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International Symposium on Industrial Electronics

作者： Jinhua She Hiroshi Hashimoto Qi Lei Min Wut School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa-ku Tokyo 140-0011 Japan School of Information Science and Engineering Central South University Changsha 410083 China School of Automation China University of Geosciences Wuhan Hubei 430074 China.

ISBN: (纸本)9781467375559

The therapy of brain hypothermia is an effective treatment for patients with brain injury. It requires that the temperature of the brain is stabilized at a prescribed range. Due to the disturbances from the environment, e.g., winds caused by door opening and closing, sunshine, etc., a control system is needed for brain temperature. Biothermal models of the human body are usually very high, and is not suitable for the control of brain temperature. In this study, we construct a reduced-order biothermal model of the human body for the purpose of brain hypothermia based on the frequency characteristics of human thermal sensation. It features high precision in the frequency band for the therapy of brain hypothermia, and is suitable for the control of brain temperature.

关键词： Construction Reduced-Order Biothermal

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The curved surface visualization of the expert behavior for skill transfer using microsoft kinect 11

The curved surface visualization of the expert behavior for ...

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11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014

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

ISBN: (纸本)9789897580406

Method of teaching and inheriting for skill is almost oral. It is not quantitative but qualitative. Quantitative inheriting of skill is difficult. In this paper, after tracking of a subject's skill motion using Microsoft Kinect, a subject's motion is visualized as the curved surface. A curved surface is fitted in the positions of a subject's joint, or the direction of trajectories. Expert and beginner perform swimming and karate motion. After the motions are tracked, the trajectories of joints are transformed to a curved surface. The difference of an action between an expert and a beginner is extracted by investigating curvatures and form on the visualized curved surface. Therefore, we expected that technical skill is transferred easily.

关键词： Visualization

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A manual wheelchair assistance system which cancels a gravitational force on a slope

A manual wheelchair assistance system which cancels a gravit...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Daisuke Chugo Masahiro Goto Satoshi Muramatsu Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan RIKEN-SRK Collaboration Center for Human-Interactive Robot Research RIKEN (The Institute of Physical and Chemical Research) Nagoya Aichi 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 driving assistance system for a manual wheelchair. On an inclination road, there is a high risk of moving the direction, which a manual wheelchair user does not intend, because of a gravitational force. Our proposed system cancels the wheel traction, which is generated according to the inclination of the road, using only servo brakes on each wheel. Our system measures the inclination of the road and estimates the wheel traction generated by a gravitational force. Then, our system cancels this traction and its user can use this wheelchair as its user drives it on no inclination flat ground. Its user can use it intuitively because its user drives this wheelchair by rowing its hand rims as usual and our assistance system works passively with their own intentional force. For realizing this idea, our system uses only servo brakes which can generate the various required brake traction. Our system does not require actuators, and its mechanism is simple and low cost. There is no risk by malfunction of servomotors. We test our proposed assistance system by the experiments with our prototype and verify its effectiveness.

关键词： Wheelchairs Wheels Acceleration Gravity Roads Servomotors

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The guidance method of a mobile robot in consideration of human walking characteristics - 1st Report: Investigation of human walking characteristics

The guidance method of a mobile robot in consideration of hu...

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作者： Nakamoto, Shinpei Muramatsu, Satoshi Chugo, Daisuke Yokota, Sho Hashimoto, Hiroshi Graduate School of Science and Technology Kwansei Gakuin University Hyogo Japan Faculty of Science and Engineering Toyo University Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781479940325

In recent years, the demand for service robots is increasing all over the world. Service robots have the purpose to assist living, such as medical treatment, transportation and security, and tend to have the function which move automatically in an environment. When operating such an autonomous mobile robot in a real world, the obstacle avoidance is the necessary technique to use a robot safely. A robot has to avoid static obstacles such as garden plants or signboards, and dynamic one such as pedestrians, and especially the robot has to act with caution to pedestrians. The purpose of this paper is analysis of human walking characteristics from the movement of a pedestrian, and from the experimental result, it turned out that the future movement of a pedestrian will be able to predict by movements of a few pedestrians. © 2014 IEEE.

关键词： Mobile robots

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A driving assistance for a powerd wheelchair on a pedestrian flows

A driving assistance for a powerd wheelchair on a pedestrian...

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作者： Chugo, Daisuke Liu, Zhaoyu Muramatsu, Satoshi Yokota, Sho Sakaida, Yuki Hashimoto, Hiroshi Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan Department of Mechanical Engineering Toyo University Kawagoe Saitama Japan Nagoya Aichi Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

ISBN: (纸本)9781479940325

This paper propose a driving assistance scheme for a powered wheelchair with a force feedback function of its joystick. Generally, a powered wheelchair moves in a human coexistence environment such as a pedestrian way and it is important to move on these environments without a feeling of oppression to other people around it. Therefore, we propose a concept of a dynamic personal space which is a region surrounding a person who can feel comfortable psychologically to other person with a moving wheelchair in the pedestrian flows. A dynamic personal space is defined considering with a relative velocity and acceleration between the powered wheelchair and the pedestrians around it. Using this concept, we develop a driving assistance system using a force feedback of its joystick, which enables the powered wheelchair to move in a human coexistence environment without a feeling of oppression on other people. In this paper, we investigate spatial relationship with a powered wheelchair experimentally and define a dynamic personal space using these results. For verifying its effectiveness, the performance of our system is verified by experiments using our prototype. © 2014 IEEE.

关键词： Feedback

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The Curved Surface Visualization of the Expert Behavior for Skill Transfer Using Microsoft Kinect

The Curved Surface Visualization of the Expert Behavior for ...

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International Conference on Informatics in Control, Automation and Robotics

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

ISBN: (纸本)9781479979202

关键词： Skill Transfer Microsoft Kinect B-spline Curve Surface Visualization Gradient Curvature Distribution Tracking Motion Experts and Beginner

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The guidance method of a mobile robot in consideration of human walking characteristics -1st report: Investigation of human walking characteristics

The guidance method of a mobile robot in consideration of hu...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Shinpei Nakamoto Satoshi Muramatsu Daisuke Chugo Sho Yokota Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Faculty of Science and Engineering Toyo University Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (纸本)9781479940318

关键词： Autonomous mobile robot Obstacle avoidance Prediction of movement of pedestrian

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Verification of relationship between heart rate and body movement for fatigue estimation

Verification of relationship between heart rate and body mov...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jinhua She Hitoshi Nakamura Junya Imani Yasuhiro Ohyama Hiroshi Hashimoto Min Wu School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha China School of Computer Science Tokyo University of Technology Hachioji Japan Graduate School of Bionics Tokyo University of Technology Hachioji Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Japan

It is an urgent need to find an objective way to estimate the degree of fatigue of employees. In this study, we designed a monitoring and estimation system for the degree of fatigue. This paper explains a long-term pedaling experiment that we use it to explore the possibility to use only the time sequence data of head movement during pedaling to estimate the fatigue. While we show the possibility for this through experimental data, it is clear that we need to collect more data to establish an estimation method.

关键词： Fatigue Heart rate Estimation Educational institutions Monitoring Correlation Electronic mail

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A driving assistance for a powerd wheelchair on a pedestrian flows

A driving assistance for a powerd wheelchair on a pedestrian...

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Annual Conference of Industrial Electronics Society

作者： Daisuke Chugo Zhaoyu Liu Satoshi Muramatsu Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan RIKEN-TRI Collaboration Center for Human-Interactive Robot Research (RTC) RIKEN Nagoya Aichi Japan Department of Mechanical Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

关键词： Wheelchairs Acceleration Dynamics Legged locomotion Force Prototypes Force feedback

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Skill Level Evaluation for Taijiquan Based on Curve Fitting and Logarithmic Distribution Diagram of Curvature

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SICE Journal of Control, Measurement, and System Integration 2013年第4期6卷 276-280页

作者： Toshiyuki Murao Yasuyuki Hirao Hiroshi Hashimoto Faculty of Science and Engineering Waseda UniversityJapan Science and Technology Agency CREST Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

This paper proposes an objective skill level evaluation method for Taijiquan. The proposed skill level evaluation method utilizes both curve fitting to spiral motion and classification based on a logarithmic distribution diagram of curvature for a human body part. In order to demonstrate a possibility of the proposed method, the paper presents experimental results with a Kinect sensor for three subjects, i.e., a beginner, intermediate and expert.

关键词： skill level evaluation Taijiquan logarithmic distribution diagram of curvature Kinect

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