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Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a...
This paper describes the development of a gait rehabilitation system with a locomotion interface (LI). The LI consists of two 2 DOF manipulators equipped with footpads. These can move the user's feet while his or her body remains stationary. The footpads follow the prerecorded motion of the feet of a healthy individual. For gait training, the user progresses iteratively through successively more advanced...
Lately, it is required that the bandwidth of PWM power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, we show that the bandwidth of PWM power amplifier can be extended by using an Approximate 2DOF Digital Controller. This controller is implemented on a DSP. It is demonstrated from...
In this paper, we propose a sophisticated design of human symbiotic robots that provide physical supports to the elderly such as attendant care with high-power and kitchen supports with dexterity while securing contact safety even if physical contact occurs with them. First of all, we made clear functional requirements for such a new generation robot, amounting to fifteen items to consolidate five...
Advanced operated-work machines, which have been designed for complicated tasks and which have complicated operating systems, requires intelligent systems that can provide the quantitative work analysis needed to determine effective work procedures and that can provide operational and cognitive support for operators. Construction work environments are extremely complicated, however, and this makes...
Double-front construction machinery (DFCM), which has been developed for adaptation to complicated work, demands higher operational skills to control double fronts with more multiple joints. To handle DFCM skillfully for performing more complicated works, intelligent functions that can autonomously distinguish between diverse states and also provide informational and operational supports to their...
This paper describes development of a haptic interface using a laser range finder. The system consists of a laser range finder, a 1 degree-of-freedom haptic apparatus and a computer. The haptic apparatus can generate a reaction force based on a distance to a remote object that is measured by the laser range finder. A user can feel the shape of a remote object by holding this interface and pointing...
A test structure with a wide channel width for analysis of hot-carrier-induced photoemission is presented and spectrum changes for 90 nm MOSFETs under DC (direct current) and AC (alternating current) operation are discussed. Comparing with DC operation, photon counts for higher photon energy increase under AC operation, and spectrum curves change with rise and fall time of gate pulse. The overshoots...
A supply voltage (VDD) independent temperature sensor circuit by a standard 90 nm CMOS process achieves the predicted errors about -1.0 to +2.0degC (-0.6 to +0degC) for the temperature range of -20 to +100degC (+20 to +80degC) for two-point calibration lines. This temperature sensor has a good tolerance to the change of VDD from 2.5 to 1.5 V, which corresponds to the measurement error of 0.9degC.
In this paper, we proposed a soft skin design method of human symbiotic robots which achieves collision safety in all collision situations. At the same time, soft skin design has to be optimized for the collision safety and the workability. Therefore we evaluate effectiveness of soft skin at each position on arm in longer-direction, and optimize its thickness along collision position. Firstly we discuss...
We describe a space-efficient visco-elastic mechanism design for a small lightweight flexible joint of a human-symbiotic robot arm. Human-symbiotic robots that can provide daily life support will be required in houses, offices, facilities, and other places. Since they will often make physical contact with humans, their arms should have mechanical flexible joints to absorb the contact force and follow...
This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling...
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