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This paper presents the development of Robot Technology Components (RTCs) using RT-Middleware (RTM) for designing assistive robotic arms and human-machine interfaces (HMIs) that can be used by the disabled. RTM is an open software platform for a component-oriented robot system. An RTC is the basic functional unit for constructing a robot system using RTM. The interface definition for the basic functionality...
To support disabled persons with less muscle strength like muscular dystrophy patients, a single switch and a scanning menu panel is introduced to input method for the manipulator control. The iArm manipulator and its simulator are connected to evaluate the input performance. The evaluation task is the handling of pegs on the pegboard with the manipulator. Muscle dystrophy patients tested our interface...
To support disabled people with less muscle strength like muscular dystrophy patients, we are developing simple robot arm systems. In this paper, we report the improvements of the inter-face part of the system. The user can change the buttons' position on the input panel only with the single switch. The user can let the buttons on the input panel scan with single click and can select a button with...
A new H-bridge cascaded multilevel inverter which can do regenerative action for motor drive is proposed. The proposed system adds a regenerative unit to the usual non-regenerative cascaded inverter, and the zero-sequence voltage is controlled to keep the regenerated power constant. In this case about 20% of capacitance of the rated motor power is enough for the proposed unit to decelerate motor as...
We are developing a manipulator system in order to support disabled people with less muscle strength such as muscular dystrophy patients. Such a manipulator should have an easy interface for the users to control it. In this paper, we report on the construction of the user interface of the system using RT-middleware. RT-middleware is an open software platform for robot systems. Therefore other interface...
A GaAs/AlGaAs directional coupler switch, for the first time with a device length shorter than 1 mm, has been fabricated by utilising the good controllability of molecular beam epitaxy and reactive ion beam etching. The switching voltage is as low as 5V. The extinction ratio is 17dB for a crossover state and 14dB for a straight-through state.
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