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In recent years, there has been great interest in the possibility of using artificial limbs as an extension of the human body as well as replacement of lost limbs. In this paper, we develop a sixth finger syst...
How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (...
This paper describes a method to pick up a folded cloth product by a single-armed robot. We focus on a problem on picking up a folded cloth, and organize tasks to attack it. Then, we propose methods of grasp p...
The control method based on the time-state control form has been proposed to stabilize the chained system, which is a canonical-form nonlinear system. In this study, the control method is used for controlling ...
In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control ...
Odometry is widely used to localize wheeled and tracked vehicles because of its simplicity and continuity. Odometric calculations integrate the wheel or track’s rotation speed. The accuracy of position thus ca...
Weight-shift training during stroke rehabilitation requires patient effort, potentially causing leg spasticity and anxiety, which disturb motor learning. The purpose of this study was (1) to devise an implicit...
This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, ...
A human detection and tracking method using a stereo camera is presented in this paper. Two human detection methods are independently implemented, and the results are combined to reduce misdetection and nondet...
Surface wettability is one of most important indexes for understanding the interfacial characteristics between a solid surface and a liquid, especially such physico-chemical properties as hydrophilicity and wa...
This paper presents a remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains to reduce the exposure dose to the doctors. Permanent brachytherapy is a treatment whi...
3D visual mapping of the seafloor has found applications ranging from environment monitoring and survey of marine minerals to underwater archaeology and inspection of modern artificial structures. However, the...
This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a du...
In this study, we set out to develop a method for estimating the fine and fast shear deformation of a finger pad, that is, the palm side of a fingertip, as it scans the surface of a material. Using a miniature...
In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electri...
In this study, we propose a force sensor using a shape-memory polymer (SMP) whose stiffness varies according to the temperature. An SMP can be deformed above its glass transition temperature (T ...
This paper introduces a novel gear–clutch mechanism that takes advantage of the difference between the directions in the reaction forces that occur during meshing and jamming to ensure jam-free engagement of t...
Essential tremor is a disorder that causes involuntary oscillations in patients both while they are engaged in actions and when maintaining a posture. Such patients face serious difficulties in performing dail...
It is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery. Assistance via automatic control is expected to improve the work efficiency. Howev...
In this paper we present an online unsupervised method based on clustering to find defects in concrete structures using hammering. First, the initial dataset of sound samples is roughly clustered using the k-m...
When a human rubs a contactor that is vibrating laterally at 3–10 Hz with an amplitude of ~1 mm, the friction is perceived as being greater than that sensed when touching a stationary contactor. This phenomeno...
Arc-shaped forceps are important in pharyngeal cancer surgery, endoscopic sinus surgery, and single port surgery. Rotating the gripper of an arc-shaped forceps with respect to its shaft axis can improve the ma...
The purpose of this research is the development of a robot partner system based on modular cognitive model for human support. In order to implement information support of daily life to human, smooth human–robo...
An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successf...
Most of the long-reach inspection devices developed so far have a limitation in the reduction of their diameter when their length is increased. This limitation is due to the technology used to provide the actu...
We discuss about safe tree felling methods. In previous work, tree felling robots that were equipped with cutting instruments have been investigated in order to keep workers’ safety. However, these robots may ...
It was cleared that transportability of emergency response robots system had been very important. Therefore, RESQ series robots, which were developed by Japan Atomic Energy Research Institute (present, Japan A...
This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and ...
For elderly and physically disabled people, support systems that assist their active daily life are as important as appropriate rehabilitation. We have designed a rotational meshing actuator for a life support...
We propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object’s orientation using an...
This paper describes a skill assist method for sinusoidal motions using a semi-active assist mechanism through an energy control method. In a previous study, we had developed and verified the effectiveness of ...
Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic...
Recently, researches on electric vehicle are focused on motion control and state estimation. These works require a model that imitate a real vehicle as close as possible. We propose in this paper a signal hard...
A mechanism that allows a robotic arm to quickly grip various forms of objects at disaster sites will enhance the mobility of rescue robots by keeping their bodies stable and maintaining manipulability for tar...
In this paper, we have dealt with the problem to transport large heavy objects using a group of small mobile robots. Generally, payload of the robot, the maximum weight of the object that the robot can operate...
Service robots are common sights in everyday life. The service robots are expected to provide useful services with a high degree of usability, and a high degree of user experience (UX) to users and other perso...
A new wire mechanism called “redundant drive wire mechanism” (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of ...
The original article was published in ROBOMECH Journal 2016 3:22
In an automobile assembly line, many processes require control and human intervention. A human’s dexterity and ability to react to unpredictable changes in production volume and product specifications are nece...
This study proposes new wire mechanism called “the redundant drive wire mechanism” (RDWM), driven by double actuator modules. The RDWM is configured with velocity constraint modules (VCMs) that provide high-ac...
The Erratum to this article has been published in ROBOMECH Journal 2016 3:24
The social need for robotic technology is rapidly increasing to prepare for the aging society in Japan. Many political action plans concerning Japan’s robot strategy have been proposed and carried out nationwi...
In some surveillance missions in the aftermath of disasters, the use of a teleoperated tracked vehicle contributes to the safety of rescue crews. However, because of its insufficient traversal capability, the ...
A remarkable number of vitreoretinal surgeries are performed each year despite their difficulty. As a result, a high demand exists for a mock-up simulator of retinal vessels to simulate these surgeries. Thus, ...
This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy. The purpose of this robot is to achieve motions and characteristics that are very similar to a ...
The problem of demographic shifts towards the elderly is deteriorating, as the relative number of caregivers is insufficient to provide the support required for their wellbeing, which is further aggravated by ...
We deal with a technical issue of assembling a ring part into a shaft part with the clearance of several micrometers by using a robotic manipulator. This issue is difficult because of deformation of a ring par...
This paper considers the fast and accurate estimation of motion variables of a rigid body object whose movement occurs from intermittent contacts with coordinating manipulators in nonprehensile manipulation ta...
We propose a motion control interface system for a mobile robotic cart to support Home Oxygen Therapy (HOT) patients when they go out. Our goal is to realize a mobile robotic cart similar to a wheeled walker t...
In this paper, an optimal jerk stiffness controller is proposed to produce stable gait pattern generation for bipedal robots in rough terrain. The optimal jerk controller is different from the point-to-point a...
An additional mechanical mechanism for a passive parallelogram-based exoskeleton arm-support is presented. It consists of several levers and joints and an attached extension coil spring. The additional mechani...
