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IEEE International Conference on Systems, Man and Cybernetics

作者： Peizhi Zhang Namiko Saito Hiroki Shigemune Shigeki Sugano Graduate Program for Embodiment Informatics for Leading Graduate Schools Waseda University Tokyo Japan Collage of Engineering Shibaura Insitute of Technology Tokyo Japan School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

In this paper, we present a lightweight Deformable Surface Mechanism (DSM) by applying shape-memory alloy (SMA) and sponge for moving objects as a soft actuator. The SMA is driven by heating and cooling processing with the cur-rent flowing. For the SMA, cooling is a process for recovering to original length which consumes time. In order to decrease the recovering time and making the surface deformable, a sponge sheet is applied in the mechanism. We used the cotton thread to sew the SMA into the sponge to manufacture the mechanism. The DSM contains a multi-triangle structure, and each triangle works as an individual actuation unit. By applying this structure and special sewing technique, the sponge sheet can be deformed in a vertical direction when the SMA contracted. While, when the current is turned off, the SMA can be stretched to the original length by the pushing force generated by the sponge. Therefore, a deformable surface mechanism with a rapid response can be achieved. We simulated the changing of uni-Deformable Surface Mechanism (uniDSM), and the experiments were followed to compare with the analyzed results. Additionally, different objects were examined on the DSM to test the conveyance ability.

关键词： Heating systems Cooling Force Metals Yarn Surface treatment Cybernetics

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A Life-linkage Services Platform Supporting Diverse Lifestyles based on Individual Demands

A Life-linkage Services Platform Supporting Diverse Lifestyl...

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International Symposium on Autonomous Decentralized Systems (ISADAS)

作者： Namiko Saito Peizhi Zhang Tamon Miyake Shigeki Sugano Kinji Mori Graduate Program for Embodiment Informatics Waseda University Tokyo Japan

ISBN: (数字)9781728116723

ISBN: (纸本)9781728116730

Although conventional service providers are independent from each other when attending most of the population, demanded services are changing along with the social structure. Especially in the case of Taiwan, the number of co-working families has been increasing, and self-employed households occupy a large proportion of all working forms. Due to their diverse lifestyles and work styles, services that are suitable for personal objectives and that optimize the use of time are required. To meet this demand, it is important to connect people and city facilities to make it easier to provide suitable services. Based on those backgrounds, an innovated personal service platform in Taiwan is proposed, focusing on three factors, including time, place and personal information to connect people and city service facilities. Among various kinds of services, we targets services purchased in cities such as sales, mobility services, health services, government services and so on. It aims to link these services flexibly and dynamically to achieve personal objectives according to each situation. And, it can provide suitable services for a variety of every-day living situations. With this system, people can increase satisfaction and free time, improving life quality while making the economy more dynamic.

关键词： Three-dimensional displays Urban areas Servers Airports Force Motorcycles Accidents

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A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch

A Prototype Power Transmission System with Backdrivability a...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Zhuoyi He Mitsuhiro Kamezaki Peizhi Zhang Sahil Shembekar Ryuichiro Tsunoda Shigeki Sugano Graduate Program for Embodiment Informatics for Leading Graduate Schools Waseda University Tokyo Japan Research Institute for Science and Engineering (RISE) Waseda University Tokyo Japan School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Transmission systems that enable speed, torque, and direction conversion with high responsiveness and back-drivability are strongly required for higher performance robotic systems. Engagement states can be changed by clutches, but traditional clutches cannot change the direction and provide sufficient backdrivability. On the other hand, direction conversion can be realized by gear box such as bevel gears, but its backdrivability is poor. Thus, we newly develop a prototype transmission system with backdrivablity and responsiveness integrating clutch and direction converter using magnetorheological fluid (MRF). MRF is a functional fluid consisted of magnetic particles and carrier fluids which can change its viscosity rapidly and continuously according to the strength of magnetic field. MRF clutch consists of driving and driven shaft connected by vanes and coils for controlling MRF. MRF direction converter consists of bevel gears, brake, and MRF for reversing the output direction. In addition to traditional functions, such as speed and torque conversion, the proposed power transmission system provides five working modes: forward direction, reverse direction, and three kinds of free, according to states of the MRF clutch, MRF direction converter, and brake. Preliminary experiments revealed that the proposed transmission system could adequately realize implemented functions.

关键词： Viscosity Torque Gears Prototypes Power transmission Magnetic liquids Brakes

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Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage

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Journal of Medical Robotics Research 2019年第1期4卷

作者： Tsumura, Ryosuke Takishita, Yusuke Iwata, Hiroyasu Department of Creative and Science Engineering Waseda University Tokyo Japan Graduate Program of Embodiment Informatics Waseda University Tokyo Japan

Because fine needles can easily be deflected, accurate needle insertion is often difficult. Lower abdominal insertion is particularly difficult because of less imaging feedback;thus, an approach for allowing a straight insertion path by minimizing deflection is beneficial in cases of lower abdominal insertion. Although insertion with axial rotation can minimize deflection, the rotational insertion may cause tissue damage. Therefore, we established a novel insertion method for minimizing both deflection and tissue damage by combining rotation and vibration. Using layered tissues, we evaluated the effect of a combination of rotation and vibration in terms of deflection and tissue damage, which were measured by the insertion force and torque, and the area of the hole created by the needle using histological tissue sections to measure tissue damage. The experimental results demonstrated that insertion with unidirectional rotation is risky in terms of tissue wind-up, while insertion with bidirectional rotation can decrease deflection and avoid wind-up. We also found that insertion with vibration can decrease the insertion force and torque. Therefore, insertion with a combination of bidirectional rotation and vibration can minimize needle deflection and tissue damage, including the insertion force and torque and the hole area. © 2019 World Scientific Publishing Company.

关键词： deflection Needle insertion tissue damage

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Development of a Vacuum Suction Cup by Applying Magnetorheological Elastomers for Objects with Flat Surfaces

Development of a Vacuum Suction Cup by Applying Magnetorheol...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Peizhi Zhang Mitsuhiro Kamezaki Kenshiro Otsuki Zhuoyi He Hiroyuki Sakamoto Shigeki Sugano Graduate Program for Embodiment Informatics for Leading Graduate Schools Waseda University 3F Shinjuku Lambdax Building 2-4-12 Okubo Shinjuku-ku Tokyo Japan Research Institute for Science and Engineering (RISE) Waseda University 17 Kikui-cho Shinjuku-ku Tokyo Japan School of Creative Science and Engineering Waseda University 3-4-1 Okubo Shinjuku-ku Tokyo Japan Nippon Paint Holdings Co. Ltd. 4-1-15 Minami-shinagawa Shinagawa-ku Tokyo Japan

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

In this paper, we present a suction cup by applying magnetorheological elastomers (MREs) that can be used for the wall climbing robot and picking application. MRE is a smart material in which the ferromagnetic particles are dispersed in the elastomer. In conventional research, MREs are often used as a vibration absorber, since the physical or mechanical properties can be altered upon the application of a magnetic field. In this paper, we focus on the expansion of the use of MRE material. When the magnetic field is added, the MRE will be attracted to the magnetic generator due to the ferromagnetic particles inside. The basic mathematical model between magnetic force and elasticity is discussed by us, which supports the working principle of building MRE suction cup. The MRE suction cup contains a permanent magnetic field generator unit and a MRE membrane unit. A servo motor is used to control the ON/OFF of the magnetic generator, so that the MRE membrane can be activated and deactivated. In this prototype, we focus on picking objects with flat surfaces as the first attempt. The proposed suction cup can achieve appropriate suction force, low noise, energy-saving. In this paper, the operation method of MREs, the design of the suction cup, and the evaluation of the prototype are conducted.

关键词： Soft magnetic materials Force Generators Magnetoelasticity Magnetic cores Magnetic forces

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Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy

Preliminary Design of a Pseudo-Inertia Adjustable Mechanism ...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Peizhi Zhang Mitsuhiro Kamezaki Kenshiro Otsuki Shan He Gonzalo Aguirre Dominguez Shigeki Sugano The Graduate Program for Embodiment Informatics Waseda University Tokyo Japan The Research Institute for Science and Engineering (RISE) Waseda University Tokyo Japan the Department of Modern Mechanical Engineering Waseda University Tokyo Japan Waseda Daigaku Shinjuku-ku Tokyo JP

In this paper, a mechanism which can adjust inertia significantly is presented. Such mechanism contains a flywheel, a group of clutches, a direction converter, and a magnetorheological hydraulic rotary actuator. According to the physical definition, inertia is the resistance of object changing in its state of motion, which always connects to the mass of the object. Inertia is also known as an inherent property of an object. Conventionally, among impedance factors of the mechanical system, inertia seems to be unchangeable, not like damping factor or elasticity. However, changing inertia might bring different behavior to mechanical networks. In this study, instead of changing the mass of the object, by controlling the flywheel energy collected from the motor pump to release to the object, the resistance of actuator motion can be adjusted. We call this the pseudo-inertia adjustable mechanism (pIAM). The clutches are used for controlling the engaging and disengaging of the flywheel, energy releasing direction and magnitude. The mechanism design, mathematical model, and experimental results are included in this paper. According to the results, the machine is able to release the maximum torque about 7 Nm and the maximum speed about 800 degrees/s with 1000 rpm of the flywheel speed, which reveals the feasibility of this mechanism.

关键词： Actuators Flywheels Friction Robots Valves Damping

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Continuous Wrist Joint Control using Muscle Deformation Measured on Forearm Skin

Continuous Wrist Joint Control using Muscle Deformation Meas...

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IEEE International Conference on Robotics and Automation

作者： Akira Kato Masato Hirabayashi Yuya Matsumoto Yasutaka Nakashima Yo Kobayashi Masakatsu G. Fujie Shigeki Sugano Graduate Program for Embodiment Informatics Waseda University Tokyo Japan Graduate Schools of Creative Science and Engineering Waseda University Tokyo Japan Faculty of Engineering Kyushu University Fukuoka Japan JST PRESTO Future Robotics Organization Waseda Universit Tokyo Japan Faculty of Science and Engineering Waseda University Tokyo Japan

Continuous, easy-to-implement, accurate inference of intended joint angles is important for effectively controlling powered prosthetic devices that can improve the lives and capabilities of upper-limb amputees. Estimation of intended joint angles is difficult because conventional biosignals are not directly related to the intended angle motion. In previous work, we began to address this issue by confirming that both transradial amputees and intact subjects, the measured deformation of the muscle bulge on the skin surface change according to the intended wrist joint angle. This paper presents a continuous prosthesis wrist joint control method using this deformation signal. We here verify the effectiveness of the distribution of the muscle bulge for accurate and stable wrist joint angle control in real time. The wrist joint angles were calculated in real time from a muscle viscoelastic model using the previously determined algorithm. We compared the error between measured and estimated angles with a conventional method, the Voigt model, and the KelvinVoigt model. Experimental results obtained for three intact people over three trials of wrist movement tasks gave the accuracy and stability of 7.96±6.16° when using the Voigt model;this is a similar performance compared to related work using a surface electromyogram. A method for continuously controlling the wrist joint angle for a prosthesis using the distribution of the muscle bulge was thus successfully established.

关键词： Wrist Muscles Strain Skin Prosthetic hand Mathematical model Estimation

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Variational Bayesian Multi-channel Robust NMF for Human-voice Enhancement with a Deformable and Partially-occluded Microphone Array

Variational Bayesian Multi-channel Robust NMF for Human-voic...

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European Signal Processing Conference

作者： Yoshiaki Bando Katsutoshi Itoyama Masashi Konyo Satoshi Tadokoro Kazuhiro Nakadai Kazuyoshi Yoshii Hiroshi G. Okuno Graduate School of Informatics Kyoto University Graduate School of Information Science Tohoku University Graduate School of Information Science and Engineering Tokyo Institute of Technology Graduate Program for Embodiment Informatics Waseda University

ISBN: (纸本)9781509018918

This paper presents a human-voice enhancement method for a deformable and partially-occluded microphone array. Although microphone arrays distributed on the long bodies of hose-shaped rescue robots are crucial for finding victims under collapsed buildings, human voices captured by a microphone array are contaminated by non-stationary actuator and friction noise. Standard blind source separation methods cannot be used because the relative microphone positions change over time and some of them are occasionally shaded by rubble. To solve these problems, we develop a Bayesian model that separates multichannel amplitude spectrograms into sparse and low-rank components (human voice and noise) without using phase information, which depends on the array layout. The voice level at each microphone is estimated in a time-varying manner for reducing the influence of the shaded microphones. Experiments using a 3-m hose-shaped robot with eight microphones show that our method outperforms conventional methods by the signal-to-noise ratio of 2.7 dB.

关键词： Spectrogram Robots Bayes methods Human voice Radio frequency Microphone arrays

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Musasabi: 2D/3D intuitive and detailed visualization system for the forest 15

Musasabi: 2D/3D intuitive and detailed visualization system ...

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International Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 2015

作者： Kato, Takuya Kato, Akira Okamura, Naomi Kanai, Taro Suzuki, Ryo Shirai, Yuko Graduate Program for Embodiment Informatics Waseda University Japan

ISBN: (纸本)9781450336321

Trees have been a pillar of our lives not just for human but for all the species living in the earth. Despite of its blessings for our lives, the heaps of problems around forestry have not been solved. One of the major problems in this field is that most of the forest are not been sorted into an organized database. Detailed natural data have never been provided even in famous map applications, Google earth for instance, induced from its difficulty. The forest database has been demanded in many regions as it provides beneficial information for both industrial and environmental aspects. It even helps many divisions such as CG animations to simulate not only a tree itself but also the mountain or the forest as a whole depending on given natural conditions. One of the major solutions to efficiently collect data of the forest is to use the image and 3D data that are acquired from the sky as represented by the method proposed by [Vihervaara et al.2015]. While these algorithms showed the effectiveness to many regions, they only provided solutions to areas that can easily measure from the sky. In addition, these data are not understandable for unspecialized users. As a result, it has been questionable to be used in many areas with more intense natural environment and less technical knowledge such as tropical areas. Summarizing the above, the system which satisfies the usability for both the measuring process and visualization system is required. We propose a novel device and interface, which we named "Musasabi" to create database automatically from the acquired data from our original measuring device and visualize it onto the 2D/3D map. Our unique device enables us to acquire many different data of the forest with easy manipulation that cannot be acquired from long range sensors proposed in previous work. Our system allows users interactive and intuitive controls to the database to easily use and develop for various demands without deep knowledge of forestry, device and cod

关键词： Database systems

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Design optimisation and performance evaluation of a toroidal magnetorheological hydraulic piston head

Design optimisation and performance evaluation of a toroidal...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Gonzalo Aguirre Dominguez Mitsuhiro Kamezaki Shan He Somlor Sophon Alexander Schmitz Shigeki Sugano Graduate Program for Embodiment Informatics for Leading Graduate Schools Research Institute for Science and Engineering (RISE) Waseda University Tokyo Japan Modern Mechanical Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781509037636

The advantages of mechanical compliance have driven the development of devices using new smart materials. A new kind of magnetorheological piston based on a toroidal array of magnetorheological valves, has been previously tested to prove its feasibility. However, being an initial prototype its potential was still limited by its complex design, and low output force. This study presents the revisions done to the design with several improvements targeting key performance parameters. An improved annular piston design is also introduced as comparison with conventional devices. The toroidal and annular piston head prototypes are built and tested, and their force performance compared with the previous iteration. The experimental results show an overall performance improvement of the toroidal assembly. However, the force model used in the study still fails to accurately predict the magnetic flux at the gaps of the piston head. This deviation is later verify and corrected using a FEM analysis. The force performance of the new toroidal assembly is on par with the commonplace annular design. It also displays a more linear behaviour, at the expense of lower energy efficiency. Finally, it also shows potential for a greater degree of customisation to meet different system requirements.

关键词： Pistons Toroidal magnetic fields Magnetic flux Magnetic heads Magnetomechanical effects Force Mathematical model

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