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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Tsukasa Kobayashi Daisuke Chugo Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Science and Engineering Toyo University Kawagoe Saitama Japan School of Information Science and Technology Tokai University Hiratsuka Kanagawa Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

ISBN: (纸本)9781467381307

Accompanying a person is one of the core capacities of a companion service robot and demands a smooth movement function with collision avoidance. In previous studies, on companion service robots, a robot moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a robot should lead its partner. A robot that leads its partner in appropriate environments should also enable smoother and more effective movement with the partner. This study aims to develop a motion design that realizes smooth cooperative movement with a human partner. Our proposed robot not only estimates its partner's intention and moves accordingly, but also reveals its own intention to the partner. To realize this objective, we investigate conditions that induce the partner's movement and propose a motion design that follows the partner's intended movement. Our method was installed in a prototype vehicle and evaluated in experiments, and was proved useful as a leading mechanism.

关键词： Vehicles Legged locomotion Prototypes Service robots Force

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A manual wheelchair assistance system which cancels a gravitational force on a slope

A manual wheelchair assistance system which cancels a gravit...

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IEEE International Conference on industrial technology (ICIT)

作者： Daisuke Chugo Masahiro Goto Satoshi Muramatsu Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan RIKEN-SRK Collaboration Center for Human-Interactive Robot Research RIKEN (The Institute of Physical and Chemical Research) Nagoya Aichi Japan Faculty of Science and Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

This paper proposes a novel driving assistance system for a manual wheelchair. On an inclination road, there is a high risk of moving the direction, which a manual wheelchair user does not intend, because of a gravitational force. Our proposed system cancels the wheel traction, which is generated according to the inclination of the road, using only servo brakes on each wheel. Our system measures the inclination of the road and estimates the wheel traction generated by a gravitational force. Then, our system cancels this traction and its user can use this wheelchair as its user drives it on no inclination flat ground. Its user can use it intuitively because its user drives this wheelchair by rowing its hand rims as usual and our assistance system works passively with their own intentional force. For realizing this idea, our system uses only servo brakes which can generate the various required brake traction. Our system does not require actuators, and its mechanism is simple and low cost. There is no risk by malfunction of servomotors. We test our proposed assistance system by the experiments with our prototype and verify its effectiveness.

关键词： Wheelchairs Wheels Acceleration Gravity Roads Servomotors

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The guidance method of a mobile robot in consideration of human walking characteristics - 1st Report: Investigation of human walking characteristics

The guidance method of a mobile robot in consideration of hu...

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作者： Nakamoto, Shinpei Muramatsu, Satoshi Chugo, Daisuke Yokota, Sho Hashimoto, Hiroshi Graduate School of Science and Technology Kwansei Gakuin University Hyogo Japan Faculty of Science and Engineering Toyo University Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781479940325

In recent years, the demand for service robots is increasing all over the world. Service robots have the purpose to assist living, such as medical treatment, transportation and security, and tend to have the function which move automatically in an environment. When operating such an autonomous mobile robot in a real world, the obstacle avoidance is the necessary technique to use a robot safely. A robot has to avoid static obstacles such as garden plants or signboards, and dynamic one such as pedestrians, and especially the robot has to act with caution to pedestrians. The purpose of this paper is analysis of human walking characteristics from the movement of a pedestrian, and from the experimental result, it turned out that the future movement of a pedestrian will be able to predict by movements of a few pedestrians. © 2014 IEEE.

关键词： Mobile robots

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A driving assistance for a powerd wheelchair on a pedestrian flows

A driving assistance for a powerd wheelchair on a pedestrian...

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作者： Chugo, Daisuke Liu, Zhaoyu Muramatsu, Satoshi Yokota, Sho Sakaida, Yuki Hashimoto, Hiroshi Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan Department of Mechanical Engineering Toyo University Kawagoe Saitama Japan Nagoya Aichi Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

ISBN: (纸本)9781479940325

This paper propose a driving assistance scheme for a powered wheelchair with a force feedback function of its joystick. Generally, a powered wheelchair moves in a human coexistence environment such as a pedestrian way and it is important to move on these environments without a feeling of oppression to other people around it. Therefore, we propose a concept of a dynamic personal space which is a region surrounding a person who can feel comfortable psychologically to other person with a moving wheelchair in the pedestrian flows. A dynamic personal space is defined considering with a relative velocity and acceleration between the powered wheelchair and the pedestrians around it. Using this concept, we develop a driving assistance system using a force feedback of its joystick, which enables the powered wheelchair to move in a human coexistence environment without a feeling of oppression on other people. In this paper, we investigate spatial relationship with a powered wheelchair experimentally and define a dynamic personal space using these results. For verifying its effectiveness, the performance of our system is verified by experiments using our prototype. © 2014 IEEE.

关键词： Feedback

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The guidance method of a mobile robot in consideration of human walking characteristics -1st report: Investigation of human walking characteristics

The guidance method of a mobile robot in consideration of hu...

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Annual Conference of the IEEE industrial Electronics Society

作者： Shinpei Nakamoto Satoshi Muramatsu Daisuke Chugo Sho Yokota Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Faculty of Science and Engineering Toyo University Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (纸本)9781479940318

关键词： Autonomous mobile robot Obstacle avoidance Prediction of movement of pedestrian

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Verification of relationship between heart rate and body movement for fatigue estimation

Verification of relationship between heart rate and body mov...

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IEEE International Conference on industrial Informatics (INDIN)

作者： Jinhua She Hitoshi Nakamura Junya Imani Yasuhiro Ohyama Hiroshi Hashimoto Min Wu School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha China School of Computer Science Tokyo University of Technology Hachioji Japan Graduate School of Bionics Tokyo University of Technology Hachioji Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Japan

It is an urgent need to find an objective way to estimate the degree of fatigue of employees. In this study, we designed a monitoring and estimation system for the degree of fatigue. This paper explains a long-term pedaling experiment that we use it to explore the possibility to use only the time sequence data of head movement during pedaling to estimate the fatigue. While we show the possibility for this through experimental data, it is clear that we need to collect more data to establish an estimation method.

关键词： Fatigue Heart rate Estimation Educational institutions Monitoring Correlation Electronic mail

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A driving assistance for a powerd wheelchair on a pedestrian flows

A driving assistance for a powerd wheelchair on a pedestrian...

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Annual Conference of industrial Electronics Society

作者： Daisuke Chugo Zhaoyu Liu Satoshi Muramatsu Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan RIKEN-TRI Collaboration Center for Human-Interactive Robot Research (RTC) RIKEN Nagoya Aichi Japan Department of Mechanical Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

关键词： Wheelchairs Acceleration Dynamics Legged locomotion Force Prototypes Force feedback

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designing American Government

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design Management Review 2016年第1期27卷

作者： John Paul Farmer Ryan Panchadsaram Director of technology and civic innovation at Microsoft and founder/CEO of The Innovation Project a 501(c)3 dedicated to spreading best practices in institutional innovation. He served as senior advisor for innovation in the White House where he spearheaded government innovation initiatives that infused lean startup and agile methods as well as design thinking into the public sector. In this role Farmer co‐founded and directed the Presidential Innovation Fellows program. Earlier in his career he worked in healthcare and finance creating and building new business units from the ground up. Farmer also played professional baseball as a shortstop in the Los Angeles Dodgers and Atlanta Braves minor league systems. He holds an MBA with honors from the Graduate School of Business at Columbia University and an AB with honors from Harvard University. Currently an entrepreneur in residence at venture capital firm Kleiner Perkins Caufield Byers. Formerly he was the deputy chief technology officer for the United States at the White House. Panchadsaram helped shape how an $80 billion budget can be used by federal agencies to deliver on their missions in a more effective design‐centric and data‐driven way. In 2014 Time magazine featured him on its cover as part of the crisis response team tasked with rescuing the rollout of Healthcare.gov. In response to that experience he helped found the US Digital Service—a “startup” within the White House that recruits the country's top technical talent to work on the government's most critical citizen‐facing services. Panchadsaram is an active designer and coder and held various product roles at Microsoft and ***. He holds a degree from the University of California Berkeley in industrial engineering and operations research.

design is making inroads into the workings of government agencies within the DC Beltway and beyond. Civic‐minded designers take note. An overview of the design/government ecosystem in Washington, DC.

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Human Touch Behavior Classification to Therapy Robot using SOM

Human Touch Behavior Classification to Therapy Robot using S...

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Annual Conference of the IEEE industrial Electronics Society

作者： Koji Makino Wasantha Samarathunga Hubais Abdelrahman Jin-Hua She Yasuhiro Ohyama Hiroshi Hashimoto Graduate school of medicine and Engineering University of Yamanashi School of Computer Science Tokyo University of Technology Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (纸本)9781479902255

In this research, a classification method for human touching behaviors to haptic therapy robot is proposed. It is difficult to apply explicit discrete representation for human touch behaviors such as "slap", "pat" due to the existence of intermediate touch behavioral patterns. Therefore a new classification approach for human touch behaviors using Self Organizing Map (SOM) is proposed, using its ability to classify the nearby data in to a group. Further in this research the axis of out put maps are defined to be meaningful by specifying the initial placement of the input data during the training process.

关键词： Touch self-organising feature maps GRHL3 gene Classification Methods incoming data Robot Axis Human maps Medicine

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Experimental selection and verification of maximum-heart-rate formulas for use with karvonen formula

Experimental selection and verification of maximum-heart-rat...

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10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013

作者： She, Jinhua Nakamura, Hitoshi Makino, Koji Ohyama, Yasuhiro Hashimoto, Hiroshi Wu, Min Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi 4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo 140-0011 Japan School of Information Science and Engineering Central South University Changsha 410083 China

ISBN: (纸本)9789898565716

Maximum heart rate (MHR) is commonly used to estimate exercise intensity with the Karvonen formula, and there are several methods of calculating it. In this study, we used pedaling experiments on a cycle ergometer to evaluate methods of determining MHR in order to select the ones most suitable for the Karvonen formula. In the experiments, 43 subjects rode an aerobike. The results show that, for people in their 20s, two methods are suitable for estimating exercise intensity with the Karvonen formula. The main physical parameters affecting exercise intensity were also extracted, based on the experimental results.

关键词： Heart

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