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In recent years, Wireless Sensor Network (WSN) which consists of a large number of sensor nodes having wireless communication and self-organizing capability receives much attention. The design of protocols for such networks has to be energy aware in order to prolong the lifetime of the network. Multi-hop and clustering communication are most efficient routing methods in WSN. Multi-hop communication...
This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation task. Then, we apply the EM algorithm to the...
This article shows our research efforts toward the development of an olfactory display system for presenting odors with a vivid sense of reality. A multi-component olfactory display is developed, which enables generation of a variety of odors by blending multiple odor vapors with arbitrary ratios. In this research demo, the two contents using the olfactory display will be demonstrated. The first one...
This paper proposes a method of directly measuring static constraints imposed by a human hand on a grasped object. Based on the analysis of the demonstration data of the human grasp, the static constraints are expressed as a combination of frictional force and normal force generated by the human hand. The static constraints are an important property to be mapped to robotic hands in the programming-by-demonstration...
The present paper describes a decision method for the placement of mechanical tactile elements for grasp type recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has a recognition performance that...
This paper describes the preparation of ferrite thick films (FTFs) and their application to pressure and photo sensors. The FTFs are composed of ferrite powder with various Curie temperatures, polymers and solvents. A magnetic semiconductor fluid mixture was dried at 120??C after printing onto a plastic substrate. A pressure sensor was constructed using a high-Curie temperature FTF and a pressure-sensitive...
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