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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...
This paper describes a 3-D biped walking over rough terrain. The robot is modeled as the special 3-D inverted pendulum that can change the length. The dynamics of the 3-D inverted pendulum is modeled as 2-D autonomous system by applying the Passive Dynamic Autonomous Control (PDAC) that is based on the assumption of point-contact of the robot foot and the virtual holonomic constraint as to robot joints...
This paper experimentally verifies the performance of a switched reluctance (SR) motor made of permendur. The permendur, which is an alloy created by mixing 49% cobalt with iron, has extremely high saturation flux density and very low core loss. Two types of 12/8-pole SR motors which have the same dimensions but different core material; one is conventional non-oriented Si steel and the other is permendur,...
Cost effective, mass productive Ku-band up- and down-converter MMIC's for wireless communication are presented. These MMIC's are designed by using a three-dimensional MMIC technology that optimized for flip-chip solder reflow-compatible implementation; hence, that removes necessity of packaging. The MMIC structure incorporates inverse TFMS lines so that a ground metal can be applied to cover the whole...
Cost effective 77GHz transmitter and receiver MMIC's, that use a three-dimensional MMIC technology optimized for flip-chip implementation, 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 pads. Four metal layers including the ground metal are formed between and the top surface of polyimide...
In this paper, we describe a new production method for microscale silicon carbide (SiC) ceramics parts. Slip casting with SU8 micro mold was carried out for the fabrication of a three-dimensional SiC MEMS component, which was made from polycarbosilane (PCS) precursor-derived SiC nano powder. SiC nano powder was mixed with a PCS solution. The slips were then cast into SU8 micro mold made on porous...
This paper proposes a tendon driven system with antagonistic pairs of polyarticular tendons to simulate a variable stiffness of a human fingertip. The stiffness of a robot finger should be adjusted according to a situation that includes large position errors or collisions, because it tolerates errors of object positions and dimensions in assembly task and absorbs collision energy in hitting or catching...
In designing a holder part of a large stamping die, designers must consider not only the functional property of the part, but also its manufacturability. The holder part is usually produced by cutting and engraving table, wall, slot and pocket features into a raw cast object. The raw cast object has inevitable large shape errors. It generally has 5 to 10 mm shape difference from the nominal CAD model...
While a robot is moving, the joints inevitably generate noise due to its motors, i.e. ego-motion noise. This problem is very crucial, especially in humanoid robots, because it tends to have a lot of joints and the motors are located closer to the microphones than the sound sources. In this work, we investigate methods for the prediction and suppression of the ego-motion noise. In the first part, we...
This paper proposes real-time sound source orientation estimation based on orientation-extended amplitude beamforming (OE-ABF). To recognize a sound source orientation (such as face orientation) is an important function for a robot who can achieve natural human-robot interaction because the function is required to distinguish the human target from a robot or another person. We developed a sound source...
This paper introduces a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as a timings to start and stop walking, walking speed and waking direction. Using this algorithm an exoskeletal walking support system could help a paraplegia patient walking comfortablly. At first, a pair of gloves with several DOFs is developed to convey...
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, 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 convergence algorithm based on conservative quantities named ??PDAC constant?? was proposed, so that...
As robotic technology plays an increasing role in human lives, ??robot audition??, human-robot communication, is of great interest, and robot audition needs to be robust and adaptable for dynamic environments. This paper addresses sound source localization working in dynamic environments for robots. Previously, noise robustness and dynamic localized sound selection have been enormous issues for practical...
MuCCRA-cube is a scalable three dimensional dynamically reconfigurable processor. By stacking multiple dies connected with inductive-coupling links, the number of PE array can be increased so that the required performance is achieved. A prototype chip with 90 nm CMOS process consisting of four dies each of which has a 4 times 4 PE array was implemented. The vertical link achieved 7.2Gb/s/chip, and...
Space is a challenging field for science engineering and education. Cosmo Flower 2008 is a payload on the International Space Station coordinated by Japan Manned Space Systems Corporation (JAMSS). Science team, local governments and civilians get together to send flower seeds to space. This mission aims to create a legend of space, which will be shared by everyone. Seeds of plants including Japanese...
This paper proposes a polyarticular tendon drive system to simulate a variable stiffness of a human fingertip. The stiffness determines displacement of the fingertip when an external force is affected to it. The stiffness should be adjusted not only according to measurement precision of object's dimensions in order to allow grasping position errors, but also according to tolerance of the assembly...
This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using...
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