Search results for: S. Kawaji
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Hall and transverse resistivity measurements for Si-nMOS (100) inversion layers have been made at temperatures between 4.2 K and 12 mK and a magnetic field of 120 kOe.The result indicates that the effect of short range scatterers is still dominant at the lowest temperatures. It has been found from a detailed study of transverse resistivity around the mobility gap region that five quantized Hall resistivity...
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Proceedings of SICE Annual Conference 2010 > 471 - 476
In the coexistence circumstance with human and robot, sensory and emotional feelings of human should be considered in case of interaction. A typical unpleasant feeling influenced by this interaction is pain. In order to keep this interaction safe between human and robot, the pain sensing will be an important ability for the robot. In this paper, we provide a pain sensing system which consists of a...
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This paper deals with tracking performance of linear time-invariant discrete time SISO systems. In the existing results, the fundamental limitations are analyzed based on the knowledge of reference signals such as the step, the trigonometrical signals and so on. Our purpose is to find the closed form expressions of the tracking performance limitation for the general class of reference inputs. Moreover,...
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It is important to clarify that how are the stiffness and the torque of human arm controlled in the interaction with the environment. Traditionally, the stiffness of human arm has been measured by adding perturbation. However, it is difficult to measure the stiffness in isotonic movements with various loads, because the perturbation provides the unexpected stiffness increase by antagonistic muscles...
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In the coexistence circumstance with humans and robots, sensory and emotional feelings of human should be considered in case of interaction. A typical unpleasant feeling that stems from this interaction is pain. We have developed a new multi-layered pain sensor similar to the laminated structure of human skin, to clarify this feeling which is abstract for robots. The dynamical characteristics of this...
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Continuous passive motion (CPM) is an orthopedic treatment or a physiotherapy after surgery. After surgery to injury of ulna collateral ligament (UCL) in the elbow, excessive extension of the UCL aggravates the injury, and reaction force at hand of patient increases excessively near the end of the range of motion due to increased stiffness. It is known that controlling pro-/supination is effective...
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It is well known that plants with dead-time are difficult to be controlled by using traditional control method. For this, controller with dead-time have been proposed for the systems with dead-time, e.g. internal model control (IMC), Smith-method. However, it would be difficult to realize the dead-time component of controller because of memory limit of micro control unit (MCU). The sampling time might...
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Thermal distribution in manufacturing processes, which is observed in both steady and transient states, causes inferior quality. To suppress the thermal distribution, parameter tuning method appropriate to the real plant has been required. For the plant with strong thermal interaction, decoupling control would be effective from the view point of the tuning time reduction. However it is difficult to...
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In the coexistence circumstance with humans and robots, sensory and emotional feeling of human should be considered when the robots interact to human. A typical unpleasant feeling at interaction is pain. One approach for construction of safety coexistence circumstance with humans is to design the autonomous robot with action learning ability based on the subjective pain. In previous researches, a...
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Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method that promotes recovery of impaired joints, and is tried to apply for treatment of the shoulder joint disorders. The shoulder joint has a complex structure, where the inner/outer rotation torque of the shoulder joint varies due to ad-/abduction angle. Wrong ad-/abduction angle causes the excessive inner/outer rotation...
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The control performance of manual controlled human-machine system considerably depends on the skill level of human operator. So, authors have proposed a concept of ldquoCollaboraterrdquo which coexists with human operator as a parallel control element and can collaboratively control the machine in order to modify the response of human-machine system. In this report, for the variety of human dynamics,...
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Currently, metabolic syndrome is one of the most all-too-common terms in Japan and it has been pointed out that the number of patients afflicted with lifestyle diseases such as hypertension, diabetes and hyperlipemia is rapidly growing. It takes many days to heal from lifestyle diseases completely, and prevention is the best way to keep us healthy. Furthermore it is well-known that dietary cure is...
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Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method after surgery or injury by external continuous force. In CPM for the elbow joint, it is effective to reduce an excessive reaction force from a subject by controlling pro-/supination of forearm. The ulna collateral ligament in the elbow joint is extended due to pro-/supination of forearm, and it appears that extension...
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Steer-by-wire system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, and besides, is applied to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, driver...
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Thermal distribution in thermal processes, which is observed in both steady and transient states, causes inferior quality. Thus, uniform temperature control is extremely required in many industrial application fields for quality improvement. Conventional control based on black-box model is cheap for the control of thermal plant with strong interference. To deal with these problems, we have proposed...
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Steer-by-wire system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, as well as to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, driver can not...
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Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy after injury or operation. Most of CPM devices used for treatment of the elbow joint have one degree of freedom in flex-/extension. This causes that the patients are limited in pro-/supination of the forearm with flex- /extension of the elbow joint due to the movement of CPM device. In this paper, a novel impedance control...
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Continuous passive motion (CPM) is a surgical treatment or physiotherapy after operations for disorders. In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the relationships between the upper limb joint and CPM are not analyzed. Especially, the joint angle information by accompanying pronosupination of the forearm...
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Thermal distribution in thermal processes, which is observed in both steady and transient states, causes inferior quality. Thus, uniform temperature control is extremely required in many industrial application fields for quality improvement. Conventional control based on black-box model is cheap for the control of thermal plant with strong interference. Therefore, we have proposed a novel control...
