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In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to...
This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and position of a target object around an end effector, a manipulator actuated by three piezoelectric actuators is proposed. A compact parallel link produces precise three-dimensional motions. To...
In recent years, various robots have been researched and developed. As a part of them, robots working in dangerous place for human beings are attracted attention. The dangerous places include the outdoor irregular ground or the narrow place mainly, so the robots need to have high moving ability. In addition, It also requires high operational ability as same as human. To satisfying these necessities,...
Many researches have reported that the mechanical stimulus is important factor of the histogenesis and cellular differentiation. However, it is not clearly understood for cellular nucleus how to respond to the mechanical stimulus. Our purpose is applying a mechanical stimulus to cells for gene expression assay. On this paper, we report development of a micro-channel device and evaluating the device...
The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it...
The reliable manipulation of micro-objects has been a still difficult work in scientific and technical field due to scale effects. This paper presents two types of release methods, using local stream and inertia force generated by 3D high speed motion of an end effector, for releasing and accurate positioning of biological cells. Two-fingered microhand driven by DC motors for both end effectors and...
Inspection and maintenance are extremely important to maintain safety and long-term usability of bridges. This application requires a robot that is able to maneuver in a complex 3D environment and to stabilize on steel surfaces to perform bolts checking. We propose a novel design and concept of hybrid (integrated walkability and flyability) robot for steel bridge inspection and maintenance. Our proposed...
Since the beginning of industrial age, more plants were founded in order to serve the demand of the economic growth. Along with more bridges were built to connect different cities together in order for a more convenient transportation. As years passed by, all of those facilities have became old which mean regular maintenance are required. We started the limb mechanism project almost 20 years ago aiming...
Cell tissue construction is one of the important issues for tissue engineering, which is a key-technology in regenerative medicine. Recently, several studies have reported, the in vitro fabrication of simple cell tissues. However, organs are made of some kinds of cells and they are complex tissues. Therefore, a technology to reproduce the complex structure and biological function of the organ is needed...
Recently, manipulation and observation of the cells are actively conducted in order to analyze the biological phenomena. Since the micro hand is usually fixed to the work environment, grasping target point of the cell on the opposite side of the micro hand by using a micro hand is limited by narrow workspace. If we move the micro hand in vertical direction to grasp the target point of the cell on...
In this research, we present an object search framework using robot-gaze interaction that support patients with motor paralysis conditions. A patient can give commands by gazing to the target object and a robot starts to search autonomously. Apart from multiple gaze interaction, our approach uses few gaze interaction to specify location clue and object clue and thus integrates the RGB-D sensing to...
Since the beginning of industrial age, more plants were founded in order to serve the demand of the growing economic. Along with more bridges were built to connect different cities together in order for a more convenience transportation. As years passed by, all of those facilities have become old which mean regular maintenance is required. This project, inspection robot, started several years ago...
Cell-scaffold interaction is important for characterizing cell's mechanism such as differentiation or migration of cells. Therefore analyzing technique of the force exerted by a cell is required. In this research, we aim to realize high speed measurement of cellular traction force by applying the technique of existing vision-based tactile sensor. To achieve the measurement, we need to fabricate cellular...
Cell tissue construction is one of the important issues for tissue engineering, which is a key-technology in regenerative medicine. Recently, several studies have reported, the in vitro fabrication of simple cell tissues. However, organs are made of some kinds of cells and they are complex tissues. Therefore, a technology to reproduce the complex structure and biological function of the organ is needed...
Recently, observation and manipulation of cells and cell groups have been carried out by using micro hand. However, the common micro hand is fixed to the working environment. Therefore we cannot manipulate the object from various direction. We propose an automatic stage system which can eliminate the limitation of the manipulation direction of the micro hand.
In this paper, we design a robot hand for visual inspection equipped with 3D force sensing. The designed hand is attached to the tip of legs of multi-legged robot ASTERISK. The reason for the robot hand to be equipped to the tip of ASTERISK is that it could meet following four requirements. Firstly, the hand system can catch a 1cm size object such as bolts and wires. Secondly, a small camera is attached...
Lifelog image clustering is the process of grouping images into events based on image similarities. Until now, groups of images with low variance can be easily clustered, but clustering images with high variance is still a problem. In this paper, we challenge the problem of high variance, and present a methodology to accurately cluster images into their corresponding events. We introduce a new approach...
Recently micro manipulation techniques for cell or microorganism has attracted attention in life sciences. In this paper, non-contact manipulation method using water stream is proposed. Water stream is generated by a glass needle vibration that is actuated by a piezoelectric actuator. The stream is controlled by changing input voltage or frequency to the actuator. An accuracy of the motion of a piezoelectric...
In the field of medicine and biology, many studies to be related to regenerative medicine are accomplished. In particular, the purpose of helping the operation of the cells under a microscope, many research related to micro manipulation techniques with robotic technology has been proposed. In such background, we studied two finger micro hand that realized control of the sub-micro order size object...
This paper presents an active release method of microobject for the improvement of the position accuracy after releasing by using 3D high speed motions of an end effector. In the micro manipulation, the release task is the challenge work due to adhesion forces. To overcome the adhesion force and to place microobject accurately on the desired location, in this paper, we propose a high speed motion...
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