bluuebunny/crossref_metadata_2025 huggingface dataset:
Ground Reaction Force Reduction of Biped Robot for Walking Along a Step with Dual Length Linear Inverted Pendulum Method
Authors: Ali Fariz ,   Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan, Motoi Naoki , Heerden Kirill Van , Kawamura Atsuo
Published: April 2016

A bipedal robot should be robust and able to move in various directions on stairs. However, up to date many research studies have been focusing on walking in the up or down direction only. Therefore, a strategy to realize walking along a step is investigated. In conventional methods, CoM is moved up or down during walking in this situation. In this paper, a method named as Dual Length Linear Inverted Pendulum Method (DLLIPM) with Newton-Raphson is proposed for 3-D biped robot walking. The proposed method applies different length of pendulum at left and right legs in order to represent the CoM height. By using the proposed method, maximum impact forces are reduced. From the Ground Reaction Forces (GRF) data obtained in the simulations, the validity of the proposed method is confirmed.
Rock Moving Operation Using a Rod-Shaped Manipulator
Authors: Iamrurksiri Anusorn ,   University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8577, Japan, Tsubouchi Takashi , Sarata Shigeru
Published: April 2016

At the working front in a quarry, a hydraulic breaker is used to break large rocks into suitable sizes before they are fed into a rock crusher machine. The purpose of this study is to automate the rock breaking operation using a hydraulic breaker. In rock breaking operations, because the range of motion of hydraulic breakers suitable for breaking rocks is limited, the operator of a hydraulic breaker has to use a chisel, which is located at the top of the hydraulic hammer, to bring large rocks closer before they are broken. In this paper, we describe an approach, using stereo vision, to recognize the positions and shapes of large rocks and the automation of rock moving operations. For rock recognition and rock moving experiments, we set up a scaled down experimental environment in a laboratory and use small rocks and a robotic manipulator in the experiments.
Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM
Authors: Yamazumi Mitsuhiro ,   Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan, Oda Mitsushige
Published: April 2016

An astronaut support robot called Astrobot will conduct tasks to reduce workloads of astronauts and risks of hazardous incidents that include astronauts. To realize Astrobot, new technologies must be developed such as robot locomotion capability to move robot’s location so that it arrives at required workplace and returns to its storage position. We are proposing a new type of robot locomotion method that uses tethers. JAXA is conducting experiments called Robot Experiment on Japanese Experiment Module or REX-J, to evaluate the usefulness of these new technologies. This paper discusses REX-J’s tether based locomotion control. This proposed tether locomotion control is defined as an under-actuated cable driven parallel manipulator. This system is difficult to control because tethers easily become slack in microgravity environment in orbit, which instantly changes their state. To cope with this problem, model-based control method using statics analysis is proposed as slackless control in microgravity environment. The proposed sequential tether length and tension control were tested using a breadboard model. REX-J onboard equipment was transported to the ISS/JEMin July 2012 and many experiments are now being conducted.
Experimental Discussion of Occurrence of High-Frequency Component on Slip Sensor Output Using Pressure Conductive Rubber
Authors: Suzuki Yosuke ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Teshigawara Seiichi , Chiba Mitsuhiro , Shimada Takumi , Ming Aiguo , Shimojo Makoto
Published: April 2016

We have presented a slip sensor that uses pressureconductive rubber to detect initial slip, but have not revealed the principle of high-frequency wave occurrence that is used by this detection. The wave-occurrence principle should be clarified in optimized slip sensor design, especially the properties of pressure-conductive rubber and the detector shape and for reducing individual differences in detection characteristics of the slip sensor. This paper discusses the wave-occurrence principle through a series of experiments and shows that localized fixing and peeling between pressure-conductive rubber and electrodes in the slip sensor configuration have important relation to the principle.
Improvement of a Screw Drive In-Pipe Robot with Pathway Selection Mechanism to Pass Through T-Branches
Authors: Nishimura Taiki ,   Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan, Kakogawa Atsushi , Ma Shugen
Published: April 2016

This paper discusses the improvement of a screw drive in-pipe robot with a pathway selection mechanism. This robot is composed of three units: a screw driving unit called a rotator unit (front unit), a steering unit that bends the front unit (middle unit), and a stator unit to hold the whole body (rear unit). It passes not only through straight pipes but also bent pipes and T-branches by changing driving modes (screw driving mode, steering mode and rolling mode). These modes are performed by just two motors through a differential mechanism. The screw drive in-pipe robot previously developed cannot pass through certain T-branches. In this paper, the rear unit has been improved to solve this problem. Constraints on robot length in T-branches caused by this improvement are discussed, that is, installation of additional passive wheels on the rear unit and its rectangle model in the T-branch. Finally, to verify the effect of this improvement and its mobility, experiments are conducted in straight, bent and T-branch pipes.
A Photoelastic Tactile Sensor to Measure Contact Pressure Distributions on Object Surfaces
Authors: Nakamura Taku ,   Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kimura Fuminobu , Yamamoto Akio
Published: April 2016

This paper describes the development of a tactile sensor that measures contact pressure distribution (CPD) within a sensor probe that emulates the human fingertip. The aim of development is to provide CPDs plausible enough to be utilized in performance evaluation or parameter calibration of a tactile softness display. The developed sensor system observes twodimensional photoelasticity of the finger-shaped sensor probe in a circular polariscope setup and visualizes CPDs using online image processing. Through considerations of sensor probe design and material, the sensor visualized CPDs on various surfaces with a spatial resolution of 2 mm and up to 2 N of contact force. Experimental results demonstrate the capability of the sensor to discriminate among given soft samples by different CPDs.
A Method for Obtaining High-Coverage 3D Images of Rough Seafloor Using AUV – Real-Time Quality Evaluation and Path-Planning –
Authors: Kume Ayaka ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Maki Toshihiro , Sakamaki Takashi , Ura Tamaki
Published: April 2016

Autonomous Underwater Vehicles (AUVs) are often used for seafloor exploration, and some AUVs are now being deployed to obtain detailed photomosaics of the seafloor. However, it is difficult for the results to be evaluated on-site, so the image maps obtained often have unscanned areas caused by occlusions, disturbances, etc. In order to improve the coverage of a map, operators have to plan a new path and then redeploy the AUV. This process is quite timeconsuming and troublesome. The authors propose a new method for an AUV to obtain a full-coverage 3D image of a rough, unknown seafloor in a single deployment. First, the AUV observes the seafloor by following a pre-determined path. Second, the AUV calculates the following on-site and based on the data obtained: 3D bathymetry map, unscanned areas on the map, and the next path that can be taken to image the unscanned areas effectively. Then, the AUV follows the new path to obtain better results. The performance of this proposed method is verified in both tank experiments and by simulation. In the experiments, the AUV “Tri-TON” succeeds in generating a route for a second observation, and the coverage increases from 73% to 82%. The performance of the method on the actual seafloor is verified using the results of the tank experiments and the bathymetry data on a chimney in Kagoshima Bay, Japan.
Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor)
Authors: Kimura Hitoshi ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Nakamura Masashi , Inou Norio , Matsudaira Masayuki , Yoshida Minoru ,   Hakusan Corporation, J Tower, 1-1 Nikko-cho, Fuchu City, Tokyo 183-0044, Japan
Published: April 2016

An accelerometer generally has direction gaps between the package and the actual sensors. Conventional accelerometer calibration methods, e.g., ISO standard, do not consider this direction gap. This study proposes a new calibration method. The method uses a new examination system with a parallel linkage exciter mechanism. The exciter rotates a target accelerometer in a uniform circular motion, and the posture of the accelerometer is kept constant against external coordinates. The required torque for the rotation is small and constant because the rotation components are balanced with counterweights. Therefore, the exciter applies a stable sine wave acceleration to the accelerometer. This method contributes not only to the accuracy of input acceleration but also to the removal of offset noise. In addition, the input acceleration is calculated only by one differential computation, whereas an ordinary mechanism requires a second order differential. From the accelerometer output, a plane including the actual sensor direction is detected by the sine curve profile. The direction of the actual sensor is the line of intersection of two measured planes. For a 3-axis accelerometer, measurement 2 times is enough to determine all actual sensor directions and sensitivities with this method (measurement one time is enough for a 2-axis accelerometer). Actual sensor directions and sensitivities are experimentally examined. The result is consistent with the data sheet of the test accelerometer.11. This paper is the full translation from the transactions of JSME, Series C, Vol.78, No.786, pp. 499-507, 2012.
Development of the Robust Positioning System in Weather Disturbance Based on Geometric Landmark
Authors: Ashizawa Satoshi ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoyashi, Aichi 468-8502, Japan, Tsuzuki Shunichi , Sakurai Takeshi , Yamashita Michio , Owaki Tomoya , Oomichi Takeo
Published: April 2016

We have developed a sensor systemthat can simultaneously detect the travel position and attitude of amobile robot. The developed sensor system consists of magnet sensors and N landmarks set up on the road. The N landmarks, made of steel plate, are set up in the shape of an N on the road. The magnet sensors accurately detect the center of a steel plate and calculate the center of the N landmark and the attitude of the mobile robot. The sensor system realizes detection that is robust against lift off variation and deposition (soil, water, snow, etc.) on the steel plate. We have confirmed the validity of the sensor system through a travel experiment involving a mobile robot on which the sensor system is mounted.
Contacting Surface-Transfer Control for Reconfigurable Wall-Climbing Robot Gunryu III
Authors: Lee Woosub ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo ,   Center for Bionics, Korea Institute of Science and Technology, 39-1 Hawolgok, Sungbuk, Seoul 136-791, Korea
Published: April 2016

For the wall-climbing robots, high mobility as well as stability on the surface of the walls are the most important features. To achieve these features, this paper proposes a new type of reconfigurable arm equipped multi module wall-climbing robot named Gunryu III. Gunryu III has the potential ability to generate high stability and high mobility by using its arm to connect multiple mobile modules together and a magneticforce-changeable adsorption device. One of the important motions of the reconfigurable wall-climbing robot Gunryu III is surface-transfer motion, which is to change from one moving surface to another, such as from floor to wall and wall to ceiling. In this paper, we propose a new surface-transfer motion strategy named Contact Mode. It is to make surface-transfer motion by contacting some part of the moving module to one of the surfaces. As for the Contact Mode surfacetransfer motion, we first conduct several fundamental discussions, such as the five basic types of motion, conditions for making contact between the mobile module and the wall, effective way of using the magnetic device and two criteria of the evaluation. We then quantitatively evaluate the effectiveness of the proposed Contact Mode surface-transfer motion using simulation experiments, and clarify basic optimized control strategies.
Human-Scale Motion Capture with an Accelerometer-Based Gaming Controller
Authors: Purkayastha Sagar N. ,   Rice University, 6100 Main Street, Houston, TX 77005, USA, Byrne Michael D. , O’Malley Marcia K.
Published: April 2016

Gaming controllers are attractive devices for research due to their onboard sensing capabilities and low cost. However, a proper quantitative analysis regarding their suitability for motion capture has yet to be fully reported. In this paper, a detailed analysis of the accelerometers of the Nintendo Wiimote is presented. The gravity-compensated acceleration data from the accelerometers of theWiimote were plotted, compared and correlated with computed acceleration data derived from a six-camera motion capture system. The results show high correlation and low mean absolute error between the gravity-compensated data from the accelerometers of the controllers and computed acceleration from position data of the motion capture system. From the results obtained, it can be inferred that the Wiimote is well suited for motion capture applications where post-processing of data is practical.
Autonomous Pedestrian Push Button Activation by Outdoor Mobile Robot in Outdoor Environments
Authors: Chand Aneesh N. ,   Institute of Mechatronic Systems, Zurich University of Applied Sciences, Technikumstrasse 5, CH 8401, Winterthur, Switzerland, Yuta Shin’ichi ,   Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
Published: April 2016

The authors have developed an outdoor mobile robot that has the ability to cross roads at an intersection or pedestrian crossing fully autonomously while traveling along sidewalks in an urban environment. This gives the robot the capability to travel longer and complex routes as the robot is able to cross a road and continue with its path. The developed robot has the unique ability to autonomously approach and activate the pedestrian push button with a mechanical finger. We first briefly describe the overall operation of such a road crossing robot. The rest of this paper then discusses in detail how the robot can meticulously navigate to and activate the pedestrian push button with the on-board finger. The contribution of this work is that although there are robots existing that perform precision docking or button activation, this robot is one of the few that can perform such an action in a real world outdoor environment that is completely unmodified. We prove this by deploying the robot in a real world road-crossing and it was successfully able to engage the pedestrian push button.
Presentation of Rapid Temperature Change Using Spatially Divided Hot and Cold Stimuli
Authors: Sato Katsunari ,   Keio University, 4-1-1 Hiyoshi, Kohoku-ku, Yokohama 223-8526, Japan, Maeno Takashi
Published: April 2016

We propose a thermal display that presents a rapid temperature change using spatially divided hot and cold stimuli. The display exploits two characteristics of human thermal perception: spatial summation and the adapting temperature. Experimental results confirmed that users perceived separate individual thermal stimuli as a single stimulus because of spatial summation. Our thermal display successfully made the skin simultaneously more sensitive to both hot and cold stimuli by using spatially divided hot and cold stimuli, each of which separately adjusts the adapting temperature so that it enables users to perceive thermal sensation rapidly. The thermal display that we fabricated enabled users to perceive a different temperature sense by changing the temperature of hot and cold stimuli.
Development of Method Using a Combination of DGPS and Scan Matching for the Making of Occupancy Grid Maps for Localization
Authors: Eguchi Junji ,   Utsunomiya University, 7-1-2 Yoto, Utsunomiya-city, Tochigi 321-8585, Japan, Ozaki Koichi
Published: April 2016

This paper describes a method of making an occupancy grid map through the combined use of DGPS and scan matching. In outdoor environments such as city areas, high-accuracy localization is required for autonomous navigation. Scan matching with a laser scanner and an occupancy grid map consisting of precise structure information on the environment is one of the most accurate localization methods. However, mismatching on the map sometimes occurs, resulting in the robot losing its own position. Although a GPS device, an absolute positioning device, is valid for estimating position and attitude to a certain degree of accuracy, GPS often obtains erroneous positions for multipath problems which occur around tall buildings. In order to estimate the position and attitude of robots more stably, the authors have developed a method of making an occupancy grid map, which corresponds to DGPS directions and has an accurate shape, by using of some accurate DGPS measurement points and the SLAM method. In autonomous navigation, the robot trajectory is estimated using the particle filter method, evaluation and resampling are done using the two ways mentioned above, and attitude is calculated using DGPS measurement points and the result of scan matching. In this paper, the performance of the map-making method and localization method for autonomous navigation is shown through experiments which are evaluated as to the accuracy of the map in an actual environment.
A Robot Measuring Upper Limb Range of Motion for Rehabilitation Database
Authors: Tsuji Toshiaki ,   Saitama University, 255 Shimo-Okubo, Sakura-ku, Saitama, Saitama 338-8570, Japan, Yamada Mitsuyuki , Kaneko Yasuyoshi ,   JST PRESTO, 4-1-8 Honcho, Kawaguchi, Saitama 332-0012, Japan
Published: April 2016

The Range of Motion (ROM) is an important index of physical and occupational therapy, although getting quantitative results requires much time and effort. This paper proposes a method for measuring the ROM on a 2-dimensional plane by introducing a rehabilitation robot. One advantage is that quantitative measurement is easily done. This paper also proposes the concept of resistancemovementROM, which indicates the extent of movement under load and resistance. This method makes it possible to observe the distribution of strength within the ROM. In other words, the proposed method evaluates upper limb mobility and the ability to produce force. The feasibility of the method is evaluated through experimental results.
Development of Rescue Support Stretcher System with Stair-Climbing
Authors: Iwano Yuki ,   Akashi National College of Technology, 679-3 Nishioka, Uozumi-cyo, Akashi, Hyogo 674-8501, Japan, Osuka Koichi , Amano Hisanori ,   Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan,   National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-machi, Chofu, Tokyo 182-0012, Japan
Published: April 2016

A sarin gas attack on the Tokyo subway system on March 20, 1995, sickened many passengers. Since the attack was made underground, the main job of rescue personnel was to transport victims on stretchers to a ground-level first-aid station. We therefore conducted research on the development of a rescue support stretcher system for handling serious casualties in a quick and effective manner in underground areas or at stations. The stretcher system is expected to help rescue personnel such as fire fighters achieve efficient rescue operations. In this paper, we introduce a rescue support stretcher system for going up and down stairs. We also examine the effectiveness of the system in experiments.
Design and Fabrication of Changeable Cell Culture Mold
Authors: Chumtong Puwanan ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan, Kojima Masaru , Ohara Kenichi , Mae Yasushi , Horade Mitsuhiro , Akiyama Yoshikatsu , Yamato Masayuki , Arai Tatsuo ,   Faculty of Science and Technology, Meijo University, 1-501 Shiogamaguchi, Tempaku, Nagoya, Aichi 468-8502, Japan,   Institute of Advanced Biomedical Engineering and Science (ABMES) at TWIns, Tokyo Women’s Medical University (TWMU), 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan
Published: April 2016

Although the fabrication of engineered organs as replacements for damaged organs has been widely studied over the past decade, practical fabrication is very difficult because the engineered organ usually has a very complex structure and cannot be fabricated simply by using a fixed scaffold. Special attention has therefore been paid to methods of making engineered organs by assembling composite parts. Since structures of these individual parts are very different, fabrication using fixed scaffolds requires a lot of effort and time. The concept of a changeable scaffold offered by “changeable cell culture (C3) mold” is proposed in this paper as a means to simplify the fabrication of these parts. Using a thin PDMS membrane as an actuator layer enables various scaffold structures to be formed and altered, in turn enabling the fabrication of many different tissue structures.C3mold consists of a 3 × 3 microactuator array with a diameter of 500 µm and spacing of 650 µm. Plant oil is used as the working fluid enabling deformation of the actuator layer. Various micropatterned gel sheets are fabricated, in order to demonstrate the possibility of usingC3molds in future tissue fabrication.
Formation of Cell Aggregates Using Microfabricated Hydrogel Chambers for Assembly into Larger Tissues
Authors: Iwase Masaki ,   Department of Applied Chemistry and Biotechnology, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan, Yamada Masumi , Yamada Emi , Seki Minoru
Published: April 2016

This paper presents a fabrication process for cell aggregates with controlled shapes that can be used as building units for constructing relatively large tissue models. Microfabricated hydrogel-based chambers with non-adhesive surface characteristics were prepared via a micromolding process. Alginate was used as the hydrogel matrix, which facilitated the efficient formation of aggregates from cells retained inside the microchamber. We employed several types of toroidal and lattice-shaped hydrogel microchambers with different geometries. We examined the effect of cell type on the aggregate formation process using NIH-3T3, C2C12, and HepG2 cells and clearly observed that aggregation behavior is highly dependent on cell type. In addition, we tried to construct 2-layered capillarylike tissues by stacking heterotypic toroidal cell aggregates, which mimic blood vessels. The presented cell aggregate-based tissue fabrication process could become a versatile approach for preparing complex and scaffold-free 3D tissue models.
Control of Liver Tissue Reconstitution in Mesenteric Leaves: The Effect of Preculture on Mouse Hepatic Progenitor Cells Prior to Transplantation
Authors: Kojima Nobuhiko ,   Institute of Industrial Science (IIS), The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Sakai Yasuyuki
Published: April 2016

Our objective is to control the reconstitution of liverlike tissues at extrahepatic sites using hepatic progenitor cells (HPCs) andin vitropreculture prior to transplantation. We prepared cell-based hybrid grafts by culturing HPCs isolated from fetal E14.5 mouse livers on biodegradable, highly porous 3-dimensional poly-L-lactic acid (PLLA) scaffolds for 1 week in basal medium (the basal condition) or 10 mM nicotinamide (NA) and 1% dimethyl sulfoxide (DMSO) supplemented conditions (the ND-positive condition) prior to implantation. Sections of hybrid grafts cultured for 1 week showed that HPCs grew and spread on the surface of scaffolds under both basal and ND (+) conditions. Most of these cells were albumin (+) and CK18 (+). CK19 (+) cells were also present under the basal condition but not the ND (+) condition. Cultured hybrid grafts were implanted into the mesenteric leaves of mice and removed after 1 month. Transplanted tissues cultured under the basal condition consisted of albumin (+) hepatocyte-like and CK19 (+) biliary epithelial cell (BEC)-like cells organized in duct-like structures. In contrast, integrated tissues cultured under the ND (+) condition alone had differentiated albumin (+) hepatocyte-like cells and were relatively larger than those under the basal condition. Hepatocyte-like cells of transplanted hybrid grafts cultured under both conditions were periodic acid-Schiff (PAS) staining-positive and expressed transcription factors, hepatocyte nuclear factor (HNF) 4 and CCAAT/enhancer-binding protein (C/EBP) α. These findings suggest that combining progenitor cells andin vitropreculture may potentially regulate liverlike tissues at extrahepatic sites.
Development of Bellows-Type Artificial Rubber Muscle and Application to Peristaltic Crawling Endoscopic Robot
Authors: Yanagida Takaichi ,   Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Adachi Kazunori , Nakamura Taro
Published: April 2016

This paper describes the development of bellows-type artificial rubber muscle and a peristaltic crawling robot attached to a large intestine endoscope using the artificialmuscle. Colorectal cancers can be cured completely if they are discovered early with a large intestine endoscope. While the endoscope can be used to screen and heal this cancer, its operation is difficult. In this study, to solve the difficulties, we propose a peristaltic crawling robot to subserve the endoscope. This robot can automatically move forward and pull up slacks. In addition, this robot can traverse bent pipes such as a splenic flexure because of bellows-type artificial muscle. Unlike other endoscopic robots, our robot can be attached to an endoscope, enabling us to benefit from the endoscope’s various functions. In this paper, we fabricated a bellows-type artificial muscle that enables the robot to pass through splenic flexures and apply the bellows-type artificial muscle to the robot. In addition we executed performance experiment in a bent pipe and experiment in large intestine.
Development of Minimally Invasive Microneedle Made of Tungsten – Sharpening Through Electrochemical Etching and Hole Processing for Drawing up Liquid Using Excimer Laser –
Authors: Tanaka Takahiro ,   Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan, Takahashi Tomokazu , Suzuki Masato , Aoyagi Seiji
Published: April 2016

A tungsten needle was fabricated by electrochemically etching a thin wire with a diameter of 100 µm, with the goal of using it in minimally invasive medical treatments. The sharpness and smoothness of the tip were effective for easy insertion because they provided a large stress concentration and small amount of friction, respectively. An experiment involving the insertion of the fabricated needle into artificial skinmade of silicone rubber was carried out. The resistance force during the insertion was greatly reduced because of the small size of the needle, which was comparable to a mosquito’s proboscis. Despite the ultra-thin shape, the microneedle neither buckled nor broke because of the high hardness of the tungsten material. A hole was fabricated in the tungsten needle using excimer laser processing and electrochemical etching. Water and blood sampling were successfully achieved using this needle.
Development of Easy-Removable Underwater Manipulator Unit with Built-in Controller
Authors: Takemura Fumiaki ,   Okinawa National College of Technology, 905 Henoko, Nago-shi, Okinawa 905-2192, Japan, Shiroku Reyes Tatsuru , Kawabata Kuniaki , Sagara Shinichi ,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan,   Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata, Kitakyushu 804-8550, Japan
Published: April 2016

In recent years, coral cover has been decreased by the impact of bleaching due to high water temperature, red-soil runoff, water pollution, and coral-eating starfish outbreak. It is necessary to appropriately measure, observe, and sample seawater. To succeed in these tasks, underwater robots should have a function of responds flexibly in solving problems. Underwater tasks are summarized as follows: (1) acquiring images and environmental information using cameras and sensors, (2) collecting objects and other necessary work using robot hands. Manipulator should be attached quickly to underwater robots as needed. So we have been developing “an easy-removable underwater manipulator.” The manipulators is easy to maintain because all electric components – DC motors, motor controllers, etc. – are in a pressure-resistant vessel, the manipulator has only one cable, and the manipulator is easy to attach and detach. In this paper, we illustrate the manipulator design and performance test results.
Use of a Deformable Tensegrity Structure as an Underwater Robot Body
Authors: Shibata Mizuho ,   Department of Robotics, Kinki University, 1 Takaya Umenobe, Higashi-Hiroshima City, Hiroshima 739-2116, Japan, Miyamura Takahiro , Sakagami Norimitsu , Miyata Shigeharu ,   Department of Navigation and Ocean Engineering, Tokai University, 3-20-1 Orido, Shimizu-ku, Shizuoka 424-8610, Japan
Published: April 2016

The locomotion of underwater robots depends on their shapes. Underwater robots for inspecting undersea structures must not only move long distances but must rotate during inspection. We propose using an underwater robot that moves translationally and rotationally by altering its shape. In this paper, we introduce a deformable twisted trigonal prism tensegrity structure as a robot and evaluate its use as an underwater robot through several simplified models and experimental results.
Experimental Verification of Lifting Force of Underwater Robot with Thrusters Using Passive Posture Maintenance
Authors: Takemura Fumiaki ,   Department of Mechanical System Engineering, Okinawa National College of Technology, 905 Henoko, Nago-shi, Okinawa 905-2192, Japan, Futenma Shota , Kawabata Kuniaki , Sagara Shinichi ,   Advanced Course, Okinawa National College of Technology, 905 Henoko, Nago-shi, Okinawa 905-2192, Japan,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako-shi, Saitama 351-0198, Japan,   Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu-shi, Fukuoka 804-8550, Japan
Published: April 2016

An underwater robot is developed that can be used for environmental protection work in the sea near Okinawa (e.g., removing crown-of-thorns starfish). When a submerged object is raised with the aid of an underwater robot, the conventional method of using fixed thrusters presents difficulties in raising the object straight upward because of the change in the robot’s attitude. Therefore, we propose “thrusters that employ a passive posture maintenance mechanism.” By using this mechanism, the vertical thrusters are able to maintain an upward posture, and the underwater robot is able to raise a submerged object straight upward relatively easily. Moreover, the attitude stability of an underwater robot and the work efficiency of its thrusters are important in water. Hence, we examine the attitude stability and the efficiency of the lifting force of an underwater robot using our proposed passive fixed mechanism for thrusters. We describe the design and fabrication of the proposedmechanismand experimentally verify the effectiveness of our proposed mechanism.
Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point
Authors: Motoi Naoki ,   Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan, Sasahara Kenta , Kawamura Atsuo
Published: April 2016

This paper proposes a switching control method to achieve a smooth transition from an edge landing to a sole landing for a legged robot. When a biped robot walks, an undesirable condition at the moment of landing, such as hunting between the ground and the foot, may occur for several reasons. To avoid this condition, this paper focuses on a method that uses simple controllers to ensure a smooth transition from an edge landing to a sole landing. In the event of an edge landing, a force controller should be implemented for a smooth transition to a sole landing. This is because the force controller enables the foot to contact the ground softly. After the landing state is shifted to the sole landing, the control method should be changed to the position controller. Therefore, it is necessary to switch the control method according to the contact condition between the foot and the ground. To avoid the chattering of the controller switching, several hysteresis values are used for the zeromoment point (ZMP) position and ZMP velocity in the switching function. Simulations and experimental results confirmed the validity of the proposed method.
Evaluation of Microgap Control of Needle-Type Dispenser for Precise Microdroplet Dispensation
Authors: Hirata Shinnosuke ,   Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Kazuki , Irie Yuuka , Aoyama Hisayuki ,   Department of Mechanical Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
Published: April 2016

Microdroplet dispensation is required in current systems and industrial equipment. However, dispensing microdroplets from high-viscosity liquids using dropon-demand inkjet technologies is difficult. Therefore, a needle-type dispenser comprising a thin needle and glass capillary containing the liquid to be dispensed has been developed for microdroplet dispensation. When the needle passes through the capillary, a droplet of the liquid adheres to the needle tip. A microdroplet can be transcribed by bringing the needle-tip droplet into contact with the target surface. The needle-type dispenser can dispense sub-pico-liter droplets with viscosities of several hundred pascalseconds at a throughput of a droplet per 1 s. When a microdroplet is dispensed, a gap between the needle tip and target surface may be formed. Droplet volumes depend on the dispensing gap, and unstable if the gap fluctuates. Thus, a contact-detection method for the needle-tip droplet and target surface is proposed where the needle is vibrated by a piezoelectric actuator using a leaf spring. The needle-vibration characteristics depend on conditions between the needletip droplet and target surface. Contact of the needletip droplet with the target surface can be detected by the needle-vibration characteristics. The dispensing gap can thus be kept constant to dispense precise droplet volumes. In this study, the needle-vibration characteristics of the fabricated mechanism were evaluated experimentally for needle diameters of 500 and 100 µm. The needle-vibration displacements decreased depending on the dispensing gap for liquids with viscosities of 0.1 to 100 Pa•s.
A Survey Method for Identifying Real Support Needs of People with Early-Stage Dementia for Designing Assistive Technology
Authors: Yamamoto Hirotoshi ,   Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, C3 Bldg., Kyotodaigakukatsura, Nishikyo-ku, Kyoto 615-8540, Japan, Yokokohji Yasuyoshi , Takechi Hajime ,   Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan,   Department of Geriatric Medicine, Graduate School of Medicine, Kyoto University, 54 Shogoin, Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
Published: April 2016

In this paper, we propose a new interview method of eliciting needs for support completely and accurately from people with early-stage dementia for identifying their real needs, with the eventual objective of designing effective Assistive Technology. The interview procedure consists of the following steps: (1) entirely identifying tasks of a subject’s everyday living, leisure and social activities (referred to, in all, as “social living activities”), (2) evaluating the subject’s confusion levels (SCLs) about identified tasks based on the subject’s self-rating, together with the caregiver’s rating as a reference, and confusion level discrepancies (CLDs) are found, and (3) predicting the subject’s support requirement levels (SRLs) about confusing tasks based on confusion levels followed by the subject’s revision to thereby find SRL discrepancies (SRLDs). Subjects are asked to reconfirm SRL ratings associated with tasks having SRLDs and/or encouraged to raise the ratings of tasks having CLDs to accurately identify the subject’s SRLs. Six subject-caregiver dyads were interviewed and 22 support needs, including 10 needs that were extracted by reconfirmation or encouragement, were elicited from four subjects. These elicited needs covered the entire social living scene from domestic affairs to social activities, showing that the proposed method was effective in systematically eliciting support needs from people with early-stage dementia. No support needs were elicited, however, from subjects with very little awareness of memory impairment, demonstrating one limitation of the proposed method.
Development of an Exercise Support System for the Elderly Which Uses a Small Humanoid Robot
Authors: Hirano Masataka ,   Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan, Hanajima Naohiko , Urita Keigo , Muto Satoru , Muraoka Yohei , Ohata Makoto ,   Steel Memorial Muroran Hospital, 1-45 Chiribetsu-cho, Muroran, Hokkaido 050-0076, Japan
Published: April 2016

The increasing number of senior citizens who need long-term care or rehabilitation has become a serious issue, especially considering the increasing aging population and declining birthrate. To maintain one’s motor functions and improve one’s muscle strength or range of motion, it is important to continue exercising constantly. We have developed a prototype exercise support system that aim to promote and evaluate exercise of users. This system includes a small humanoid robot presenting the exercises, amotion sensor, a touch panel, a laptop PC to control other devices, and other parts. We propose a method of detecting the specific poses of the users from the skeleton data of the motion sensor. We use a questionnaire to evaluate the system’s effect on the promotion of exercise and the users’ understanding of the movements of the robot, and we use a motion sensor to evaluate motion recognition of the users during the exercises. The system is tested by young people and also elderly staying in a geriatric health service facility. The questionnaire results indicate that the elderly subjects react positively to the exercises. The pose detection method shows a correct answer rate of 94% for the young subjects and 87% for the elderly subjects. It is confirmed that the prototype system can be put into practice use.
Development of Autonomous Intelligent Driving System to Enhance Safe and Secured Traffic Society for Elderly Drivers – Autonomous Collision Avoidance System with Hazard Anticipation Driver Characteristics –
Authors: Matsumi Ryosuke ,   Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan, Raksincharoensak Pongsathorn , Nagai Masao
Published: April 2016

In the aged society of Japan, accidents involving elderly drivers are increasing every year owing to their declined physical ability in terms of recognition and decision-making. An autonomous intelligent driving system is one of the promising technologies that can enhance safety and security for elderly drivers. This paper focuses on a situation in which drivers need to make a right turn at an intersection while negotiating pedestrians near a crosswalk region. An autonomous collision avoidance system associated with the electric braking torque of an electric vehicle is designed with the application of potential field theory while considering potential hazards because of occlusions at an intersection. Finally, the effectiveness of the autonomous collision avoidance systemis verified by computer simulations and driving experiments using a micro-scale electric vehicle.
Development of Transfer Assist Robot Based on the User Needs
Authors: Nakamura Mio ,   Research Institute of National Rehabilitation Center for Persons with Disabilities, 4-1 Namiki, Tokorozawa-city, Saitama, Japan, YoheiKume  , Suzurikawa Jun , Tsukada Shohei , Kawakami Hideo , Inoue Kaoru , Inoue Takenobu ,   Panasonic Corporation, 2-7 Matsuba-cho, Kadoma-city, Osaka, Japan,   Graduate School of Human Health Science, Tokyo Metropolitan University, 7-2-10 Higashiogu, Arakawa-ku, Tokyo, Japan
Published: April 2016

To develop technology based on the need for a Roboticbed® by the elderly and those with disabilities, this study extracts user needs and problems based on feasibility testing. This study makes it clear that those with severe disabilities want the Roboticbed® to support their independence in moving between bed and wheelchair and back. We propose a lifestyle for users and caregivers using the present version of the Roboticbed® based on experiments and extracted problems based on user needs. These results indicate that evaluation based on user needs is useful for specifying a design guide for user needs.
Development of Danger Avoidance Assist System for Electric Cart
Authors: Sato Masanori ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Tomizawa Tetsuo , Kudoh Shunsuke , Suehiro Takashi
Published: April 2016

Four-wheeled electric carts developed for the elderly have come to be widely used. Along with that, the number of accidents involving them is increasing due to carelessness and error of the drivers. Similar to ordinary cars, electric carts have mechanical features inner and outer track differences requiring that driver pay attention to their surroundings while driving. Aged drivers having a narrow field of vision may find it difficult to pay sufficient attention. In this study we developed an electric cart with a danger avoidance assist system that stops the cart safely before a collision even if the driver overlooks an obstacle. The assist system also helps prevent driver errors.
Development of Sensor-Less Power-Assisted System with Disturbance Observer Considering High Friction
Authors: Miyoshi Takanori ,   Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi city, Aichi, Japan, Imai Ryosuke , Terashima Kazuhiko , Ochiai Kanemitsu ,   SEIKO EPSON Corp., 6925 Toyoshinatazawa, Azumino city, Nagano, Japan,   Ochiai Nexus Corp., 1-1 Miyama, Shinpukuji-cho, Okazaki city, Aichi, Japan
Published: April 2016

Japan has a dwindling birthrate and a rapidly aging population, which has led to an increasing number of elderly laborers. Although this has spurred development into power-assisted (PA) equipment that can reduce the physical demands, most of power assisted systems developed so far have used the force sensor, a direct drive motor, or a high power motor. The PA machine using force sensor is unable to detect and avoid obstacles that might collide with nonsensor components of the machine. The direct drive motor is too expensive for the practical use and its power tends to increase. According to Japanese law, a high power motor is not allowed to cooperate together with laborers in the factory. Thus, in this research, a sensor-less power-assisted (PA) system capable of estimating operator force based on a disturbance observer and friction correction is designed and built for a high friction production support device using a lowcapacity servo motor and a high-speed reduction ratio reducer. First, a dynamic model of a production support device is identified with specific friction parameters. Next, a sensor-less PA system is constructed that is equipped with an appropriate disturbance observer and dynamic friction correction. Moreover, the static friction issues are solved by the regular driving command. Finally, the accuracies of estimated force are examined, and the effectiveness of the constructed sensor-less PA system is verified.
Kinetostatic Design of Ankle Rehabilitation Mechanism Capable of Adapting to Changes in Joint Axis
Authors: Matsuura Daisuke ,   Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Koga Tatsuya , Ishida Shota , Takeda Yukio
Published: April 2016

This paper proposes a simple spatial rehabilitation mechanism that aims to exert the desired flexion motion with adjustable load and also to provide an objective measure of recovery status, in terms of mobilization, force, and torque, on the affected part. This is to verify the condition of therapeutic exercise to support physiotherapists, as well as to establish selfrehabilitation by patients themselves. In this work, the composition of the mechanism is first determined by extending Oldham’s coupling mechanism. Next, a kinetostatic analysis of the mechanism is performed for two purposes. One is to determine a reasonable link dimension that achieves a suitable range of motion for the practical rehabilitation treatment of human ankle joints. The other is to calculate the magnitude of the shearing load on the ankle joint, caused by gravity and the friction of the cylindrical joints. A validation experiment demonstrates the effectiveness of the proposed mechanism and of the kinetostatic analysis. Shearing load is also compensated for through the introduction of springs to certain joints. The optimum location, spring constant, and initial offset of each spring are determined through the proposed kinetostatic analysis scheme.
Measuring Particle Positions in Micro Channel with Multifiber Array
Authors: Okuda Ichiro ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Mae Yasushi , Ohara Kenichi , Takubo Tomohito , Arai Tatsuo ,   Department of Physical Electronics and Informatics, Graduate School of Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi-ku, Osaka 558-8585, Japan
Published: April 2016

This paper proposes position measurement of particles in micro channels fabricated on a polydimethylsiloxane (PDMS) chip using a two-layer plastic optical fiber (POF) array. Particle positions are measured by irradiating the POF array with laser light and measuring the decrease in POF output power posed by the presence of the particle. Our proposed sensor provides three dimensional measurements in the micro channel along the directions of the length, depth and the width. We demonstrate that plural particles of different diameters can be measured with our proposed sensor in which two layers of POF are vertically aligned or shifted along the flow direction. The effects of optical misalignment of POF array with respect to the measurement are theoretically and experimentally evaluated.