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The da Vinci surgical system is now widely adopted in hospitals and research centers worldwide, with more than half a million clinical cases [1]. However, minimally invasive microsurgical procedures such as the transsphenoidal pituitary tumor resection has yet to be contemplated with robotic aid. Such necessity inspired some groups to use the da Vinci system in head and neck surgery, but with limited...
We designed a novel needle-encapsulated wire-electrode for a brain-machine interface. A thin wire-electrode was embedded into a biodegradable microneedle to ensure stiffness during insertion into brain tissues. A fabricated needle-encapsulated wire-electrode was inserted into agar media as part of a proof of concept experiment. The biodegradable microneedle structure itself gradually dissolved in...
We previously proposed heartbeat measurement by airflow at the mouth, and applied the catheter flow sensor to evaluate the airflow [1-3]. This time, we applied the drug to a rat to change the heartbeat frequency and tried to detect its change by catheter flow sensor. MEMS technology was used to fabricate the catheter flow sensor with an outer diameter of 1.8 mm to be applied to the measurement in...
We previously proposed the smooth-surfaced flexible sensor for detecting wall shear stress, and developed the fabrication process to assemble the sensor onto the flexible flat surface. This time, we newly proposed a cylinder hollow structure with the flow sensor to easily attach and detach the flow sensor onto the guide wire in the commercialized basket forceps, and challenged to assemble the sensor...
To precisely evaluate kinetic heartbeat signals from the airflow at the mouth, we newly integrated a temperature sensor onto a catheter flow sensor to compensate for the temperature change between inspiration and expiration. The catheter flow sensor was fabricated by MEMS technology, and the variation of sensor outputs under the temperature change was successfully suppressed to less than 2.5%. Then...
We newly proposed a novel type of smooth-surfaced flexible thermal shear stress sensor and developed a fabrication process based on a micro-machined PDMS structure and film transfer technology. The proposed sensor has the advantages that it can be placed on a curved streamlined surface of a vehicle and can measure the shear stress with a high degree of accuracy because of its smooth surface. The developed...
In this paper, a directional bow-tie antenna for EMI measurements was proposed. For obtaining the directionality, two backward edges of each half element were straight-line, and two slits were placed on the elements to suppress the sidelobe level. The reflection coefficient less than -4 dB between 300 and 870 MHz and front to sidelobe ratio of 9.0 dB were measured at 870 MHz.
In this paper, a log-periodic dipole antenna array (LPDA) was downsized by using chip inductors and dielectric substrate for outdoor measurement. It was found that the directivity of a dipole antenna was decreased with increase of the shortening ratio of the element. A three-element LPDA was designed using the downsized dipole element. The reflection characteristics of the fabricated LPDA met the...
Nowadays, trials to use even higher frequencies are pursued to realize high-speed wireless communications. In order to respond to such a trend, dielectric properties of insulating polymers at high frequencies have to be clarified, although the importance of clarifying low-frequency properties is still very high, especially for use as high voltage insulators. In this regard, complex permittivity spectra...
Cost effective E-band Low Noise Amplifier (LNA) using a three-dimensional (3-D) MMIC technology and wafer level chip size package (WLCSP) technology is presented. The reflow-soldering compatibility of the technology makes MMIC assembly on PCB very simple and significantly contributes to mass production of receivers and transmitters. The applied 3-D MMIC design effectively shrinks the die sizes. The...
Newly developed E-band receiver (RX) and transmitter (TX) modules are demonstrated. The reflow-soldering compatibility of the 3-D WLCSP MMIC is made to assemble easily on PCB, which contributes to high mass productivity. The RX module is the first edition, and the TX module is the second edition with an improved Power Amplifier (PA). The PA is designed separately for lower and higher bands; 71 to...
Newly developed E-band receiver (RX) and transmitter (TX) modules are demonstrated. The reflow-soldering compatibility of the 3-D WLCSP MMIC is made to assemble easily on PCB, which contributes to high mass productivity. The RX module is the first edition, and the TX module is the second edition with an improved Power Amplifier (PA). The PA is designed separately for lower and higher bands; 71 to...
The conventional switched reluctance (SR) motor has following features: low cost, extremely robust, and a wide range of variable speed drives. This paper presents a novel SR motor that has auxiliary windings and permanent magnets (PMs) in the stator yoke. The permanent magnets are used to reduce magnetic saturation of stator core, and the auxiliary windings, which are excited by a dc current, work...
The first edition of E-band transmitter module is demonstrated. This module is consisted of four WLCSP MMICs solder-reflowed on a designated PCB 14 mm × 10 mm in size. Because the WLCSP technology is incorporated, the module is mass producible and potentially very low cost compared with the current E-band products. The treatment of WLCSP MMIC in the E-band should be carefully done so as to suppress...
Cost effective E-band transmitter and receiver chipset MMIC's, that use a three-dimensional MMIC technology optimized for flip-chip implementation, are under development. Here, the first edition of MMIC's successfully designed and fabricated are presented. The MMIC structure incorporates inverse TFMS lines so that a ground metal can be applied to cover the whole chip surface except for interconnect...
A 200 Watts GaN high electron mobility transistor (HEMT) has been developed for X-band applications. The device consists of four dies of 0.35 um-gate GaN HEMT of 16 mm gate periphery together with input and output 2-stage impedance transformers assembled into a low thermal resistance package. The developed GaN HEMT provides 204W output power and 12dB small signal gain at 9.3 GHz with power added efficiency...
This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower...
To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion...
This paper proposes an adaptation control method of the PDAC constants that facilitates stabilization. Previously, we proposed a three-dimensional biped walking control based on Passive Dynamic Autonomous Control (PDAC). The robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergent controller...
This paper proposes the basic technologies in order to develop a wearable hand assistive system for daily life support. Current prosthetics have some problems for wearability. We focus on the load caused by weight of wearable system. The actuator is one of the heaviest parts in wearable systems. Therefore we propose to use the McKibben pneumatic artificial muscle which is lightweight and compact in...
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