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检索条件"机构=Master Program of Innovation for Design & Engineering"

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Educational System of Physical Motion Based on 3D Biomechanism Evaluation

Educational System of Physical Motion Based on 3D Biomechani...

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International Conference on Industrial Technology

作者： Kaoru Mitsuhashi Sho Yokota Hiroshi Hashimoto Sang-Gyu Shin Daisuke Chugo School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Graduate school of Science and Technology Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan

ISBN: (纸本)9781467380768

This paper presents an educational support system of physical motion with body motion based on three-dimensional biomechanism evaluation. The difficult point of the physical motion with body motion is that human cannot attain the perfect copy or imitation of the reference skill motion because each skeleton size, functions and numbers of motor of human are different, we call it the imperfect imitation problem. The proposed system uses a human motion capture which observes and records the movement of human in real time, and extract a 3D (three dimensional) skeleton model from the observed movement data. So, our system is to support the judgment of the expert instructors. In our experiment to evaluate the effectiveness of the proposed system, some education of sports, such as crawl motion in swimming, darts throw motion, Karate defend motion are adopted. And, we certainly will show the useful results.

关键词： teacher and learner 3D skeleton model 3D viewer advice nonstructure web database comment table

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Robot navigation according to the characteristics of pedestrian flow

Robot navigation according to the characteristics of pedestr...

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Annual Conference of Industrial Electronics Society

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

In recent years, service robots have tended to have the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance and arrive at the goal point. The potential method is one of the path planning methods for obstacle avoidance. Because pedestrian is moving obstacle, he/she may go outside of artificial potential in a similar method suggested by a previous study. However, if the robot avoids collision too securely, robot's performance is limited so a trade-off problem arises between collision avoidance and robot's performance. A potential method requires a function that allows a robot to plan an effective path without collision with pedestrian by predicting a pedestrian's next position during robot operation. In this study, we develop a robot navigation method according to the characteristics of pedestrian flow. We spread a repulsive potential that adapts the pedestrian potential equation based on the route estimation model. In the proposed method, the repulsive potential changes depending on the position or the velocity of the pedestrian. The robot plans a path without including unnecessary potential, according to the pedestrian's route estimation range. Compared with the previous potential method, wherein the potential field is distributed equally around a pedestrian the same way as a static obstacle, the proposed method enables the robot to plan an effective path with pedestrian characteristics. The proposed method's effectiveness is demonstrated through experiments.

关键词： Mathematical model Collision avoidance Estimation Navigation Legged locomotion Service robots

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Robot navigation according to the characteristics of pedestrian flow

Robot navigation according to the characteristics of pedestr...

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Annual Conference of Industrial Electronics Society

In recent years, service robots have advanced toward having to the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance to arrive at their goal point. In our previous research, we developed the artificial potential based method that the robot to plans an effective path simulating pedestrian characteristics by gently changing its moving distance. The repulsive potential changes depend on the pedestrian's characteristics. Using our idea, the robot can plan a path without including unnecessary potential changes, according to the pedestrian's route estimation range. Thus, our idea realizes both an effective path and pedestrian avoidance. In this method, the characteristics of the pedestrian are constant. However, pedestrian's walking characteristics are different depending on the environment that pedestrian's walking direction is various in free space model like shopping mall, in contrast, they are determined along the route in corridor model like an office. Therefore, the pedestrian's characteristic model should be changed depend on environment. Because the number of the avoiding-path case is unlimited, we propose the pedestrian potential model is applicable for any environments in this study. In the proposed method, the robot determines the pedestrian's position and plans the avoiding-path, which is reflected in the pedestrian's repulsive potential spread. The value of spread is calculated and changes depending on the pedestrian's position in real-time. We confirmed the proposed method is efficient by comparing experiment with the previous method, where the spread potential constant. The proposed method's effectiveness was confirmed through experiment with the prototype robot.

关键词： Robots Prototypes Navigation Estimation Mobile communication

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Situation-based servo braking assistance for a manual wheelchair

Situation-based servo braking assistance for a manual wheelc...

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IEEE Symposium on Computational Intelligence and Bioinformatics and Computational Biology (CIBCB)

作者： Daisuke Chugo Noburiho Goto Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Information Science and Technology Tokai University Hiratsuka Kanagawa 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

ISBN: (纸本)9781509000128

This paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively works to complement their intentional force by negating the wheel traction that is generated by the road's inclination using only the servo brakes on each wheel. Nevertheless, in some cases, our system fails to assist the driving motion of its user because the user drives the wheelchair in several ways that depend upon the environmental condition, for example, during uphill or downhill driving. The required assistance is not constant according to the situation, and it is difficult to assist with one wheel-control algorithm. Therefore, in this study, we first investigate the required assistance condition according to the driving situation by conducting a preliminary experiment with wheelchair users. Considering the results of this investigation, we then propose a novel user interface that intuitively shows the system information and a wheel-control algorithm that selects a suitable wheel controller according to the driving situation.

关键词： Wheelchairs Brakes Wheels Roads Servomotors Manuals Force

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Equivalent-input-disturbance approach enables sliding-mode control systems to reject unmatched disturbances

Equivalent-input-disturbance approach enables sliding-mode c...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Jinhua She Yaodong Pan Hiroshi Hashimoto Qi Lei Min Wu School of Computer Science Tokyo University of Technology Tokyo Japan School of Information Science and Engineering Central South University Changsha China Honeywell Canada Mississauga ON CA Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan School of Automation China University of Geosciences Wuhan China

ISBN: (纸本)9781479978014

The incorporation of an equivalent-input-disturbance estimator into a conventional sliding-mode control (SMC) system results in a new structure with improved disturbance rejection performance. This configuration enables an SMC system to reject unmatched disturbances. Simulation results for the positioning control of a dual-stage feed drive show that the method not only rejects unmatched disturbances, but also improves the disturbance rejection performance for matched disturbances, thereby demonstrating the validity of the design.

关键词： Observers Actuators Solids State feedback

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design of personal mobility motion based on cooperative movement with a companion

Design of personal mobility motion based on cooperative move...

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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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Pattern Based Standing Assistance Adapted to Individual Subjects on a Robotic Walker

Pattern Based Standing Assistance Adapted to Individual Subj...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Daisuke Chugo Shohei Kawazoe Sho Yokota Hiroshi Hashimoto Takahiro Katayama Yasuhide Mizuta Atsushi Koujina School of Science and Technology Kwansei Gakuin University 2-1 Gakuen Sanda Hyogo Japan School of Science and Engineering Toyo University Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Service Robot Division RT. WORKS CO. LTD Osaka Japan

ISBN: (纸本)9781538635193

This study proposes a pattern based standing assistance on a robotic walker with a standing and sitting assistance function. In our previous works, we have developed a standing assistance system. Our assistive system consists of a powered walker and a standing assistance manipulator, and is small enough to be used in a typical narrow room such as a bathroom. Our system focuses on domestic use for elderly people who need nursing in their day-to-day lives. Usually, the body conditions of elderly users are different individually and required standing assistance schemes are also different. However, it is difficult to design the suitable standing assistance scheme according to the symptom of elderly users individually at real time because of its cost. Therefore, the proposed walker has several standing assistance patterns which are designed for the user of the different symptom and selects the suitable one for its user. Our idea is practicality for implementation with low cost. The performance of our proposed system was verified through experiments using our prototype with elderly and handicapped subjects.

关键词： Individual Subjects Robotic Walker symptom

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A dynamic personal space of a pedestrian for a personal mobility vehicle

A dynamic personal space of a pedestrian for a personal mobi...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Daisuke Chugo Zhaoyu Liu Satoshi Muramatsu Yuki Sakaida Sho Yokota Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan RIKEN-TRI Collaboration Center for Human-Interactive RIKEN Nagoya Aichi Japan Faculty of Science and Engineering Setsunan University Neyagawa Osaka Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

This paper propose a dynamic personal space which is a region surrounding a person who can feel comfortable psychologically to other person with a personal mobility vehicle in the pedestrian flows. A dynamic personal space is defined considering with a relative velocity and acceleration between them. Therefore, it changes dynamically according to the advance velocity and acceleration of the personal mobility vehicle. Using this idea, a personal mobility vehicle will be able to move in a human coexistence environment without a feeling of oppression on other people. In this paper, we investigate spatial relationship with a personal mobility vehicle experimentally and define a dynamic personal space using these results. For verifying its effectiveness, we implement a drive assistance algorithm, which avoids a dynamic personal space, to our prototype personal mobility vehicle.

关键词： Space vehicles Vehicle dynamics Acceleration Legged locomotion Prototypes

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Improvement of the ungrounded force display using grooved cam

Improvement of the ungrounded force display using grooved ca...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Emi Kakuda Sho Yokota Akihiro Matsumoto Daisuke Chugo Hiroshi Hashimoto Graduate School of Science and Eng Toro University Kawagoe Japan Dept. of Mechanical Engineering Toyo University Kawagoe Japan School of Science and Technology Kwansei Gakuin University Hyogo Japan Master Program of Innovation for Design and Eng. Advanced Institute of Industrial Technology Tokyo Japan

This paper proposes the ungrounded force display using the grooved cam. Using the human illusion, the user can feel the force in the one direction when they use proposed device. It is mainly configured the cam and the slider. The slider follows the cam and moves translational movement. In this paper, we create the new prototype which solving the problems that emerged from the previous prototype. We evaluate the device using the two experiments. One is the subjective evaluation. Second one is the force presentation from the new prototype as the quantitative evaluation. We could solve problems of previous prototype by changing the cam type from plate to groove and blushless motor, and the new one produce the force more clearly than the previous prototype.

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Construction of Reduced-Order Biothermal Model of Human Body for Brain Hypothermia

Construction of Reduced-Order Biothermal Model of Human Body...

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International Symposium on Industrial Electronics

作者： Jinhua She Hiroshi Hashimoto Qi Lei Min Wut School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa-ku Tokyo 140-0011 Japan School of Information Science and Engineering Central South University Changsha 410083 China School of Automation China University of Geosciences Wuhan Hubei 430074 China.

ISBN: (纸本)9781467375559

The therapy of brain hypothermia is an effective treatment for patients with brain injury. It requires that the temperature of the brain is stabilized at a prescribed range. Due to the disturbances from the environment, e.g., winds caused by door opening and closing, sunshine, etc., a control system is needed for brain temperature. Biothermal models of the human body are usually very high, and is not suitable for the control of brain temperature. In this study, we construct a reduced-order biothermal model of the human body for the purpose of brain hypothermia based on the frequency characteristics of human thermal sensation. It features high precision in the frequency band for the therapy of brain hypothermia, and is suitable for the control of brain temperature.

关键词： Construction Reduced-Order Biothermal

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