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It is known that human can feel the vibratory envelope on periodic sinusoidal vibrations; however, the role of the envelope on non-periodic transient vibrations is still not clear. This study investigated Just Noticeable Difference (JND) of the time constant in the decaying sinusoidal vibration model, which is one reasonable factor relating to discrimination of tapped materials. The authors conducted...
This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize...
In recent years, several researchers focused their work on the mechanisms to protect the UAV from the dangerous collision with obstacles particularly the application of a spherical shell. However, this mechanism has some drawbacks when used in real-world mission especially in an outdoor environment. In the presence of wind, the spherical shell will experience significant air drag that will affect...
In large industrial plants, the inspection of production lines is a heavy and costly task that puts human inspectors at high risk. In order to overcome these challenges, we have developed an autonomous plant inspection system using a mobile tracked vehicle. In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model that enables the robot to compensate...
Tethered robots often experience entangling of their cables with obstacles in uncertain disaster environments. This paper proposes a spherical tether handling device that unfastens a robot's tether during surveys by releasing the tether and carrying it aside. By using a differential mechanism, the device drives shells and rollers that hold the tether. On flat surfaces, the device moves forward by...
The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, we...
This study proposes a high-speed locomotion mechanism for a pipe-inspection robot. As a result of the narrow and complex structures of pipeline networks, it is difficult for robots to move quickly within the pipes. The new pneumatic mechanism proposed here realizes high-speed locomotion along with advantageous features for pipe inspection including a small diameter, flexibility, and low weight. First,...
Remote robotic explorations for collapsed buildings in a severe disaster are demanded. However, rescue robots cannot approach the rubble due to safety risks. This study proposes a remote vertical exploration system for collapsed buildings with a robotic inspection system hoisted by a crane. An Active Scope Camera (ASC) has many advantages for the vertical exploration such as a light and flexible continuum...
We propose a method by which a micro air vehicle (MAV) can hover without propulsion power. In this paper, we describe the design of a magnetic adhesion mechanism and a winch mechanism for an MAV that is used to perform search operations inside buildings. An MAV equipped with these mechanisms can adhere to an iron ceiling and search for a long time from an appropriate position. We designed a magnetic...
A novel gait phase detection method that can extract the timing of foot contact conditions (Heel Strike and Toe Off) by a single piezo film sensor attached on each leg is proposed. We focused on the occurrence of high-frequency vibrations (> 100 Hz) in the beginning and the end of stance phases during gait. After the features of vibration waveforms during gait were confirmed, we proposed the phase...
A novel flexible pneumatic linear actuator is proposed in this paper. The proposed actuator realizes high-speed reciprocating motion by the moving part which has multiple rollers moves smoothly along the flexible hollow shaft. An effective application of this actuator is its use in endoscope robots and tether robots because cables of cameras or sensors can be passed inside the actuator by using the...
In this paper, an estimation method using the flexible multi-body dynamics model, inertial/magnetic sensor system, and probabilistic state estimation is proposed for estimating the shape of a flexible cable.
Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There...
Perception of minute force through tactile feedback from a tool is an important aspect for humans to maintain dexterity during manipulation of embedded objects invisible to the naked eye, such as repairing tissues in minimally invasive surgery. Different pressure levels at finger contacts could be responsible factors concerning the perception of forces on a tool. In this paper, an experimental study...
This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads...
An experimental study was done to examine the relationship between vibrotactile amplitude displacement and softness sensation. Merkel Disk behavior relative to softness sensation was studied under psychophysical experimentation of human participants. Restrictions are carefully applied on contact area spreading so that vibration will be the only factor that would induce a sensation. A vibrotactile...
Humans can change their grasping force before the grasped object unconsciously slips off their fingers. This reflex is called the grasping force control reflex. This paper describes the methods used to induce reflective grasping force control and presents the observed results. To clarify the stimulus conditions needed to induce reflective grasping force control, we developed an observation device...
Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three...
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