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Dynamics properties of shoulder joint and muscle are experimentally identified under different musculoskeletal conditions for a digital human model with accurate dynamics. Passive swing motions of scapula and upper limb bones in cadaveric specimen with and without muscles are measured by an optical motion capture system. External forces that are applied to the scapula bone are simultaneously measured...
A motion capture system requires a collection of human body model data which reflect body features of a user. The existing motion capture systems utilize human body model data with fixed body proportions; or require manual input of human body model data, which is unwieldy. This paper proposes how to measure the length of body joints using the Kinect's depth sensor, and how to put the measured value...
This paper presents the application of a humanoid robot as an evaluator of assistive devices; we propose a framework of the evaluation by utilizing identification of the mechanical properties of a humanoid robot. The accurate estimation of joint torque with the identification can enhance the performance to estimate the supporting effect of the devices. We evaluate a passive assistive wear "Smart...
Motion control of a humanoid robot is challenging problem because its dynamics is complicated. To make it easier to design a controller, a macroscopic dynamics focusing on the relationship between the center of gravity (COG) and the center of pressure (COP) is often used. Based on the COG-COP model, it is possible to control the COG by using the COP as the control input. Moreover, it is possible to...
This paper presents a randomized planning algorithm for manipulation tasks that require the robot to release an object in different robot configurations. Such problems arise, for example, in robotic suturing and knot tying, and in certain assembly tasks where parts must be guided through cluttered environments. We show that the problem can be posed as one of planning on a foliated manifold. A randomized...
As power-assisted robots such as exoskele-ton robot have been widely used in eclectic applications, the robot becomes more interactive than industrial robots. More specifically, the power-assisted robot for rehabilitation requires to enhance power with respect to the intended motion. To do that, the power-assisted robot should recognize which part of interaction is based on human-intention. In this...
Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop...
Glass interposer is proposed as a superior alternative to organic and silicon-based interposers for 3DIC packaging in the near future. Because glass is an excellent dielectric material and could be fabricated with large size, it provides several attractive advantages such as excellent electrical isolation, better RF performance, better feasibility with CTE and most importantly low cost solution. In...
Reaching is one of crucial tasks in order to assist activities of daily living and to support therapeutic rehabilitation. We investigated the dynamics of upper-extremity motions for the reaching tasks at different levels by stroke and able-bodied participants. The two different levels were at the head and chest. The results indicated that the joint moments with respect to levels differed slightly...
For integrated service systems supporting real-time (RT) and non-real-time (NRT) traffic, evaluating the performance of the NRT traffic is often challenging. An approximation based on a fluid model - the so-called Fluid Approximation (FA) - can be used when RT traffic has much larger successful call arrival rate than the NRT traffic, while otherwise it may introduce errors. In this paper, we propose...
The future electronics will be flexible, bendable, and wearable device. The damages like thermal stress and warpage occurred generally during bonding process between flexible substrate and chip used Pb-free solder for wearable electronic device. Though the wearable electronic devices have been researched, there is few study on bonding technology and reliability of joint between chip with solder bump...
There are a lot of pedestrian flows in the commercial facility. These flows often cross each other, and change goals, e.g. reception desk or ticket-vending machine. Moreover, too long people queue at a goal sometimes blocks up other flows and makes us uncomfortable. In order to reduce the congestion and realize the amenity space the environmental design considering the swarm behavior of people is...
To identify the joint parameters (e.g. the position of the joint center for a spherical joint, the position and the orientation of the joint axis for a revolute joint, etc.) from motion capture data, existing provably-correct algorithms require that at least three markers be attached to either of the two links adjacent to the joint. However, as shown in this article, it turns out that the identification...
This paper presents a fast inverse kinematics (IK) algorithm. In recent years, the robotics computation theory is often applied for detailed and complex multi-body systems. However, the computational complexity of IK is too high to be implemented in large DOF systems. IK of multi-body system is often formulated as nonlinear optimization to minimize the residuals from the references. It usually requires...
This paper presents an enhanced fast motion estimation method where a search point sampling technique is combined with the adaptive search range algorithm (ASRA) based on the distribution of motion vector differences, which is our previous work. Since the ASRA is based on downsizing of search ranges for less computational complexity rather than sub-sampling of search points that is adopted by most...
Highly reconfigurable modular robots face unique control and programming challenges due to the large scale of the robotic systems, high level of reconfigurability of the systems, and high number of controllable degrees of freedom in the system. Modular robot systems such as iMobot must face these challenges in novel ways. This paper presents a unified software framework which facilitates the programming,...
Having a meal is one of the most basic human activities. There are several hundred thousand patients with upper limb disorders in Japan, who need to be nursed when eating. By letting the patients to perform meals with their own arms, it is expected to promote a more independent life and improvement in their quality of life. In our group we have researched and developed Robot Suit HAL, which is an...
Joint properties of Au stud bumps joined with Sn-3.5Ag solder by flip chip bonding were investigated. Au stud bumps were bonded on SOP (solder on pad) at bonding temperature of 260°C and 300°C for 10sec, respectively. Aging treatment was carried out at 150°C for 100 and 300 hrs. After flip chip bonding, intermetallic compounds (IMCs) of AuSn, AuSn2, and AuSn4 were formed at interface between Au stud...
In this paper we present a framework and a set of algorithms for determining faults in networks when large scale outages occur. The design principles of our algorithm, netCSI, are motivated by the fact that failures are geographically clustered in such cases. We address the challenge of determining faults with incomplete symptom information due to a limited number of reporting nodes in the network...
In current biomechanics approach, the assumptions are commonly used in body-segment parameters and muscle strength parameters due to the difficulty in accessing those subject-specific values. Especially in the rehabilitation and sports science where each subject can easily have quite different anthropometry and muscle condition due to disease, age or training history, it would be important to identify...
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