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

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Motion curved surface analysis and composite for skill succession using RGBD camera

Motion curved surface analysis and composite for skill succe...

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International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Kaoru Mitsuhashi Hiroshi Hashimoto Yasuhiro Ohyama Department of Mechanical engineering Tokyo University of Technology Tokyo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

The skill succession method is almost oral. It is not quantitative but qualitative. Quantitative succession is difficult. In this research, after tracking of a subject's motion using RGBD camera, a subject's motion is visualized as the motion curved surface. Expert and beginner perform the sports and entertainment motion, and the character of the surface is analyzed. The character is the maximum curvature and surface area. In addition, we suggest the composite surface, because one RGBD camera is not all tracking motion by occluding the obstacle or subject' body parts. Finally, we confirm the validity of skill succession by watching skeleton motion movie and curved surface.

关键词： Tracking Shape Skeleton Trajectory Position measurement Cameras Visualization

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Production and education of the modular robot made by 3D printer

Production and education of the modular robot made by 3D pri...

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Asian Control Conference

作者： Kaoru Mitsuhashi Yasuhiro Ohyama Hiroshi Hashimoto Shintaro Ishijima School of Computer Science Tokyo University of Technology Hachioji Tokyo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

The modular robot is constructed by the same shape and function module. It is able to transform and exchange, because it is multiple constitution. However, a mass quantity production of the module is difficult. Then, we focus on 3D printer. It is able to produce on a large scale easily and reasonably, but researchers and engineers need to operate 3D CAD and 3D printer. In this paper, we hold the 3D-CAD and 3D printers' workshop, and the effect is investigated. Afterwards, we evaluate the mechanical function of the simple module made by 3D printer. In addition, we suggest the modular robot of many modules.

关键词： Three-dimensional displays Printers Joints Robots design automation Wheels Shape

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Norm selection for evaluation criterion for placement planning of active damping devices in structure

Norm selection for evaluation criterion for placement planni...

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International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Kou Miyamoto Jinhua She Hiroshi Hashimoto Min Wu Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Kanagawa Japan School of Automation China University of Geosciences Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

Active vibration control has been widely investigated in civil engineering. This study considers the problem of selecting a norm for an evaluation criterion for the planning of the placement of active damping devices (ADDs) in a structure in active vibration control. Using a 4-degree-of-freedom system as an example, we compare the commonly used 2-norm and ∞-norm, and show that the 2-norm is a suitable choice for the performance index of the placement planning of ADDs.

关键词： Earthquakes Planning Damping Vibration control Optimization Performance analysis

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Robotic driving assistance system for manual wheelchair user on uneven ground

Robotic driving assistance system for manual wheelchair user...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

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

ISBN: (纸本)9781479918096

This paper proposes a novel driving assistance system for a manual wheelchair. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. Using only servo brakes on each wheel, our proposed system negates the wheel traction that is generated by the road's inclination. Our system measures the road's inclination and estimates the wheel traction generated by gravitational force. Our system then cancels this traction and the user can drive the wheelchair as they would on flat ground. The system is intuitive because the user drives the wheelchair in the usual manner, and our assistance system works passively to complement the user's intentional force. Our system uses only servo brakes that can generate the various required levels of brake traction. Our system does not require actuators, and its mechanism is simple and inexpensive. There is no risk of malfunction of servomotors. We verified the effectiveness of our proposed assistance system by conducting experiments with a prototype.

关键词： Wheelchairs Wheels Brakes Gravity Sensors Servomotors Acceleration

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Factor analysis of graceful bow based on skeleton model

Factor analysis of graceful bow based on skeleton model

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International Conference on Technologies and Applications of Artificial Intelligence (TAAI)

作者： Nami Kudo Kazunari Tsuda Hiroshi Ito Sachuronggui Bao Yasushi Motai Mizuki Nakajima Hiroshi Hashimoto Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa-ku Tokyo Japan Sangyo Gijutsu Daigakuin Daigaku Shinagawa-ku Tokyo JP School of Industrial Technology Advanced Institute of Industrial Technology Shinagawa-ku Tokyo Japan

ISBN: (纸本)9781467396073

This paper considers how the impression of gracefulness one feels from a bow is related to variations in the angles of the human body parts. From the fact that a bow movement is composed of multiple joints and tilting of various body parts, we developed a bow model using a skeleton model and uses it to extract the configuration factor of gracefulness in a bow in order to contribute to its objective evaluation and effective instruction. Using the model, multiple patterns of variations of the angle of the various model parts are examined and the psychological evaluation experiment is conducted on test to investigate the gracefulness.

关键词： Visualization Hip Psychology Neck

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Active seating support which reduces the pressure and share stress for a wheelchair user

Active seating support which reduces the pressure and share ...

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Conference on Human System Interactions, HSI

作者： Daisuke Chugo Kenji Shiotani Masaaki Yoshida Satoshi Muramatsu Sho Yokota Hiroshi Hashimoto School of Science and Technology Kwansei Gakuin University Sanda 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

This paper proposes an automatic sitting posture coordination system for avoiding the risk of the pressure sore on a wheelchair. For avoiding this risk, it is important to maintain the suitable posture which reduces the pressure concentration and share stress between the buttock and a sitting surface on the wheelchair, and to depressurize them as the healthy person does during sitting on the wheelchair. For realizing these functions, this paper proposes an active seating support system which consists of a sitting surface lifting device and a backrest tension coordination device. Our system estimates the pressure concentration and share stress on the buttock and based on the estimated results, our system realizes the suitable sitting posture which minimizes them coordinating two devices. Furthermore, when the risk of the pressure sore increases, our system assists to depressurize the pressure concentration and share stress with this suitable sitting posture. Using our proposed active seating system, the patient can depressurize by a natural body motion as the healthy person automatically. The performance of our system is verified by experiments using our prototype.

关键词： Stress Wheelchairs Force Buttocks Muscles Stress measurement Position measurement

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Education system of skill succession based on 3D evaluation and improvement in time series

Education system of skill succession based on 3D evaluation ...

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IEEE Region 10 Humanitarian Technology Conference (R10-HTC)

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

This paper presents an educational support system of skill succession with body motion based on 3D (three-dimensional) biomechanics evaluation. Skill succession using body motion seems different because human cannot attain the perfect copy or imitation of the reference skill motion. We call it the imperfect imitation problem. Then, we propose the 3D skeleton motion viewer and e-learning education system. The learner cannot move the expert motion, however, watching only 3D skeleton motion movie. So, our system supports learner using the judgment of the expert instructors (teacher). In experiment, to evaluate the effectiveness of the proposed system, some education of sports such as swimming, darts game and karate are adopted. The evaluation is a learner's improvement and teacher's satisfaction from the interview.

关键词： Three-dimensional displays Skeleton Motion pictures Education Databases Time series analysis Solid modeling

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A Hand Movement which shows the Intention of a Robotic Guide for Safe Walking

A Hand Movement which shows the Intention of a Robotic Guide...

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International Symposium on Industrial Electronics

作者： Daisuke Chugo Sota Aburatani Takuma Masushige Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan Department of Mechanical 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)9781467375559

This paper proposes a guide system which uses an intended hand force of a robotic guide for elderly and visually impaired people. In general, we lead these people by the hand with a different way according to the situation. For example, we lead these people strongly and rapidly for avoiding a dangerous situation. For realizing our proposed system, this paper describes the following two key topics. The first, we analyze a hand movement, which leads the other person in each situation, and investigate the characteristics of it which the follower can estimate the intention of the leader according to the situation. From our investigation, the minimum jerk trajectory model can appropriate the velocity references of a hand movement and timing of peak velocity during one hand motion tends to show the intention of its leader. The second, we design the velocity references of a hand movement based on the analysis results and for verify its effectiveness, we implement the proposed idea to our prototype robotic guide. Using our idea, our guide robot can show the situation of the surrounding environment to its follower by a hand movement.

关键词： robotic guide hand movement minimum jerk trajectory model

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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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