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The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
Patients with walking difficulties need support devices such as a walker or a cane. However, the support devices sometimes restrict their activities of daily living (ADL). In order to improve the patients' ADL, it is desired that they use the support device that does not restrict their activities as much as possible. The patients need gait training to reduce the dependence on the support device and...
In this paper, online path optimization method for Unmanned Aerial Vehicles (UAV) by adjusting parameters of flight path is proposed. Especially, the energy efficient path for UAVs under the presence of steady wind is discussed. Although the relation between the energy consumption and the flight path parameters is hard to model explicitly in general, which induces the difficulty to adopt gradient...
The estimation of human intention is essential to realize intelligent vehicle systems which interact and assist humans to accomplish their tasks. In this paper, we propose a novel method for finding meaningful segments from driving behavior which are important for intelligent vehicle systems that act on human intentions. We assume that contextual information of driving behavior has a double articulation...
A mobile platform-based rehabilitation robotic system with a lower-extremity exoskeleton was developed for people with disabilities to allow them to perform therapeutic exercises and to support daily living activities. The system consists of a weight support module, a locomotion module, and an exoskeleton module for lower extremities. We collected the needs and feedback of users and clinical experts...
When human exercises multi-degrees of freedom (DOF) motion, they just pay attention to only part of the body motion and can control the whole body motion. By consciously adjusting low-DOF movements, it is possible to induce multi-DOF motion, which is referred as a “knack” in the sport. Acquiring knacks can drastically improve multi-DOF motor skills by low-DOF information presentation, and it is also...
This paper considers energy saving of industrial machines using a simple S-curve motion trajectory, which consists of acceleration period, constant velocity period and deceleration period. The S-curve motion trajectory is widely used in industrial applications. We consider a typical dynamics of feed drive systems including inertia term, viscous friction term, Coulomb friction term and the back-EMF...
The minimum-time trajectory generation problem along curved paths (MTTG-CP) is solved for two-wheeled mobile robots (TMRs) with a motor control input constraint. First, we formulate the admissible region for two-wheeled mobile robots with a motor control input constraint (AR-TM). Second, we identify the characteristic switching points (CSPs) to construct limit curve. Third, we determine a bang-bang...
The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far. However, the robot hand cannot execute any tasks autonomously because the robot hand does not have enough motion and sensing ability to task complexities. Therefore, we have developed a robot hand teleoperation system with the motion capture data glove CyberGlove. Here, each joint of the...
This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, ϕ)-formation. In real environment, however, heading angle of each robot is affected by noise of compass sensor. Because of this reason, follower can't keep exact formation. In this paper, we suggest...
The information of luminance and color at the point where the camera's sight line hits the surface of object. The area is large at which application of range finder is of useful, for example, model generation for computer graphics [1] and robot's eye [2]. In order to realize these requests, range finder needs some functions. Especially, there are 3 functions for range finder used for robot control...
We assessed the feasibility of applying a resistive network (RN) filter to the scale-invariant feature transform (SIFT) algorithm by performing computer simulations for the hardware implementation of the filter. SIFT is an algorithm for computer vision to describe and detect local features that are invariant to scale and rotation of objects. However, it is difficult to perform multiple spatial filterings...
The worldwide prevalence of obesity is considered as a serious issue because obesity is one of the main causes of diabetes, heart disease, and cancer. Obesity is associated with various habits of our daily life, e.g. short sleep duration, high alcohol intake, and nonparticipation in physical exercise. Therefore, changing these habits in order to reduce body weight is recognized as an effective solution...
With the rapid advanced in network technology, Network Virtualization has come into existence as a new approach of Active/Programmable Network. This software defined network platform makes it possible to design revolutionary networking architectures that go beyond the current TCP/IP based network. Clearly, traditional network can suffer and fail under extreme environment such as disaster recovery...
Low back pain (LBP) is the serious problem in the field of nursing care. We have developed the HAL for lumbar support in order to reduce the lumbar load. For practical use, it is important to save energy of HAL. The purpose of this study is to develop HAL equipped with passive mechanism in order to reduce the power consumption of the HAL, and to verify the effectiveness of saving energy of HAL equipped...
This paper reports construction of a new device to capture 3D point cloud on human body. The device consists of a horizontal LIDAR, a vertical LIDAR and pan rotational mechanism. The device contain three main features. 1) The device can capture point cloud in large area using combination of the vertical LIDAR and the rotational mechanism. 2) The device can measure dense point cloud using mirror reflection...
In order to prevent persons with thermoregulatory disorders from getting hyperthermia, we developed a body heat removal system (BHRS) with Peltier devices, or thermoelectric devices. The Peltier devices were mounted on a wheelchair backrest and continuously transfer body heat through the contacting interface into the outer environment. The cooling experiment in a hot environment with able-bodied subjects...
In the past two decades, under the double impact of the increasing numbers of universities and the falling birth rate, the enrollment drops have struck many universities. Plus, the lower birth rate results in the impact of universities' enrollment shortfall. Based on the questions above, the paper proposes the method to find the reasons of the main impact factor. First, we collect the factors of total...
Simple Event Relaying Framework (SERF) is a software framework that attempts to bring lightweight publish/subscribe architecture inside individual devices and processes. In this paper we study the performance of SERF when it is used as a base for studying a different topic: virtual creatures in a life game learning to seek food via evolutionary algorithms. We measure the time spent on the whole evolution...
We propose a simple probabilistic model of zapping process of television viewers. Our model might be regarded as a ‘theoretical platform’ to investigate the human collective behavior in the macroscopic scale through the zapping action of each viewer at the microscopic level. The stochastic process of audience measurements as macroscopic quantities such as television program rating point or the so-called...
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