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International Conference on Computational science and its Applications (ICCSA)

作者： Wataru Wakita Hirokazu Murai Hiromi Tanaka Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

We present a system from friction measurement to haptic rendering with ONE point-based haptic device. To present a high definition virtual object by haptic rendering, it is necessary to present a haptic impression such as the asperity, friction and stiffness while controlling the haptic device at more than 300-1000 Hz update rate. We have proposed several texture-based haptic rendering techniques at small amount of calculation and with high definition. However, in our previous techniques, the haptic texture such as the height map, normal map, friction map and stiffness map are not based on the measurement data in the real world. To present more realistic haptic impression, it is necessary to calculate the reaction force based on the measurement data in the real world. Therefore, we firstly developed a prototype system of a friction measurement and friction map generation. Secondly, we attempted a haptic rendering based on the measurement data. It is notable that our system enables these functions with ONE point-based haptic device. This paper describes a system from friction measurement to haptic rendering with one point-based haptic device.

关键词： Haptic interfaces Friction Rendering (computer graphics) Force measurement Force sensors Surface texture Application software humans Computational intelligence Competitive intelligence

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Virtual haptic map using force display device for visually impaired 9th

Virtual haptic map using force display device for visually i...

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9th IFAC Symposium on Robot Control, SYROCO 2009

作者： Satoi, Takayuki Koeda, Masanao Yoshikawa, Tsuneo College of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Noji Higashi 1-1-1 Kusatsu Shiga525-8577 Japan Department of Computer Science Osaka Electro-Communication University Kiyotaki 1130-70 Shijyounawate Osaka575-0063 Japan

ISBN: (纸本)9781617825583

We propose a new virtual haptic map system using a force display device and a GPS receiver. This system can haptically display the roads, city blocks, and buildings which are automatically constructed from a numerical map given in DXF format and the information on current location and orientation from a GPS receiver. Hence this system will be especially useful for supporting outdoor activities of visually impaired persons. Other features of the system are that the map can be customized easily with respect to various characteristics such as a concaveconvex shape of the objects or friction of surfaces in accordance with the user's need and that the position and orientation of the map can be changed automatically in real time. To evaluate the usability of this system, recognition experiments using simple virtual haptic maps were conducted by ten blindfolded subjects. In the experiments, recognition rates were compared between two representation methods. In the first method the area of road is concaved, and in the second method it is convexed. As a result, high recognition rates were confirmed in both methods, and it shows that this system has reasonable usability. Additionally, we found that concaved areas were touched for longer time than convexed areas. This suggests that important information is better to be displayed by concave parts. We have also developed a mobile robot system with our virtual haptic map system which is aimed at navigating a visually impaired person and supporting outdoor activity. A preliminary experiment is shown for the validity of this mobile robot system.

关键词： Virtual reality

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Virtual Haptic Map Using Force Display Device for Visually Impaired

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IFAC Proceedings Volumes 2009年第16期42卷 645-650页

作者： Takayuki Satoi Masanao Koeda Tsuneo Yoshikawa College of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Noji Higashi 1-1-1 Kusatsu Shiga 525-8577 Japan Department of Computer Science Osaka Electro-Communication University Kiyotaki 1130-70 Shijyounawate Osaka 575-0063 JAPAN

Abstract We propose a new virtual haptic map system using a force display device and a GPS receiver. This system can haptically display the roads, city blocks, and buildings which are automatically constructed from a numerical map given in DXF format and the information on current location and orientation from a GPS receiver. Hence this system will be especially useful for supporting outdoor activities of visually impaired persons. Other features of the system are that the map can be customized easily with respect to various characteristics such as a concave-convex shape of the objects or friction of surfaces in accordance with the user's need and that the position and orientation of the map can be changed automatically in real time. To evaluate the usability of this system, recognition experiments using simple virtual haptic maps were conducted by ten blindfolded subjects. In the experiments, recognition rates were compared between two representation methods. In the first method the area of road is concaved, and in the second method it is convexed. As a result, high recognition rates were confirmed in both methods, and it shows that this system has reasonable usability. Additionally, we found that concaved areas were touched for longer time than convexed areas. This suggests that important information is better to be displayed by concave parts. We have also developed a mobile robot system with our virtual haptic map system which is aimed at navigating a visually impaired person and supporting outdoor activity. A preliminary experiment is shown for the validity of this mobile robot system.

关键词： Virtual reality Haptic device Virtual haptic map Visually impaired

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Stable grasp and manipulation in 3D space with 2-soft-fingered robot hand

Stable grasp and manipulation in 3D space with 2-soft-finger...

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作者： Yoshikawa, Tsuneo Koeda, Masanao Fukuchi, Haruki Hirakawa, Atsushi Ritsumeikan University College of Information Science and Engineering Department of Human and Computer Intelligence Noji Higashi 1-1-1 Kusatsu Shiga 525-8577 Japan Japan

ISBN: (纸本)9783540774563

We report on our newly developed two-fingered robotic hand with soft and thin skin. This hand is basically controlled by a position-based control algorithm. However, it can realize desired grasping force due to the soft skin while maintaining stability of the system. For an experimental validation of this concept, we conducted following the three kinds of manipulation tasks: manipulating of a cubic object, opening and closing of a bottle cap, and turning of a crank. These results show that this two-fingered hand can perform various manipulation tasks of objects in three dimensional space. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： End effectors

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Shape Recognition and Grasping by Robotic Hands with Soft Fingers and Omnidirectional Camera

Shape Recognition and Grasping by Robotic Hands with Soft Fi...

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2008 IEEE International Conference on Robotics and Automation (ICRA 2008), vol.1

作者： Tsuneo Yoshikawa Masanao Koeda Hiroshi Fujimoto Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

The purpose of this paper is to establish a method of shape recognition and grasping of unknown objects using a robotic hand with two soft fingers and one omnidirectional camera. For shape recognition, we propose to use a simple 2D version of the visual volume intersection method which takes advantage of a special feature of the omnidiretional camera attached to the hand. For grasping we propose a simple grasp quality criterion to obtain the best grasping position for the two soft fingers based on a visual hull in a horizontal grasp plane. We conducted several experiments and the results show the validity of the proposed method.

关键词： Shape Grasping Fingers Robot vision systems Cameras Robotics and automation Image recognition Servomotors Robot sensing systems AC motors

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Mechatronics, robotics and components for automation and control IFAC milestone report

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IFAC Proceedings Volumes 2008年第2期41卷 10800-10809页

作者： S. Boverie Dongil Dan Cho H. Hashimoto M. Tomizuka Wang Wei D. Zühlke Continental Automotive France BP 83649 1 Ave.Paul Ourliac. F-31036 Toulouse CEDEX. France School of Electrical Engineering and Computer Science Seoul National University Kwanak-ku Seoul 151-742 Korea Institute of Industrial Science University of Tokyo 4-6-1 Komaba Meguro-ku Tokyo 153-8505 JAPAN Department of Mechanical Engineering University of California Berkeley CA 94720-1740 USA Research Center of Information and Control Dalian University of Technology Dalian 116024 P.R. China German Research Center for Artificial Intelligence DFKI GmbH Center for Human-Machine-Interaction PO Box 3049 D-67653 Kaiserslautern Germany

This paper presents a general overview of the technological fields of mechatronic, robotic, components for automation and control. Five technical areas are considered: component and instruments, mechatronic, robotics, cost oriented automation and human-machine systems. The paper addresses their current key problems and the recent major accomplishments. At last the most promising forecasted development and applications are considered.

关键词： Component for control Mechatronic systems Robotics Cost oriented automation human-machine systems

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A Quantitative Evaluation Method of Handedness Using Haptic Virtual Reality Technology

A Quantitative Evaluation Method of Handedness Using Haptic ...

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IEEE International Workshop on Robot and human Communication (ROMAN)

作者： Tsuneo Yoshikawa Masanao Koeda Munetaka Sugihashi Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

This paper proposes a method for evaluating quantitatively the degree of handedness of a person by using the haptic virtual reality technology. A definition is also given of a pair of quantitative indices for handedness and dexterity of a person from the data obtained by this method using the factor analysis. A haptic display system has been developed consisting of two PHANToM OMNI haptic devices, a graphics display, and a computer for virtual space calculation and control. To observe the skillfulness of two hands of a person, three virtual tasks have been developed: positioning task, force control task, and manipulation task. Ten male subjects aged from 22 to 23 years old have taken the test. The obtained performance data from these tasks have been analyzed using the factor analysis. Since the obtained factor scores for the right and left hands of each subject can be regarded as the skillfulness of the right and left hand, it is proposed to define the degree of handedness of the subject based on the difference of these factor scores. The proposed degree of handedness and the result of conventional LQ method did not contradict to each other. The calculated degrees of handedness, however, differ largely among the subjects. From this result, it is expected that the proposed method can be useful for detailed and quantitative evaluation of handedness.

关键词： Haptic interfaces Virtual reality computer displays Performance analysis Imaging phantoms computer graphics Control systems Force control Aging Testing

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Deforming rheological objects using an adaptive mesh

Deforming rheological objects using an adaptive mesh

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15th International Conference on computer Graphics and Vision, GraphiCon 2005

作者： Viet, Huynh Quang Huy Kamada, Takahiro Tanaka, Hiromi T. Ueda, Naoki Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University Shiga Japan Murata Manufacturing Co. Ltd Japan

The subject described herein is a novel method for model- ing and visualizing the deformation of a rheological object. In the method, we propose a dynamic adaptive triangle mesh of which the vertex link is a rheology element con- sisting of the group of a viscous element joining to two viscous and elastic elements associated parallelly. Based on the physical and geometrical properties of a rheological object, the mesh conforms dynamically to the deforma- tion. We apply the dynamic adaptive triangle mesh for the problems of visualizing force interactions of a deforma- tion process.

关键词： Deformation

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Annotation-based rescue assistance system for teleoperated unmanned helicopter with wearable augmented reality environment

Annotation-based rescue assistance system for teleoperated u...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： M. Koeda Y. Matsumoto T. Ogasawara Collage of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Shiga Japan Graduate School of Information Science Robotics Laboratory Nara Institute of Science and Technology Ikoma Nara Japan

We introduce an annotation-based rescue assistance system for a teleoperated unmanned helicopter with an wearable augmented reality (AR) environment. In this system, an operator controls the helicopter remotely while watching an annotated view from the helicopter through a head mounted display (HMD) with a laptop PC in a backpack. Virtual buildings and textual annotations assist the rescue operation indicating the position to search rapidly and intensively. The position and the attitude of the helicopter is measured by a GPS and a gyroscope, and sent to the operator's PC via a wireless LAN. Using this system, we conducted experiments to find persons and verified the feasibility.

关键词： Helicopters Augmented reality Control systems Gyroscopes Wireless LAN Global Positioning System Cameras information science Intelligent robots Robot kinematics

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Analysis of the 3D trajectory of absolute motion of an object using a motionless monocular camera

Analysis of the 3D trajectory of absolute motion of an objec...

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Optomechatronic Machine Vision

作者： Viet, Huynh Quang Huy Sato, Makoto Tanaka, Hiromi T. Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University 1-1-1 Noji-higashi Kusatsu Shiga 525-8577 Japan Precision and Intelligence Laboratory Tokyo Institute of Technology 4259 Nagatsuta Midori-ku Yokohama 226-8503 Japan

Based on the triangulation method, the 3D motion of an object can be completely recognized by a stereo camera. However, the question whether or not the 3D motion of an object can be completely recognized by a motionless / fixed monocular camera is the yet-unanswered question. In this paper we propose a method using a motionless monocular camera of which the focus is changed in cycle to recognize the absolute 3D motion of an object. We name the method motion from focus.

关键词： Object recognition

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