Although the three-axis tactile sensor is capable of delicate measurement, it is weak for heavy contact force. In order to enhance resistance to a high degree of applied force, we attached a rubber skin onto the senso...
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Although the three-axis tactile sensor is capable of delicate measurement, it is weak for heavy contact force. In order to enhance resistance to a high degree of applied force, we attached a rubber skin onto the sensor surface to protect the sensing element. FEM analyses found that sensitivity is not significantly reduced and that the skin induces subsidiary effects such as the disappearance of insensible areas and the enhancement of stability of the columnar feeler. If the skin is substantially softer than the columnar-conical feeler, the sensor can measure three-axis force without reduction of sensitivity. Based on these simulated results, we produced a columnar-conical feeler-type three-axis tactile sensor with rubber skin. The experimental results show, as demonstrated by FEM analyses, that the sensor possesses three-axis sensing capability and that the insensible area vanishes.
Although several actuator principles for tactile displays composed of many micro-actuators exist, current actuators do not produce sufficient stroke and force generation. In order to compensate their shortage ability,...
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Although several actuator principles for tactile displays composed of many micro-actuators exist, current actuators do not produce sufficient stroke and force generation. In order to compensate their shortage ability, we developed a new pin-matrix tactile display in which pin-protrusion distribution synchronizes pitch and roll moments applied to the display. In the present study, we evaluated the versatility of a virtual tilt pad presentation that is a progression from our previous study. In the tilt pad presentation, the rotations around the x -axis and y -axis are managed by the centroid position of the operator's fingers. In the evaluation, the subjects tried to compare the size of two virtual spheres to evaluate the 3D-shape presentation capability of the display. Since the sensation thresholds for each subject were low enough, we proved that operators could appreciate a fine distinction of sphere radii generated by the proposed display. In the case of a relatively large sphere, which is the most difficult case because it has the smallest curvature, the discrimination tasks improved with slight tapping as compared to pressing and rubbing with the fingers. Consequently, the manner of presentation can compensate the shortage ability of micro-actuators.
To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and h...
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ISBN:
(纸本)9781479973989
To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.
A novel dextrous stick coordination manipulation (DeSCom) system with dual-nanomanipulator was proposed for the assembly of three-dimensional (3D) structures. The coordination control between two dextrous sticks was r...
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A novel dextrous stick coordination manipulation (DeSCom) system with dual-nanomanipulator was proposed for the assembly of three-dimensional (3D) structures. The coordination control between two dextrous sticks was realized based on the vision feedback and the manipulation resolution was around 30 nm. It was set up with hybrid motors to ensure the large operation range and operation precision. The dextrous stick was fabricated with glass pipette and the 2-dimensional (2D) unit was fabricated by UV illumination of the hydrogen named Poly (ethylene glycol) Diacrylate (PEGDA). The immobilization and assembly of 2D unit was achieved through the interaction of two sticks. The DeSCom system could realize the arbitrary 3D structure with the change of 2D unit shape through the different patterning with UV illumination. At last, the bottom-up integration of the 3D structure was performed based on the utilization of DeSCom strategies with image processing information. The preliminary assembly experiment was achieved.
License plate extraction is an important stage in the vehicle license plate recognition for an automated transport system. This paper presents a novel and practical license plate extraction algorithm based on the edge...
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License plate extraction is an important stage in the vehicle license plate recognition for an automated transport system. This paper presents a novel and practical license plate extraction algorithm based on the edge statistics and the morphology. The proposed approach can be divided into four sections, which are vertical edge extraction, background curve and noise removing, edge statistical analysis and morphology-based license plate extraction. The proposed approach is designed to work in a wide range of acquisition conditions, including unrestricted scene environments, different camera-to-car distances, etc. Under the available database, the average accuracy of locating vehicle license plate is 84%.
We propose a method for promoting human-robot interaction based on emotion recognition with particular focus on tension emotion. There are two types of emotions expressed in a short time. One is autonomic emotion caus...
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We propose a method for promoting human-robot interaction based on emotion recognition with particular focus on tension emotion. There are two types of emotions expressed in a short time. One is autonomic emotion caused by a stimulus, such as joy and fear. The other is self-reported emotion, such as tension, that is relatively independent of a single stimulus. In our preliminary experiment, we observed that tension emotion (self-reported emotion) obstructs the expression of autonomic emotion, which has demerits on speech recognition and interaction. Our method is based on detection and moderation of tension emotion. If a robot detects tension emotion, it tries to ease it so that a person will interact with it more comfortably and express autonomic emotions. It also retrieves nuances from expressed emotions for supplementing insufficient speech recognition, which will also promote interaction.
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