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After leaving hospital, patients can carry out rehabilitation by using rehabilitation devices. However, they cannot evaluate the recovery by themselves. For this problem, a device which can both carry out the rehabilitation and evaluation of the degree of recovery is required. This paper proposes the method that quantifies the recovery of the paralysis of fingers to evaluate a patient automatically...
We propose a multi-legged robot that has legs in all directions around its roll axis. The design realizes the robot to move towards the same direction even if it rolls over. Our target is to make a small sized robot so that it is able to move in narrow areas. In our design, all the legs are driven by a single worm gear placed along with the roll axis. Each leg performs strides by using a simple slider-crank...
Autonomous robots used for rescue or exploration needs to work in unknown environment. Such robots should select appropriate actions corresponding to their environments. In this research, we develop a wheel-legged robot getting better actions in unknown environment with reinforcement learning. We used values of external force measured on the robot's legs as the definition of states and rewards. For...
This paper proposes an extension of Reinforcement Learning (RL) to acquire co-operation among agents. The idea is to learn filtered payoff that reflects a global objective function but does not require mass communication among agents. It is shown that the acquisition of two typical co-operation tasks is realised by preparing simple filter functions: an averaging filter for co-operative tasks and an...
This paper proposes a distributed GA for autonomous agents to learn in order to achieve co-operative action. Our objective is to develop a learning system that would make real-world heterogeneous agents feasible with the minimum amount of communication hardware. With such real-world agents, there are two constraints that make it difficult to estimate the global payoff: one, is that the communication...
There is an increasing need for patients affected by cerebrovascular diseases to receive continuous and proper rehabilitation support in his/her home. To this end, many robotic rehabilitation support devices for finger therapy have been proposed. However, there has been no consideration for treatment of "fingertips" with these finger therapy support devices. An active touch uses fingertip...
This paper proposes a gait design method for robots that have legs on their faces. The method is based on a graph coloring problem in the theory of graphs. Representing a structure of a robot as a graph on a sphere, it is shown that the number of phases of movements needed for a leg is given as a minimum chromatic number of that graph. Also the allocation of an initial phase for each leg is given...
A rescue robot is required to efficiently run on uneven surfaces. However, a high performance on a rough terrain sometimes causes inefficiency in rapidly moving on even surfaces such as paved areas. To provide a mechanism that is able to be used in different terrains without changing the structure, we propose a specialized shape for 6 wheels vehicles that is able to run like a normal wheeled vehicle...
One of the ideal methods to stabilize passive dynamic walk is to reset the angle and the velocity of a swing leg to their initial values every time after a new gait phase begins. To achieve this, it was proposed to mechanically limit the range of the rotation of a hip joint. This drastically contributes to realize stable walk. But a hip joint limitation does not always ensure the same angle for the...
A legged robot is one of the ideal mechanisms for moving around muddy, irregular, and fragile surfaces. However, a legged robot will easily be unable to move if its body is turned over. Some robots have special mechanisms for recovery. But having extra mechanisms may increase possibilities of malfunction. Our approach is to make a robot that has legs around its body so that it never turns over. Also...
A rescue robot in a disaster area should have a mechanism to move on irregular surfaces. Actual disaster spot consists of an irregular surface such as inside of a collapsed house. However, it is mostly surrounded by many flat surfaces such as roads to that spot or undamaged area inside that spot. A robot that works under rescue operation should not only have special purpose locomotion mechanism but...
The purpose of this study is to develop a frog-like robot that is able to avoid obstacles by jumping and walking on rough terrains by legs. There is no study that realizes both instantaneous jumping ability and precise control of leg joints in a single compact body. In this study, we refer to a musculoskeletal model of a frog and develop a leg mechanism that is designed to extend the leg instantly...
We investigate a characterization method of biological internal dynamics which exists in the background of biological signals. For the measured time series of the pulsation of human finger's capillary vessels, we extract an internal dynamics with a form of vector field by using embedding method. In order to characterize and recognize such dynamic structure, we construct an artificial dynamics of...
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