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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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Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation

Visual motion observer-based bilateral control for eye-in-ha...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Yusei Tsuruo Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.

关键词： Visualization Mobile robots Attitude control Torque Force Observers

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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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An Assistive Wheelchair based on a Concept of a Passive Robotics

An Assistive Wheelchair based on a Concept of a Passive Robo...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Daisuke Chugo Tatsuya Higuchi Sho Yokota Yuki Sakaida Hiroshi Hashimoto School of Science and Technology Kwansei Gakuin University Faculty of Science and Engineering Setsunan University RIKEN-TRI Collaboration Center for Human-Interactive Robot Research (RTC) RIKEN (The Institute of Physical and Chemical Research) Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (纸本)9781479902255

We propose a novel assistive wheelchair based on a concept of a passive robotics. Our proposed wheelchair consists of a frame, casters, wheels and servo brakes. Our wheelchair system estimates the trajectory its user wants to go using the characteristic of the rowing motion and realizes the estimated tracks by controlling a torque of the servo brake. Our system requires no actuators, and its mechanism is simple and low cost. There is no risk by malfunction of servomotors and patients can use it intuitively because they use our wheelchair passively with their own intentional force. Our key ideas are two topics. One is the development of novel passive-type assistive wheelchair which is suitable for a practical use. The other key topic is a novel driving assistance algorithm with estimation of the user's intention. For realizing this estimation, we use the minimum jerk trajectory model, which expresses a typical human movement. Our proposed system compares a beginning part of rowing motion by the user and this trajectory model, and estimates the whole rowing motion which will be performed. Using our proposed system, the user can drive our wheelchair with natural feeling. We test our proposed assistance system by the experiments with our prototype and verify its effectiveness.

关键词： Assistive Wheelchair Passive Robotics Servo Brakes Minimum Jerk Trajectory Model Wheelchair Servo Device Component trajectory Rowing Human locomotion robotics malfunctions Wheels Torque control

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A Depressurization Assistance System with a Suitable Posture for a Seated Patient on a Wheelchair

A Depressurization Assistance System with a Suitable Posture...

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IEEE International Conference on Rehabilitation Robotics

作者： Kenji Shiotani Daisuke Chugo Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Hyogo Japan Faculty of Science and Engineering Setsunan University Osaka Japan RIKEN-TRI Collaboration Center for Human-Interactive Robot Research (RTC) Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781467360210

For reducing a risk of pressure sore caused by long period sitting on a wheelchair, a patient is required to depressurize buttocks by changing the posture suitably. Thus, we have been developed an automatic depressurization motion assistance system for a seated patient on a wheelchair. In our previous work, we developed a sitting surface coordination system which can lift or incline and assists a depressurization motion of a patient. However, in some cases, it is difficult to change his posture suitably for patients who do not have enough physical strength in their upper body using our proposed device. Therefore, in this paper, we propose a novel posture coordination assistance system for a wheelchair user. Our system consists of the adjustable sitting surface and novel proposed adjustable backrest. These two devices coordinate the sitting posture of the patient automatically. Our key ideas are two topics. One topic is mechanical design of the adjustable backrest for practical use. We realize small mechanism which enables easy implementation to a general wheelchair without special reconstruction. The other topic is a natural posture coordination scheme using the sitting surface and the backrest. We analyze buttocks depressurization operation by a nursing specialist and drive our proposed devices for realizing it. The performance of our system is verified by experiments using our prototype.

关键词： Depressurization motion assistance Pressure sore Adjustable backrest Wheelchair

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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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Q&A

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design Management Review 2014年第1期25卷

作者： Woodie Flowers Sarah Stein Greenberg Richard K. Miller Srikant M. Datar Pappalardo Professor Emeritus of mechanical engineering at the Massachusetts Institute of Technology. He helped create MIT's renowned INTRODUCTION TO DESIGN COURSE. Flowers also received national recognition in his role as host for the PBS television series Scientific American Frontiers from 1990 to 1993 and received a New England EMMY Award for a special PBS program on design. He is a member of the National Academy of Engineering a Fellow of the American Association for the Advancement of Science and of the American Society of Mechanical Engineering and has received three honorary doctorates. He is a MacVicar Faculty Fellow for extraordinary contributions to undergraduate education at MIT where he is a member of the faculty advisory committee for MITX the Massachusetts Innovation & Technology Exchange. He was also the inaugural recipient of the Woodie Flowers Award from FIRST (For Inspiration and Recognition of Science and Technology). He recently received the Edward F. Church Medal and the Spira Outstanding Design Educator Award from ASME. Currently Flowers is a director or scientific advisor for four companies. He is also national advisor and chairman of the executive advisor board for FIRST. Has been managing director of the Hasso Plattner Institute of Design at Stanford University (also known as the d.school) since 2010. Previously she worked in the innovation practice of Monitor Group in the US and India and advised multinational companies on developing innovation capabilities. Her background includes developing new products and services in a number of emerging markets in Asia and Africa. In the classroom Stein Greenberg has co‐taught the d.school's foundational class Design Thinking Bootcamp and its renowned course on design for the developing world Entrepreneurial Design for Extreme Affordability. She recently launched an experimental new program featuring short‐format “pop‐up” classes. She holds an MBA from Stanford University and a BA in history from Oberlin College. Among other pursuits she s

Being a “gracious professional” is the key to leadership, whether you’re an engineer, a scientist, or an MIT professor. As managing director of Stanford University's ***, this Renaissance woman spends her time developing “adaptive learners.” Olin College's first president (and first employee) has plenty to say about engineering—and education. Rethinking the MBA at Harvard Business School.

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Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Visual motion observer-based pose control via obstacle avoid...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tsuruo, Yusei Murao, Toshiyuki Kawai, Hiroyuki Fujita, Masayuki Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781467324212

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations. © 2012 IEEE.

关键词： Visual communication

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Visual Motion Observer-based Stabilizing Receding Horizon Control via Obstacle Avoidance Navigation Function

Visual Motion Observer-based Stabilizing Receding Horizon Co...

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IEEE International Conference on Control Applications

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Department of Robotics Kanazawa Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467345033

This paper investigates stabilizing receding horizon control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-to-hand visual feedback systems. Firstly, a visual motion observer for a controlled mobile robot is presented. Then, visual motion observer-based stabilizing receding horizon control for 3-D visual feedback systems, highly nonlinear and relatively fast systems, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

关键词： Visualization Navigation Mobile robots Collision avoidance Estimation error Vectors Observers

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Visual Motion Observer-based Pose Control via Obstacle Avoidance Navigation Function for Eye-in-Hand Systems

Visual Motion Observer-based Pose Control via Obstacle Avoid...

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Annual Conference on IEEE Industrial Electronics Society

作者： Yusei Tsuruo Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Department of Robotics Kanazawa Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467324199

关键词： Obstacle avoidance Collision avoidance Eye Standing Orders navigation Visualization Visual Feedback Passivity Computer Simulation Feedback kinematic error

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