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This paper proposes a navigation system of a personal mobility robot in informationally structured and unstructured environments. First, we introduce a group of robots named Portable Go, which are equipped wit...
A long-reach robotic arm is useful for applications such as nuclear plant decommissioning, inspection, and firefighting. However, for such arms, a small external reaction force can result in large loads on pro...
There has been an increasing interest in mobile manipulators that are capable of performing physical work in living spaces worldwide, corresponding to an aging population with declining birth rates with the ex...
In this paper, we present a novel method for caging-based grasping of deformable objects. This method enables manipulators to grasp objects simply with geometric constraints by using position control of roboti...
Generation of stable and realistic haptic feedback during mid-air gesture interactions have recently garnered significant research interest. However, the limitations of the sensing technologies such as unstabl...
Laparoscopic surgery, which is also called minimally invasive surgery, is a surgical technique that is associated with accelerated post-operative recovery. However, it can only be performed by surgeons possess...
Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locom...
We present a facial wearable robot to support eyelid movement for patients with hemifacial paralysis. People with facial paralysis are not able to blink, which leads to dry eyes and could cause permanent damag...
Providing an accurate count of total leukocytes and specific subsets (such as T-cells and B-cells) within small amounts of whole blood is a rather challenging ordeal due to the lack of techniques that enable t...
Flexible manipulators have numerous advantages such as lightweight, high operation speed, and low power consumption. However, they suffer from link vibrations, especially when operated at high speeds followed ...
Absolute counting of total leukocytes and specific subset (such as T-cells and B-cells) within small amounts of whole blood is difficult due to the lack of techniques that enables separation of leukocytes from...
In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and h...
We are developing a robot that can play an outdoor game with children. In realizing such a robot, the person detection and tracking methods play an important role. In this paper, we propose methods for improvi...
An informationally structured environment (ISE) is a key technology for realizing service robots in daily life in the near future. In ISE, the information of the service robot and its surroundings is structure...
This paper focuses on robot picking of objects in warehouses and stores. Objects are often regularly stacked or aligned in specific arrangement patterns to increase storage efficiency. There are typical patter...
Estimating the distance of a target object from a single image is a challenging task since a large variation in the object appearance makes the regression of the distance difficult. In this paper, to tackle su...
The motion of the robot to realize assembly work includes the part where the reuse of the motion adjusted for the real objects is effective and the part where automatic generation in the simulator is suitable....
When using a wearable robot, the interaction force applied to the area of contact may cause skin injuries over time. Therefore, validating the contact safety of wearable robots is important for their practical...
This paper describes a hardware-in-the-loop simulation of massive-payload manipulation on orbit using a master–slave teleoperation system. The main problems in teleoperating a space robot arm from the earth to...
This paper addresses a reference gait speed generator for limit-cycle-based bipedal gait of humanoid robots in order to achieve secure and efficient acceleration and deceleration without falling down at respec...
This paper proposes a low-cost infrared (IR) LED system with a novel arrangement that enables the self-localization of an indoor mobile robot. The proposed system uses only low-cost IR LED emitters installed o...
This article reports on a newly designed thermal walker that can walk on a hot horizontal surface without any motor or battery. The walker converts heat energy from the hot surface into mechanical motion by us...
In the current study, we tested a prototype of an isokinetic exercise device for the lower limbs, named the ERIK. The ERIK enables a type of single-limb squat exercise with a translational load on the swing le...
This study presents a novel approach for processing motion data from a six-degree-of-freedom inertial measurement unit (IMU). Trajectory estimation through double integration of acceleration measurements resul...
In recent years, the total number of physical therapists is increasing in Japan. However, it is not sufficient to nurse of patients requiring long-term care. In order to cope with the shortage of manpower, it ...
Baseball has been enjoyed by many generations and there are many people who play the game. Swing speed increases are generally required to develop ideal batting skill; nevertheless, no study has proposed a sys...
In this paper, we aimed to establish a novel method for surface condition measurement for the indoor floor. To measure the surface condition, we proposed wiping motion that to stroke the target surface with chang...
Surpassing the world record in athletic performance requires extensive use of kinematic and dynamic motion analyses to develop novel body usage skills and training methods. Performance beyond the current world...
Following publication of the original article [1], the authors reported that one of the authors’ name is spelled incorrectly. In this Correction the incorrect and correct author name are shown. The original pu...
The original article was published in ROBOMECH Journal 2018 5:7
For household humanoid robots, reaching as much workspace as possible with their hands is an important issue because the locations of target objects may range from the floor to above the robot’s head. At the s...
The objective of this study was to achieve simultaneous localization and mapping (SLAM) of firefighter robots for petrochemical complexes. Consistency of the SLAM map is important because human operators compa...
The Correction to this article has been published in ROBOMECH Journal 2018 5:9
A visual assistance system has become attractive as a technique to improve the efficiency and stability of remote control. While an operator controls a working robot, another autonomous monitoring robot evalua...
Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopi...
This paper presents an occlusion-handling method for a target-tracking robot with a stereo camera. One of the main challenges with the robot is to continue tracking when the illumination changes and occlusion ...
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 ...
