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This paper proposes a ceiling-robots system, con-CEILrge, for a new type service robots by separating a human living space and a robot work space. For the realization of such robot system, a triangle-shaped omni-crawler movement platform, the ceiling structure for the platform, a crane mechanism acceptable to the slant directional traction, and motion control considering variable tention from the...
In this study, a driving assistive system using an active force control for an accelerator pedal is proposed. First, using a driving simulator embedded with a haptic pedal mechanism, driver's just noticeable difference (JND) against the force perception on the pedal was investigated experimentally. Second, an algorithm of the conscious/unconscious assistive control is presented by utilizing the identified...
In this study, dynamics of a fixed-pitch co-axial rotor unmanned helicopter is modeled, and fundamental motion analysis is performed using derived model. The unmanned helicopter is considered as a rigid body system consists of 2 rigid bodies, and multi-body dynamics modeling technique named velocity transformation method is used for deriving the equation of motion. Force and torque terms applied to...
The objective of this study was to measure muscle activity during stair-climbing in order to estimate the water depth at which people can evacuate safely from urban underground. A life-size model of a staircase with a water pump that generated water flow from the top of stairs was constructed. In the study, electromyogram data were measured for six muscles on the right lower extremity, namely, the...
In this research, we design the navigation and fully autonomous control system for small electric helicopter. Small and low-accuracy sensors (GPS which cannot output vertical velocity, low-accuracy accelerometers, and barometer) are used for navigation and control. Firstly, INS/GPS/Barometer navigation system is designed to obtain high-accuracy position and velocity of the helicopter. Secondly, 3-dimensional...
This paper introduces an experimental analysis to elucidate catholic characteristic of human skill on machine manipulation for realization of a Human Adaptive Mechatronics (HAM). HAM is a novel concept of intelligent mechanical systems that adapt themselves to the user's skill and assist to improve the user's skill. Using a force-feedback haptic device and a real-time computer graphics of a virtual...
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