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2017 IEEE International Conference on Industrial Technology, ICIT 2017

作者： Kawazoe, Shohei Chugo, Daisuke Yokota, Sho Hashimoto, Hiroshi Katayama, Takahiro Mizuta, Yasuhide Koujina, Atsushi School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School 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 Service Robot Division RT.WORKS CO. LTD. Higashinari-ku Osaka-shi Osaka Japan

ISBN: (纸本)9781509053209

This paper proposes a robotic walker with a standing or sitting assistance function. Although many assistance devices in previous works are specialized in only standing assistance or walking assistance, users need standing, walking and sitting assistance continuously from the same device. Our system focuses on domestic use for people who need nursing in their daily life such as elderly people. To realize an assistive robotic system for 'a real world usage,' we design it considering safety, practicality and low cost. Our developed assistive system consists of a powered walker and a standing assistance manipulator. Its size is small enough for using in a narrow room such as a bathroom. Furthermore, when proposed robotic walker assists a standing motion, it uses not only an actuator for lifting up direction but also actuators of a powered walker for stabilizing its user. This means our proposed walker realizes both standing and walking assistance with minimum actuators and its cost is practically low. The performance of our proposed system is verified by experiments using our prototype with elderly or handicapped subjects. © 2017 IEEE.

关键词： Actuators

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Evaluation of Lower-Limb Rehabilitation Based on Muscle Fatigue

Evaluation of Lower-Limb Rehabilitation Based on Muscle Fati...

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IEEE International Symposium on Industrial Electronics

作者： Juan Zhao Jinhua She Dianhong Wang Edwardo F. Fukushima Min Wu Hiroshi Hashimoto School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology Tokyo Japan

The purpose of this study was to investigate the features of muscle fatigue extracted from surface electromyography (sEMG) signals of lower limbs, and then to present an evaluation method of lower-limb rehabilitation to provide physical basis for the training effect of rehabilitation. Four healthy young university students were invited to perform a pedaling exercise for 40 days. The sEMG signals of four lower-limb muscles are recorded and processed using a Butterworth filter and a Daubechies 10 wavelet. Then, the change of the ratios of the spectrums of Types I and II muscle fibers to the total number of the spectrum along the exercise are examined. The time of the first intersection of the ratios for Types I and II for each muscle is used as a performance index. The increase in the time at the beginning and the end of the training period indicates the improvement of motor function, and thus it verifies the effectiveness of the rehabilitation.

关键词： SEMG Muscle fatigue Rehabilitation evaluation Unequal length segmentation

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Development of Standing Assistive Walker for Domestic Use

Development of Standing Assistive Walker for Domestic Use

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International Conference on Industrial Technology

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

ISBN: (纸本)9781509053216

This paper proposes a robotic walker with a standing or sitting assistance function. Although many assistance devices in previous works are specialized in only standing assistance or walking assistance, users need standing, walking and sitting assistance continuously from the same device. Our system focuses on domestic use for people who need nursing in their daily life such as elderly people. To realize an assistive robotic system for "a real world usage," we design it considering safety, practicality and low cost. Our developed assistive system consists of a powered walker and a standing assistance manipulator. Its size is small enough for using in a narrow room such as a bathroom. Furthermore, when proposed robotic walker assists a standing motion, it uses not only an actuator for lifting up direction but also actuators of a powered walker for stabilizing its user. This means our proposed walker realizes both standing and walking assistance with minimum actuators and its cost is practically low. The performance of our proposed system is verified by experiments using our prototype with elderly or handicapped subjects.

关键词： standing assistance walker family usage

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Autonomous Mobile Robot Navigation: Consideration of the Pedestrian's Dynamic Personal Space

Autonomous Mobile Robot Navigation: Consideration of the Ped...

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IEEE International Symposium on Industrial Electronics

作者： Atsuki Toyoshima Nozomi Nishino Daisuke Chugo Satoshi Muramatsu Sho Yokota Hiroshi Hashimoto Graduate School of Science and Technology GKwansei 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 Shinagawa Tokyo Japan

Recently, the demand for service robots has increased and these robots have already been implemented in our daily life. Many service robots move autonomously in an environment wherein humans and robots coexist using a function to arrive at a given destination. Some studies have proposed autonomous mobile robots that can effectively avoid a pedestrian in the coexisting human-robot environment. However, these studies did not consider the dynamic personal space of pedestrians and create discomfort or a feeling of psychological pressure in the pedestrian. Therefore, herein, we measured the size of a pedestrian's dynamic personal space while interacting with an autonomous mobile robot and modeled this space using the property that the space changes with relative velocity and relative acceleration. We created an artificial potential method considering this dynamic personal space and realized robot navigation that can direct a robot to a given destination while avoiding a pedestrian. In a simulation experiment, we confirmed that our navigation algorithm functioned accurately and that the robot did not invade the subject's dynamic personal space. The latter was also confirmed in a practical experiment with our prototype robot using measured distance and a questionnaire.

关键词： Mobile robot Robot navigation Route Collision avoidance Artificial potential method Dynamic personal space

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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 Shinagawa Tokyo Japan

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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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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design of a new human-centered rehabilitation machine 16

Design of a new human-centered rehabilitation machine

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9th ACM International Conference on Pervasive Technologies Related to Assistive Environments, PETRA 2016

作者： She, Jinhua Wu, Fajian Mita, Toshihiro Hashimoto, Hiroshi Wu, Min Grad. Sch. of Tokyo Univ. of Tech. 1404-1 Katakura HachiojiTokyo192-0982 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa-kuTokyo140-0011 Japan School of Automation China University of Geosciences WuhanHubei430074 China

ISBN: (纸本)9781450343374

This paper presents a new kind of rehabilitation machine. While the commercially available ones are machine-centered, that is, people have to adapt themselves to the machines to do exercises;the structure and characteristics of the one shown in this paper are easily to be adjusted to suit the need for people with lower-limb injuries. So, it is human centered. The consideration for the design of machine structure is investigated from the fields of ergonomics and rehabilitation. A proto type of half of the machine for one leg was designed and built. And some results of experimental test are presented. Copyright 2016 is held by the owner/author(s).

关键词： Ergonomics

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Pedestrian detection and tracking of a mobile robot with multiple 2D laser range scanners

Pedestrian detection and tracking of a mobile robot with mul...

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Conference on Human System Interactions, HSI

作者： Ryo Tsugita Nozomi Nishino Daisuke Chugo Satoshi Muramatsu Sho Yokota Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School 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)9781509017300

This paper proposes a method for detecting and tracking pedestrians, which is an important function for preventing the collision of autonomously moving mobile robots with a pedestrian. To observe the pedestrian, we use two types of laser range scanners: one scans a 2D plane (2D scanner) and the other scans a 3D space, such as a 3D scanner. We scan 3D space with a 2D scanner fixed on the turning mechanism, instead of a 3D scanner, because 3D scanners are more expensive than 2D scanners. The 3D space is divided into voxels to determine whether a pedestrian exists. This detection system is robust to occlusion because turning 3D scanner can detect a pedestrian based on the shape of the data points. However, the scanning span of the turning 3D scanner depends on the period of the turning mechanism; thus, we combine the detected pedestrian's position with the data scanned by the normal 2D scanner because it is possible for a 2D scanner to track objects moving in real time according to the positional transition of the data points. To investigate the efficiency of the proposed method for pedestrian detection, which is robust to occlusion and exhibits real-time tracking using reasonable scanning devices, we experiment with our prototype.

关键词： Three-dimensional displays Two dimensional displays Turning Real-time systems Service robots Collision avoidance

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Development of one hand drive wheelchair system: design and Experiment of the active front wheel system

Development of one hand drive wheelchair system: Design and ...

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

作者： Daisuke Hayashi Sho Yokota Daisuke Chugo Hiroshi Hashimoto Dept. of Mechanical Engineering Toyo University Kawagoe Saitama Japan School of Science and Technology Kwansei Gakuuin University Sanda Hyogo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Tech. Tokyo Japan

ISBN: (纸本)9781509000128

The purpose of this study is to propose the wheelchair system enabling hemiplegic users to steer the wheelchair by one hand drive. This system consists of two parts: extraction of user's control intention from the single hand rim and the front wheel system with active steering. In particular, this paper focuses on the feasibility verification of this system and to propose the front wheel system. For this verification, the rigid body dynamics simulation was conducted. The result showed that the orientation of the wheelchair could be changed by driving the single driving wheel and by steering the front wheel. The required steering torque for front wheel was derived to design the front wheel system. After that, the prototype was proposed. Then the basic experiment was conducted to verify the efficiency of the system. The result of the experiment showed that the orientation of the wheelchair could be changed by steering front wheel and by one hand drive.

关键词： Wheels Wheelchairs Torque Friction Force Grounding Actuators

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Emerging Trends in design Management Education in the UK

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design Management Review 2017年第3期28卷

作者： Busayawan Lam Youngok Choi A senior lecturer and a course director for Brunel University's master's program in design strategy and innovation and its master's program in design and branding strategy. She was trained in industrial design and practiced as a product designer in a small‐to‐medium‐size exporting company in Thailand. She later obtained research degrees in design management. Lam has many years of experience studying user requirements ascertaining design trends and recommending strategic design directions for a variety of organizations ranging from an equipment producer for domestic general hospitals to a global electronics company. Her current research interests include co‐design community‐led design and open innovation. A senior lecturer in the College of Engineering Design and Physical Sciences at Brunel University and a design researcher specializing in design policy and design management. The strategic use of design underpins much of her research activities. She has been involved in many design research projects involving design policy and strategy the social value and impact of design social innovation design for the public sector and design strategy for businesses. She is currently director of the strategies for branding design and innovation research group in the Human Centered Design Institute at Brunel University.

design programs in the UK are attended by an increasingly diverse body of students, with an increasingly diverse set of interests and needs. Would specialist modules (system design, service design, sustainable design, retail design, international studies, digital culture, digital media, digital marketing, exhibition design, and the like) be the answer to serving requirements beyond the core essentials?

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