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IEEE International Conference on Industrial Informatics (INDIN)

作者： Akira Takahashi Sho Yokota Akihiro Matumoto Daisuke Chugo Hiroshi Hashimoto dept. of Mechanical Engineering Toyo University Kawagoe Saitama Japan School of Science and Technology Kansei Gakuin University Sanda Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Tech. Tokyo Japan

The purpose of this research is to develop the wheelchair system for hemiplegic users. The proposed system is configured by the front wheel with active steering and hand rim for detecting user's driving force. The user's operational intention is distinguished by the sign and amplitude of force along the rotational axis of the hand rim. The steering angle of the front wheel is controlled by an actuator based on extracted intention from the hand rim. By proposed system, user can operate the wheelchair by using only single side hand rim. In particular, in this paper, we evaluate the designed hand rim by conducting some experiments.

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Development of the Impression Detection System by using a Portable EEG Device for Tourist Impression Analysis

Development of the Impression Detection System by using a Po...

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International Symposium on Soft Computing and Intelligent Systems (SCIS)

作者： Tomoyuki Ohkubo Kohei Yamamaru Shigeomi Koshimizu Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781538626344;9781538626337

International tourists in Japan are increasing year by year, and the Japanese government keeps promoting the tourism industry. To make Japan more attractive for tourists, the analysis of tourists' impressions is very important. One of the conventional approaches is to provide tourists with a questionnaire about sightseeing spots and their experiences there. However, the questionnaire has a problem, the memory of the interviewees tends to fade and detailed information cannot be retrieved. In this paper, we describe a novel approach to detect tourists' impression using information from their electroencephalogram (EEG). Since the developed system makes use of a portable EEG device, it enables impression detection even if the subject is walking. In order to confirm the validity of the proposed system, we carried out a real-world experience of the typical sightseeing spots.

关键词： Electroencephalography Legged locomotion Market research Sleep Games Technological innovation Government

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Modeling of human body movement on personal mobility interface using LIDAR 1

Modeling of human body movement on personal mobility interfa...

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1st IEEE International Conference on Industrial Cyber-Physical Systems, ICPS 2018

作者： Yokota, Sho Hashimoto, Hiroshi Chugo, Daisuke Matsumoto, Akihiro Department. of Mechanical Engineering Toyo University Saitama Japan Master Program of Innovation for Design and Eng. Advanced Institute of Industiral Technology Tokyo Japan School of Science and Technology Kwansei Gakuin University Sanda Japan

ISBN: (纸本)9781538665312

This paper proposes the contactless measurement scheme using LIDAR (Light Detection And Ranging) and the modeling human body movment for the personal mobility interface including twisting motion. We have already proposed the saddle type human body motion interface. This interface uses not only conventional translational human motions but also twisting motion, namely it makes full use of the human motion characteristics. The mechanism of the interface consists of the saddle and universal joint connecting the saddle and personal mobility, and tracing loins motion. Due to these features, the proposed interface shows a potential to realize intuitive operation in the basic experiment. However, the problems have also remained: The height of the saddle should be adjuested for the users' height before riding on the PMV (Personal Mobility Vehicle). And there are plays between the saddle and buttocks of the user, and backlash of the saddle mechanism. This problem prevents a small human motion from measurment. This paper, therefore, proposes the contactless measurement using LIDAR and discusses the fitting methods from measured data points to human body movement. © 2018 IEEE.

关键词： Optical radar

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An Assitive Walker considering with its User's Gait Difference of Both Feet

An Assitive Walker considering with its User's Gait Differen...

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Conference on Human System Interactions, HSI

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

This paper proposes a novel assistive walker robot, which considers its user's gait. Previous researchers have been developed many assistive walker, and many of them have discussed on obstacles/step avoidance function, path following function and gravity negating gravitational force function. However, by opinions of nursing specialists, the walker is first required to realize safe walking function especially, which prevents falling down of its user. Therefore, it is important to maintain the body balance of its user and considering with the characteristics of its user, the walker should coordinate it according to the walking way of its user. For realizing this, our proposed walker measures the right and left foot gait of its user and estimates its user's body balance by calculating his/her position of center of gravity (COG). Proposed system does not require sensors which are installed on its user's body for practical usage. Using estimated body balance, our proposed walker controls assistance force vector for maintaining body balance stably. A prototype assistive walker, based on the proposed idea is fabricated to help patients walking safely according to their walking gait.

关键词： Foot Legged locomotion Brushless DC motors Thigh Wheels

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Standing assistance that encourages a suitable posture with intended movements and voice messages

Standing assistance that encourages a suitable posture with ...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Daisuke Chugo Masahiro Yokota Shohei Kawazoe Satoshi Muramatsu Sho Yokota Hiroshi Hashimoto Kwansei Gakuin University Graduate School of Science and Technology 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

This paper proposes a novel standing assistance scheme that guides a subject to adopt a suitable posture using intended movements and voice messages. In much previous research, an assistive robot requires the patient to understand the standing reference beforehand and generally, the subject learns the standing motion used by the robot. However, for practical use, a patient should be able to use an assistive robot without special prior knowledge. Nursing specialists also guide their patients with an intended movement and a voice message. For example, when they incline a patient's upper body before lifting it up, they notify the patient of a motion start with simpler words and guide the patient's body with a special moving pattern. Therefore, in this paper, we develop a standing assistance scheme that guides the patient to stand in the intended way based on skills of these nursing specialists. The effectiveness of the proposed method is verified by experiments with our prototype.

关键词： Legged locomotion Robot kinematics Medical services Senior citizens Actuators Springs

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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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Angle Control of Antagonistic Pneumatic Driven and Inflatable Arm Joint

Angle Control of Antagonistic Pneumatic Driven and Inflatabl...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Hirofusa Ogasawara Sho Yokota Akihiro Matsumoto Daisuke Chugo Hiroshi Hashimoto Graduate School of Science and Eng. Toyo 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

The conventional robot arms applied in various fields are demanded to have high force output, high accuracy, high efficiency. But they are seldom applied in human life, because of large weight, rigidity, hazards to people caused by collisions. Therefore the soft robotic arm that is stretchable, light weight, softness without possible of hazards, and high precision control is suitable to deploy in human life. Thus the purpose of this research is to develop the soft robotic arm by using antagonistic pneumatic driven system. In order to realize this concept, the joint activation mechanism is the key component. This study focuses on the angle control of the joint. In this paper, the robot arm made by polyethylene is proposed. Air bags made of polyethylene inside the joint achieve antagonistic driven states. Helical tube made of polyethylene is adhered joint outside for realizing rigidity. It is characterized that control rigidity is realized by controlling the pressure in the helical tube and joint angle is preciously controlled in two degree of freedom by controlling pressure in the air bags. Furthermore, the joint angle can be controlled by controlling the air pressures in the air bags using stretch sensor measuring joint angle. The experimental result confirmed that the driving concept of the joint was well functioned, and the joint angle control was realized by feedback control.

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Posture adjustment according to load inclination for a passive-type assistive wheelchair 1

Posture adjustment according to load inclination for a passi...

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1st IEEE International Conference on Industrial Cyber-Physical Systems, ICPS 2018

作者： Kohara, Ryo Iwaki, Masahiro Chugo, Daisuke Muramatsu, Satoshi Yokota, Sho Hashimoto, Hiroshi 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

ISBN: (纸本)9781538665312

Considering the road inclination conditions, we proposed an upper body posture adjustment system for a passive-type assistive wheelchair. On an inclined road, there is a high probability that a wheelchair will move in a direction that is different from that desired by its user. In our previous research, we proposed a system that estimated a wheelchair user's intentions and worked passively to complement their intentional force. This was accomplished by negating the wheel traction that was generated by the road's inclination using only the servo brakes on each wheel. However, in some cases, our system failed to assist the driving motion of the user because it negated only the gravitational force. Therefore, our wheelchair succeeded in avoiding the unintended movement, but its user was required to row the hand rims with a considerable amount of force to overcome these braking forces. Consequently, we proposed an upper body posture adjustment system that adapts to the inclined road conditions and reduces the wheel traction that is generated by gravity. The proposed system inclined the wheelchair seat and aligned the upper body posture of its user to the center position of the wheelchair. Using this method, the proposed system maintained the position of the user's center of gravity with respect to the center position of the wheelchair. Our experimental findings suggested that the proposed passive-type assistive wheelchair can complement the user's intentional force with smaller brake tractions, indicating that the user can drive the wheelchair using less physical strength. © 2018 IEEE.

关键词： Wheelchairs

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Development of electric cart for improving walking ability — application of control theory to assistive technology

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Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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Reduced-order Modeling of Human Body for Brain Hypothermia Treatment

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International Journal of Automation and computing 2016年第2期13卷 159-167页

作者： Jinhua She Hiroshi Hashimoto Min Wu School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

Brain hypothermia treatment （BHT） is an active therapy for severe brain injury. It makes the temperature of the brain track a given temperature input curve so as to reduce the risk of tissue damage. BHT requires a brain-temperature control system because of environmental disturbances and changes in the human body. The thermal models of the human body devised so far are usually of a very high order and are not suitable for controlling brain temperature. This paper presents a method of finding a reducedorder thermal model of the human body for use in BHT. It combines minimal realization and balanced realization. Unlike other methods, this method yields a reduced-order model that is based on system theory and that takes the frequency characteristics of human thermal sensation into account. It features high precision in the frequency band for BHT and is suitable for the control of brain temperature.

关键词： Balanced realization brain hypothermia treatment （BHT） minimal realization model reduction human thermal sensation thermal model.

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