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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...
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...
A wearable elbow joint with three passive joints is proposed in this paper. The joint has an advantage of easy attachment to a human arm, without thorough adjustment when attached. This paper describes kinematics, statics and a prototype of the proposed joint, and then reports results of preliminary evaluation.
An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews...
This paper developed 3D Visual Feedback System for Cybernic Master System. This Cybernic master system is a master-slave system for manipulations and consists of master-slave robot arm and visual feedback system. The Cybernic master arm uses joint torque estimation method, based on Bioelectrical Signal. To reap full advantage of the control method, not only feedback to somatosensory system such as...
Radiofrequency (RF) ablation delivered through interventional procedure is a good alternative to hepatic resection or liver transplant for treatment of liver tumor. However, inefficient RF needle navigation and limited thermal ablation region challenge surgeons' manipulations. This paper presents robot-assisted RF ablation system for liver tumor treatment with interactive planning and mixed reality...
In this paper, we propose a method for a mobile robot to navigation in textureless environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omni-directional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can autonomously travel while avoiding walls as obstacles. The method has...
In this research, we propose a mobile robot localization system using multiple observations, which show the robot's global position. One of observations is GPS observations, another is utilized an appearance based place recognition. Using GPS observations faces still some challenging problems such as multipath and signal lost under the environments there is tall buildings nearby. These are critical...
In recent years, the demand for autonomous mobile robots in outdoors environments has been increasing. In order to guide the robot, it is essential to get the current position. In this study, we propose a method to correct the self-position of the robot, which is estimated by odometry, aerial imagery, and the SOKUIKI sensor. First, we explore how to superimpose the reflection point cloud on top of...
The automated inspection is desired to detect the vehicle in large parking space, which is difficult to survey by fixed the vision-sensor. We purposed mobile robot surveillance in parking space for parking lot inspection. To obtain the parking lot information, vision sensor is wide useful for parking lot state checking which measurement is difficult to obtain the positioning of vehicle while achieved...
This paper presents a method to detect slope by using two-dimensional laser range finder (LRF) for robot navigation tasks in indoor environment. Considering the slope existing indoor environments, ordinary two-dimensional scanning map is not enough since the parameters of the slope and the condition of the floor also become extremely important for robot movement. In our research, one laser range finder...
Walking through narrow space for multi-legged robot is optimized using reinforcement learning in this paper. The walking is generated by the virtual repulsive force from the estimated obstacle position and the virtual impedance field. The resulted action depends on the parameter of the virtual impedance coefficients. The reinforcement learning is employed to find an optimal motion. The temporal walking...
In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability...
Virtual robot models are often used for developing, testing, and using robot systems. Such activities can be efficiently conducted by using software tools for visualizing and operating virtual robots with a graphical user interface (GUI). However, existing GUI tools such as robot simulators do not provide all the functions necessary for handling a target robot system, and the development of new GUI...
This paper aims to unify the “robot language” approach and the reinforcement learning (RL) framework in order to design behaviors of robots with a simple description. We develop a kind of robot language where we describe a robot task, then the robot employs an RL method to acquire the corresponding behavior. The remarkable feature of this approach is that we do not have to specify the procedure of...
In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static...
This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion,...
Robots need to be dependable to work closely with humans. Further they must be accountable for the system design and development process. This makes some of the safety related standards such as IEC61508 adopt module based architecture and model driven engineering process. On the other hand, module-based architectures using middlewares are popular in the integration phase, when developing robot systems...
In recent years, there has been an increase in boiling hot day in the summer in Japan. Thus, heatstroke patients have been increase. In particular, Japanese who heightened consciousness power saving are prone to heat stroke because they put up in hot place. Therefore, we propose Alert System for Prevention of Heat Stroke. This system measures the temperature:humidity index and sends data to the server...
In this research, we propose a method to distinguish different ground materials using the reflection intensities of the waves obtained by ultrasonic sensor. In previous research, the information obtained by ultrasonic sensor is only used for checking the existence of an object, and/or measuring the distance from an existent object. To go a step further, applying the information obtained by ultrasonic...
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