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International Workshop on Advanced Motion Control (AMC)

作者： Daisuke Chugo Satoshi Muramatsu Sho Yokota Hiroshi Hashimoto School of Science and Technology Kwansei Gakuin University Sanda Japan Faculty of Science and Engineering Toyo University Kawagoe 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 Shinagawa Tokyo Japan

In this paper, we propose a standing assistance scheme that uses a patient's own physical strength. In the previous researches, conventional assistive robots do not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows a patient to maximally use their remaining physical strength is desired. For realizing this objective, we propose a standing assistance scheme that realizes two functions, one is a motion assistance function using a patient's own physical strength, and the other is postural adjustment function. In general, a human movement consists of a voluntary movement which mainly generates the body motion and a postural adjustment which keeps the body stability during the motion. Our proposed scheme assists with the minimum force that enables the voluntary movement with their remaining physical strength and keeps the body stability according to their postural adjustment. For realizing two different approaches in same time, we propose a body movement vector for dividing a human motion into a voluntary movement and a postural adjustment. Using the proposed idea, our prototype assistive robot can help elderly patients to stand using their remaining physical strength maximally by two assistive functions.

关键词： Muscles Force Senior citizens Prototypes Robot kinematics Couplings

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Standing assistance considering both load reducing and body stability adjustment

Standing assistance considering both load reducing and body ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Daisuke Chugo 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's Program in Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

In this paper, we propose a standing assistance scheme that uses a patient's own physical strength. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is desired. To realize this objective, we propose a standing assistance scheme that performs two functions, namely, motion assistance using a patient's own physical strength and posture adjustment. In general, human movements consist of voluntary movement, which mainly generates body motion, and posture adjustment, which keeps the body stable during motion. Our proposed scheme provides the minimum force that enables voluntary movement by patients with their remaining physical strength while keeping their body stable by performing posture adjustment. To perform these two functions simultaneously, we propose a body movement vector for dividing human motion into a voluntary movement and a posture adjustment action. A prototype assistive robot fabricated based on the proposed idea helped elderly patients stand using their remaining physical strength maximally by performing the two assistive functions simultaneously.

关键词： Muscles Force Senior citizens Prototypes Legged locomotion Robot kinematics

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A driving assistance for a powered wheelchair with a walking partner

A driving assistance for a powered wheelchair with a walking...

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IEEE International Conference on Industrial Technology (ICIT)

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 Information Science and Technology Tokai University Hiratsuka Kanagawa Japan Department of Mechanical Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781467380768

Accompanying a person is one of the core capacities of a personal mobility vehicle and demands a smooth movement function with collision avoidance. In previous studies on a personal mobility vehicle, a vehicle moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a vehicle should lead its partner. In this case, a vehicle that leads its partner in appropriate environments should also enable smoother and more effective movement with the partner. This, this study aims to develop a motion design that realizes smooth cooperative movement with a human partner for a personal mobility vehicle. Our proposed vehicle 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 movements and propose a motion design that follows the partner's intended movement. Our proposed method is installed in our omni-directional prototype vehicle and evaluated its effectiveness in experiments.

关键词： Vehicles Legged locomotion Prototypes Force Wheelchairs Estimation

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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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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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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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Integrated design innovation: A Mindset for designers of Tomorrow

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design Management Review 2017年第3期28卷

作者： Amy O'Keefe Sarah Rottenberg Co‐leads Northwestern University's master of science in engineering design innovation (EDI) program and teaches at the Human‐Centered Service Design Studio. Her professional background includes more than a decade leading multidisciplinary service product design and development at a Chicago‐based tech startup acquired by Thomson Reuters. She consults on service experience and integrated multichannel initiatives for Fortune 50 retail and global Am Law 100 clients. O'Keefe received her MS in product design and development management from Northwestern. She is a founding member of the Integrated Design Innovation consortium (IDI) and is working with colleagues in the US and abroad to establish evolve and expand the category of integrated design innovation programs in engineering education. An adjunct assistant professor in the School of Design and the associate director of the Integrated Product Design Program at the University of Pennsylvania. She began her career as a design strategist at Doblin Inc. and was formerly a directing associate at Jump Associates where she worked with clients as diverse as Target Chrysler Fiat and GE to identify new products and new business opportunities. Rottenberg is a cofounder of Lia Diagnostics a company that has developed a flushable pregnancy test. She has a master of arts in social sciences from the University of Chicago where she specialized in anthropology and a bachelor of science in foreign service from Georgetown University.

Integrated design innovation master's programs combine the principles of human‐centered design and design thinking with studies in engineering, technology, and business.

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Selection of Suitable Maximum-heart-rate Formulas for Use with Karvonen Formula to Calculate Exercise Intensity

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International Journal of Automation and computing 2015年第1期12卷 62-69页

作者： Jinhua She Hitoshi Nakamura Koji Makino Yasuhiro Ohyama Hiroshi Hashimoto Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 KatakuraHachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology 1-10-40 HigashiooiShinagawa-ku Tokyo 140-0011 Japan

The Karvonen formula, which is widely used to estimate exercise intensity, contains maximum heart rate, H Rmax, as a variable. This study employed pedaling experiments to assess which of the proposed formulas for calculating H Rmaxwas the most suitable for use with the Karvonen formula. First, two kinds of experiments involving an ergometer were performed: an all-in-one-day experiment that tested eight pedaling loads in one day, and a one-load-per-day experiment that tested one load per day for eight days.A comparison of the data on 7 subjects showed that the all-in-one-day type of experiment was better for assessing H Rmaxformulas,at least for the load levels tested in our experiments. A statistical analysis of the experimental data on 47 subjects showed two of the H Rmaxformulas to be suitable for use in the Karvonen formula to estimate exercise intensity for males in their 20 s. In addition, the physical characteristics of a person having the greatest impact on exercise intensity were determined.

关键词： Borg CR10 scale Karvonen formula exercise intensity maximum heart rate pedaling statistical analysis

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Getting Undergraduates Ready for China’s Belt and Road Initiative (BRI) Through an Overseas Experiential Learning Project

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China and the World 2021年第3期4卷

作者： Andrew Min Han Chin Thomas Menkhoff Hans-Dieter Evers Hoong Hui Daniel Gn Kevin Koh Chester Wey Lee Patrick H. M. Loh Linda Low Sebastian Tan Teng Seng Teo Natalie Yap Lee Kong Chian School of Business Singapore Management University (SMU) 81 Victoria Street Singapore 188065 Singapore Andrew Chin Min Han graduated from Tsinghua University in Beijing China with a Tsinghua–MIT Sloan International Master of Business Administration degree under the Singapore Government’s Asian Business Fellowship (ABF) scholarship program. He is the Program Director of Singapore Management University (SMU) Executive Certificate in China Business and of the SMU Internationalisation Series. He teaches as an Adjunct Faculty of Strategy and Organisation at the SMU Lee Kong Chian School of Business since January 2017. He teaches effectively in English and Chinese. With over 23 years of experience in education and publishing industry in Asia Andrew Chin’s multi-sector career has enabled him to experience the full spectrum of the education industry in his roles as the Singapore EDB Officer handling the World-Class University portfolio and the Specialist Information and Publishing Industry portfolio Chief Representative and Country Manager (China) at Thomson Learning (Fortune 500 company) and Co-founder and CEO for an early childhood education business. Andrew was a Business Development Director (Universities) at Sodexo Group (Fortune 500 company) for the Asia-Pacific region. After working 10 years in Beijing China Andrew returned to Singapore in 2012 to work closely with the top leadership at Singapore Management University on the SMU China & East Asia Initiatives. Thomas Menkhoff is the Professor of Organisational Behaviour & Human Resources (Education) at the Lee Kong Chian School of Business Singapore Management University (SMU). Two of his recent publications include: (i) Menkhoff Thomas Ning Kan Siew Evers Hans-Dieter and Chay Yue Wah eds. Living in Smart Cities: Innovation and Sustainability (New Jersey: World Scientific Publishing 2018) and (ii) Chay Yue Wah Menkhoff Thomas and Low Linda eds. China’s Belt and Road Initiative — Understanding the Dynamics of a Global Transfor

In this paper, we explain how an experiential learning course and study tour to Gansu Province (People’s Republic of China) enabled undergraduates at the Singapore Management University (SMU) to acquire 21st-century competencies and higher-order thinking skills by analyzing and evaluating specific aspects of China’s Belt and Road Initiative (BRI) and China–Singapore (Chongqing) Connectivity Initiative — New International Land–Sea Trade Corridor (CCI-ILSTC) with emphasis on developing viable Go-To-Market (GTM) strategies aimed at selling Gansu produce in four Southeast Asian markets. We share how the course was designed to support the attainment of key learning goals and discuss how we turned pedagogical aspirations into concrete learning outcomes. We introduce key aspects of the so-called “SMU-XO” project that the students conducted in partnership with an industry partner, Pacific International Lines (PIL), and discuss how the project work helped learners to gain global competency by (i) examining critical issues related to BRI such as multi-modal infrastructure connectivity, (ii) appreciating the local perspectives of project stakeholders in Lanzhou and Shanghai and (iii) successfully interacting with people from different cultures, namely China, Indonesia, Vietnam, Malaysia and Thailand.

关键词： Experiential learning Singapore China Belt and Road Initiative (BRI)

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Miniaturization and Drive evaluation of Modular Robot by 3D Printer

Miniaturization and Drive evaluation of Modular Robot by 3D ...

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Annual Conference of the IEEE Industrial Electronics Society

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

ISBN: (数字)9781479917624

ISBN: (纸本)9781479917631

The modular robot is constructed by the same shape and function module. The robot can transform and exchange, because it is multiple modules and function. In previous paper, we manufactured the module by 3D printer, and evaluated the mechanical function of the simple module and modular robot. In this paper, the module is miniaturized and joint parts are improved. Joint parts are used tenon joint in place of ball joint. Additionally, we confirmed the validity of the driving modular robot by comparing the previous.

关键词： Modular robot 3D printer Miniaturization Tenon

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