japan, Iwami Takehiro , Ogasawara Yuuji , Obinata Goro , Shimada Yoichi ,   Akita University, 1-1 Tegatagakuenn-cho, Akita 010-8520, Japan,   Akita Prefectural R&D Center, 4-11 Sanuki, Araya-cho, Akita City, Akita 010-1623, Japan,   EcoTopia Science Institute, Nagoya University,  Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Division of Orthopedic Surgery, Department of Neuro and  Locomotor Science, Akita University School of Medicine, 1-1-1 Hondo, Akita 010-8543, Japan
Published: April 2016

As society ages, devices to assist human movement are attracting increasing attention. We evaluated a cart we developed to assist walking, calculating energy consumption based on a muscle-skeleton model. The cart decreased energy consumption by 6% in a normal gait. We expect our evaluation to be useful for developing a practical walker.
Development of a Mobile Home Robot System Based on RECS Concept and its Application to Setting and Clearing the Table
Authors: Aoyagi Seiji ,   Faculty of Engineering, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan, Yamaguchi Takahiro , Tsunemine Kazuo , Kinomoto Hiroshi , Takano Masaharu
Published: April 2016

A multipurpose robot conducting domestic tasks should be indispensable for social needs, and this type of robot requires sophisticated technologies. A humanoid robot is not really practical at present for actual home or hospital use, considering its reliability and cost. To develop a practical multipurpose robot, we previously proposed the robot-environment compromise system (RECS) concept, which involves technology to modify a robot’s environment to increase robot performance. This concept aims to share the technical difficulties between the robot and the environment so that robot tasks are possible and facilitated. The present paper reports the development of an indoor mobile robot system based on the RECS concept that has a wheel mechanism to traverse steps. We propose a navigation system based on image recognition of landmarks on the ceiling and evaluated its effectiveness in experiments. We also propose a positioning system using a docking mechanism. We demonstrate our proposal’s feasibility using domestic tasks of setting a meal on a table and clearing away the dishes. We also developed a human interface system based on speech synthesis and recognition.
An Ultrasonic 3D Tag System for Evidence-Based Nursing Care Support
Authors: Hori Toshio ,   Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Nishida Yoshifumi ,   CREST, Japan Science and Technology Agency (JST)
Published: April 2016

This paper introduces a pervasive sensor system for nursing homes, where daily activities of inhabitants are monitored by pervasive sensors. Deterioration in the quality of nursing care for old people has become one of the serious problems in aging societies and the authors have been challenging the problem by sensors embedded in a nursing room. The system employs an ultrasonic 3D tag system developed by the authors to record position information of the wheelchair of a subject and the information is utilized to provide prompt assistance to the subject and also to log their movement over their daily life. In our experiments, we obtained the subject’s position data for a month and a half in a nursing home in Tokyo and analyzed the subject’s activity transitions, the similarity between the activity and a common home schedule, and other important factors for nursing care. This paper presents the concept of the system, overview of the current system and experimental results obtained.
Safety Confirmation System Using Mat-Sensor and Power Line Communications for Elderly Person
Authors: Tanaka Kanya ,   Graduate School of Science and Engineering, Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan, Haruyama Kazuo , Yamada Yo ,   Department of Electrical Engineering, Ube National College of Technology, 2-14-1 Tokiwadai, Ube, Yamaguchi 755-8555, Japan
Published: April 2016

This paper proposes a safety confirmation system consisting of a mat sensor and a power line communication device that can be installed in small-sized senior citizen welfare facilities without a nurse call and in ordinary households. The proposed system detects when a senior citizen attempts to get out of bed or leave a room, sending an alarm to the control room or a caregiver in another room. The power line communication enables such housing facilities to set up safety confirmation easily and inexpensively. The usefulness of this system has been verified by field examination in the senior citizen welfare facility.
Development of a Television-Use Telemonitoring System for Elderly Daycare-Recipients Living Alone
Authors: Nakajima Kazuki ,   University of Toyama, 3190 Gofuku, Toyama, Toyama 930-8555, Japan, Kamiya Akinori , Matsui Hiroyuki , Oikawa Daisuke , Fujita Kentaro , Higashi Yuji , Tamura Toshiyo , Fujimoto Toshiro , Sasaki Kazuo ,   Fujimoto Hayasuzu Hospital, 17-1 Hayasuzu, Miyakonojyou, Miyazaki 885-0055, Japan,   Chiba University, 1-33 Yayoi, Inage-ku, Chiba 263-8522, Japan
Published: April 2016

We have developed a telemonitoring system to follow the activities of elderly daycare-recipients who live alone. After conducting a questionnaire on electrical appliances the elderly use daily as an index of activity, we chose television (TV) for monitoring. We then developed a telemonitoring system of TV use. A feasibility study conducted at the home of an 80-years-old female living alone demonstrated (1) the consistency of daily TV use rhythm and (2) different TV use patterns depending on the day of the week. The accumulation TV time in a day correlated inversely with activity evaluated from a pedometer output by the subject. TV use thus reflects daily activities of the elderly living alone and helps alert caretakers to possible problems those living alone may face.
Robot Therapy for Prevention of Dementia at Home – Results of Preliminary Experiment
Authors: Wada Kazuyoshi ,   Faculty of System Design, Tokyo Metropolitan University, Shibata Takanori , Asada Takashi , Musha Toshimitsu ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology,   SORST, JST,   Department of Neuropsychiatry, Institute of Clinical Medicine, University of Tsukuba,   Brain Functions Lab., Inc.
Published: April 2016

In robot therapy for senile dementia patients, a seal-like robot, Paro, was left in patients’ homes for a week to determine its neuropsychological influence. Efficacy was evaluated by the diagnosis method of neuronal dysfunction (DIMENSION), which detects a lack of smoothness of scalp potential distribution resulting from cortical neuronal impairment by analyzing recorded a patient’s electroencephalogram (EEG). Interaction with Paro by patients was observed by their families. In a preliminary experiment, 5 subjects were studied after informed consent was received from them or their families in accordance with the medical ethics committee of the University of Tsukuba and the AIST ethics committee.
Workspace and Dexterity Analyses of the Delta Hexaglide Platform
Authors: Yu Wu-Jong ,   Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu, Taiwan, 30050, R.O.C., Huang Chih-Fang , Chieng Wei-Hua ,   Music Technology Group of Music Institute, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu, Taiwan, 30050, R.O.C.
Published: April 2016

We propose for analyzing the Delta Hexaglide platform manipulator workspace through inverse kinematics to guarantee that all branches of the workspace are preserved. Workspace is analyzed using the marching cube. Dexterity is derived for the platform. Workspace and dexterity results are combined and presented in color or gray-level images for different Delta Hexaglide platforms. Parametric design of Delta Hexaglide workspace is also included in this research.
Motion Characteristics of Loop Type Elliptic Resonator
Authors: Sasaki Tohru ,   Graduate School of Science and Engineering, Toyama University, 3190 Gofuku, Toyama 930-8555, Japan, Koizumi Kunio , Sasaki Motofumi
Published: April 2016

This paper deals with characteristics of the elliptic resonator. The resonator consists of loop and leg part, respectively. Each part was actuated by bimorph type piezoelectric member. The deflection of loop part and the bending of leg part generated by piezoelectric bimorphs makes an elliptic motion at the center point of the upper member. If resonators are put in a train and are actuated at the same frequency, it can feed objects on the upper surface of its train. There are two type of resonator, arch type and pentagonal type. Arch type resonator generates big amplitude on the center of upper surface. Bending its under member, pentagonal type resonator generates amplitude on the whole upper surface. Calculated results show that a shape of resonator influences on natural modes and natural frequencies. The trial one could generate elliptic motion in arbitrary phase with both type resonator. A pentagonal type resonator with notch reinforces its torsional stiffness and can generate necessary natural modes and an elliptic vibration without generating other natural modes.
Bio-Inspired Real-Time Robot Vision for Collision Avoidance
Authors: Okuno Hirotsugu ,   Division of Electrical, Electronic and Information Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Yagi Tetsuya
Published: April 2016

A mixed analog-digital integrated vision sensor was designed to detect an approaching object in real-time. To respond selectively to approaching stimuli, the sensor employed an algorithm inspired by the visual nervous system of a locust, which can avoid collisions robustly by using visual information. An electronic circuit model was designed to mimic the architecture of the locust nervous system. Computer simulations showed that the model provided appropriate responses for collision avoidance. We implemented the model with a compact hardware system consisting of a silicon retina and field-programmable gate array (FPGA) circuits; the system was confirmed to respond selectively to approaching stimuli that constituted a collision threat.
Research on Variable Cylinders of the Tandem 4-Cylinder Gasoline Engine for Fuel Economy
Authors: Yamaji Kouki ,   Aichi Zokei Design College, 4-10-7 Imaike, Chikusa, Nagoya, Aichi 464-0850, Japan, Suzuki Hirokazu ,   Aichi University of Technology Automotive Junior College, 50-2 Manori, Nishihasama-cho, Gamagori, Aichi 443-0047, Japan
Published: April 2016

With progress in internal combustion engine fuel economy, variable cylinder systems have attracted attention. We measured fuel consumption in cylinder cutoff by stopping the injector alone, collected data changing the location and number of cutoff cylinders and when varying the cutoff cylinder, and compared the difference in fuel cost reduction. A transistor is inserted serially into the injector control circuit of the electronic control unit (ECU). By controlling the transistor via microcomputer, the injector is turned on or off independently from ECU control in obtain cylinder cutoff. The amount of fuel consumption is measured using enhancement mode of a failure diagnostic device based on the OBD II standard to collect injection time and rotational speed of the injector for a predetermined time and calculated based on this data. We confirmed that by stopping the injector alone, fuel consumption was reduced 6 to 22% and is reduced when the cutoff cylinder is varied.
Frequency Analysis for Biped Walking via Leg Length Variation
Authors: Kinugasa Tetsuya ,   Okayama University of Science, 1-1 Ridai-cho, Okayama 700-0005, Japan, Miwa Shoichi , Yoshida Koji
Published: April 2016

We analyzed the frequency response property of a biped realized with a sinusoidal leg length variation. Legs are not activated in the swing phase but excited through length variation, and walking is categorized as “Passive Dynamic Walking.” We provide dynamic and impact models to formulate walking, and define gain and phase properties as the frequency response. Leg length is controlled by a PD method and tracks to reference sinusoidal time functions. In some simulations, a resonance point exists for gain, gain corresponds to efficiency in the sense of consumed energy, and body inclination yields higher walking gain. We discuss the validity of frequency analysis comparing experimental results and simulation results.
Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot
Authors: Tadakuma Kenjiro ,   Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139 USA
Published: April 2016

This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the configurations of obstacles in the field, including such complicated structures like debris after disasters. To assess the performance of this joint mechanism, an actual prototype model was developed and the basic performances of this vehicle were confirmed through mobile experiments.
Measurement of a Vehicle Motion Using a New 6-DOF Motion Sensor System – Angular Velocity Estimation with Kalman Filter Using Motion Characteristic of a Vehicle –
Authors: Onodera Ryoji ,   Graduate School of Science and Technology, Niigata University, 8050 Ikarashi 2-nocho, Nishi-ku, Niigata-shi, Niigata 950-2181, Japan, Mimura Nobuharu ,   Faculty of Engineering, Niigata University
Published: April 2016

This paper describes a new multi-degrees-of-freedom (DOF) motion sensor system in three-dimensional space. Our sensor system detects the acceleration of moving objects. In general, the moving objects each have 3 DOFs in the translational and rotational directions. Thus, the accurate measurement of all 6 DOFs of motion is essential to control these objects. We have developed a new acceleration sensor that measures 6-DOF motions by resolving multiple acceleration signals and are currently investigating its performance. In the case of multi-axial sensors, a specific problem of cross effect arises, which means the value obtained is different from the actual value, so sensor calibration becomes important. In this work, we achieved relatively stable measurement by inhibiting the cross effect through calibration. Though the only physical value that our sensor system can measure directly is 6-DOF acceleration, we investigated the angular velocity to compare with a conventional highly accurate gyro sensor. In calculations of angular velocity, we combined the motion characteristic with a Kalman filter and estimated angular velocities from detected accelerations. Our method generates a required observational signal in the Kalman filter artificially, using detected translational accelerations with gravity components and non-periodically refers to the observational signal. Finally, we investigated the proposed method in an experiment involving vehicle motion especially likely to have cross effect, and demonstrate that our sensor system (6-DOF accelerometer) performs well.
Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel
Authors: Tadakuma Kenjiro ,   Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139 USA, Tadakuma Riichiro , Berengueres Jose ,   ISRI/AIST-CNRS Joint Japanese-French Robotics Laboratory, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, AIST Tsukuba Central 2, Tsukuba 305-8568, Japan,   Compact Muon Solenoid Experiment, CERN, CERN 40 2-B28, CH-1211, Genève 23, Switzerland
Published: April 2016

In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the “Omni-Ball” with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.
Mask Scale Adjustment (MSA) in Stereo Matching
Authors: Xu Zheng ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Choufugaoka, Choufu-shi, Tokyo 182-8585, Japan, Idesawa Masanori , Wang Qin
Published: April 2016

We proposed mask scale adjustment method for stereo matching inspired by volume perception in human visual perception. Stereo matching is required to obtain 3-dimensional (3D) information from stereo pair images, and many sophisticated approaches have been developed to precisely obtain correspondence in stereo pairs. We found a forgotten problem not solved by these methods inherent in stereo matching and originating in the scale difference between stereo pair images. We propose mask scale adjustment for improving matching performance, especially in adjacent areas of binocularly unpaired parts, on objects with curved surfaces. Implementing our proposal into conventional stereo matching would yield more precise 3D information on objects and realize of volume perception.
Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines
Authors: Akimoto Toshinari ,   Dept. of System Robotics, Toyo University,  Kujirai 2100, Kawagoe, Saitama 350-8585, Japan, Terada Nobuyuki , Matsumoto Akihiro
Published: April 2016

We designed and developed an ankle-driven quasi-passive dynamic walking machine and modeled it focusing on the double-stance phase for accurate analyzing realistic movement. We used a penalty function to formulate a motion equation and changed the walking speed of an ankle-driven walking machine by changing kick and brake torque. Computer simulation confirmed the feasibility of brake torque from the energy point of view and walking stability.
Furniture Model Creation Through Direct Teaching to a Mobile Robot
Authors: Yamazaki Kimitoshi ,   Grad. School of Science. and Inf. The Univ. of Tokyo ,7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan, Tsubouchi Takashi , Tomono Masahiro ,   Grad. School of Syst. and Inf. Eng. Univ. of Tsukuba, 1-1-1 Tennodai, Tsukuba, Iabaraki, Japan,   Dept. of Syst. Robotics, Toyo Univ., 2100 Kujirai, Kawagoe, Saitama, Japan
Published: April 2016

In this paper, a modeling method to handle furniture is proposed. Real-life environments are crowded with objects such as drawers and cabinets that, while easily dealt with by people, present mobile robots with problems. While it is to be hoped that robots will assist in multiple daily tasks such as putting objects in into drawers, the major problems lies in providing robots with knowledge about the environment efficiently and, if possible, autonomously.

If mobile robots can handle these furniture autonomously, it is expected that multiple daily jobs, for example, storing a small object in a drawer, can be performed by the robots. However, it is a perplexing process to give several pieces of knowledge about the furniture to the robots manually. In our approach, by utilizing sensor data from a camera and a laser range finder which are combined with direct teaching, a handling model can be created not only how to handle the furniture but also an appearance and 3D shape. Experimental results show the effectiveness of our methods.
Development of Micro Forceps and Implementation for Medical Apparatus
Authors: Hashimoto Yusuke ,   Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan, Nokata Makoto , Kitou Hiroshi , Kankawa Yoshimitsu , Ameyama Kei ,   Technes Corporation
Published: April 2016

Laparoscopic forceps and catheters enabling minimally invasive surgery (MIS) require microscopic tools. The microforceps we designed using a minimum number of parts use metal injection molding (MIM) to realize strong mass production. Microforceps installed in the tip of a catheter. Stress analysis verified its capability to grasp, bend and turn within the confines of a blood vessels model.
Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation
Authors: Mouri Tetsuya ,   Department of Human Information System, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Kawasaki Haruhisa , Nishimoto Yutaka , Aoki Takaaki , Ishigure Yasuhiko , Tanahashi Makoto ,   Gifu University School of Medicine, 1-1 Yanagido, Gifu 501-1194, Japan,   Marutomi Seiko Co., Ltd.,3147-7 Aza Ikuda, Kurachi, Seki, 501-3936 Japan
Published: April 2016

Because rehabilitation therapy students have few chances to train on disabled persons, we developed a robot hand for finger and wrist rehabilitation training, working hand with doctors and therapists, based on new design concepts imitating the disabled human hand. A joint torque rehabilitation program is calculated using distributed tactile sensors and a model of contracture joints with tendon adhesion. The hand is controlled by the force control based on torque control. The hand's effectiveness was demonstrated experimentally, and the robot is used by therapists to evaluate its efficacy.
The Development of the Plantar Pressure Sensor Shoes for Gait Analysis
Authors: Hirasawa Masaki ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Okada Hidetaka , Shimojo Makoto
Published: April 2016

Humans are the only living things which make a erect bipedalism. We are evolving the lower extremity - below a pelvis, and gained the more complicated and more sophisticated gait pattern.

In the area of the biomechanics or the rehabilitation, movement analysis instrument has been developed. However, almost of them are attended with the feeling of a constraint, or the measurement place will be limited.

We tried to make sensor shoes which can survey operation of the leg without a feeling of a restraint as much as possible.