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Active Rotary-Legs Mechanism for Stair-Climbing Mobility Vehicle

IEEE Robotics and Automation Letters 2018年第3期3卷 2237-2244页

作者： Sasaki, Kai Suzuki, Kenji Ph.D. Program in Empowerment Informatics University of Tsukuba Tsukuba305-8573 Japan Center for Cybernics Research University of Tsukuba Tsukuba305-8573 Japan

This study describes a novel active rotary-legs mechanism for a stair-climbing mobility vehicle. We have previously developed a stair-climbing up and down wheelchair with lever propelled rotary-legs operated using the human upper body. The previous results indicated that the required torque for the stair-climbing up and down procedure can be reduced based on the user's posture transition, which was achieved via the procedure using only the human upper body. The design principle of the proposed active rotary-legs mechanism in this study is to develop a more compact and lightweight mechanism for a stair-climbing up and down mobility vehicle. We achieve this objective based on the previous observations by appropriately combining the active and passive components. The developed mechanism consists of a four-bar linkage mechanism with motors and gas springs as active and passive components, respectively. The gas springs are connected to the linkage mechanism as parallel elastic actuators, which can reduce the required motor torque and make the complete mechanism compact and lightweight. We describe herein a detailed design of the active rotary-legs mechanism and conduct simulations and preliminary experiments to investigate the effectiveness of our proposed methodology. © 2016 IEEE.

关键词： Automobile bodies

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Child-Sized Passive Exoskeleton for Supporting Voluntary Sitting and Standing Motions

Child-Sized Passive Exoskeleton for Supporting Voluntary Sit...

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2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

作者： Sasaki, Kai Sugimoto, Minatsu Sugiyama, Taisei Paez Granados, diego Felipe Suzuki, Kenji Ph.D. Program in Empowerment Informatics University of Tsukuba Japan University of Tsukuba Center of Cybernics Research Japan

ISBN: (纸本)9781538680940

This paper describes a novel passive exoskeleton for voluntary sitting-standing posture transition for children with lower limb impairment. The design of the exoskeleton is based on the utilization of the center of gravity transition through the user's upper body motion. The passive exoskeleton powered by gas springs allows the user to realize a natural-like posture transition by the user's voluntary upper body motion. We designed the posture transition model such that the user can realize the posture transition in a natural manner based on a minimum jerk criterion. The proposed design aims to permit toilet usage without transferring seating positions between the exoskeleton and toilet seat. Furthermore, the developed mechanism can be integrated with a regular wheelchair, which would allow users to have locomotion capability. We believe that the design can improve children's self-reliant social activities by supporting their voluntary posture transition and toilet use. In this paper, we describe the detailed design process of the exoskeleton and preliminary experiments to investigate its effectiveness through evaluation with a healthy participant. © 2018 IEEE.

关键词： Exoskeleton (Robotics)

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5th Limb: development of augmented expression system using extra Limb 17

5th Limb: Development of augmented expression system using e...

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8th Augmented Human International Conference, AH 2017

作者： Kano, Shori Takashima, Rintaro Asakura, Yasunari Shiraishi, Ryoichiro School of Integrative and Global Majors Ph.D. Program in Empowerment Informatics University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki305-8577 Japan

ISBN: (纸本)9781450348355

Technology for augmenting expressions is actively researched in fields such as social media, entertainment, and arts. It is being established as a business. dancing to videos that are programmed in advance is one example. This method effectively augments the expressions in dancing;however, it is difficult to improvise. Although it can be interactive, it requires large-scale devices such as motion captures or a large number of cameras. The purpose of this study is to develop a wearable device that augments expressions and evaluate the effectiveness of this device for augmentation of expressions. The shape of this device is identical to the tail of an animal. The shape of the device changes using information from the body of the wearer and acts as a "5th" limb. It then augments the expressions of the wearer. The required information for changing shape includes back muscle tension, gait, and angle of the arm. This information is collected through measurements and estimates of bioelectrical signals, sole pressure, and angles of the arms. The device estimates the emotions and behavior of the user. In the experiments, the device is attached to a performer. The values of the sensor and the motions of the device are measured. Hence, it is confirmed that the device moves when it detects the behavior of the performer. In other words, the device mirrors the behavior of the people who use the system. Therefore, this system augments the expression of performers. In conclusion, a wearable device for augmenting expressions is developed, and it is considered that this system can augment the expression of performers on stage.

关键词： Wearable technology

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Effect of parameters of phase-modulated M-sequence signal on direction-of-arrival and localization error

Effect of parameters of phase-modulated M-sequence signal on...

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2016 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016

作者： Ogiso, Satoki Kawagishit, Takuji Koichi, Mizutani Wakatsuki, Naoto Zempo, Keiichi Ph.D. Program in Empowerment Inforamatics School of Integrative and Global Majors University of Tsukuba Japan Graduate School of Systems and Information Engineering University of Tsukuba Japan Faculty of Engineering Information and Systems University of Tsukuba Japan

ISBN: (纸本)9781509024254

In this paper, signals for acoustic beacons with M sequence are evaluated with various parameters for self-localization of mobile robot. The effect of (i) baud rate, (ii) carrier frequency and (iii) order of M sequence on dOA estimation error and localization error are evaluated by computer simulation. As a result, localization is possible with same class or more precision compared to the result from sound beacon with three chirp signals within 5 kHz-18 kHz by choosing the appropriate parameters, which are (i)baud rate is more than around 8 kHz and (ii)carrier frequency is 10 kHz. Particularly, (i) baud rate and (ii) carrier frequency have influence on the localization error. However, the localization error do not change into even a further baud rate in this condition if baud rate is higher than carrier frequency. In this simulation, no influence is confirmed from (iii)order of M sequence. The result indicates that M sequence can be used as signal of acoustic beacons instead of chirp, which occupies frequency band. © 2016 IEEE.

关键词： direction of arrival

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Lung volume estimation for thoracic respiration via chest size deviation measurement

Lung volume estimation for thoracic respiration via chest si...

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： Yuji Sano Koichi Mizutani Keiichi Zempo Naoto Wakatsuki Ph.D. Program in Empowerment Informatics University of Tsukuba Tsukuba Ibaraki Japan Faculty of Engineering information and Systems University of Tsukuba Tsukuba Ibaraki Japan

ISBN: (纸本)9781509023349

Individual thermal stress of people in physical training has not been evaluated quantitatively in real time. The main limitations in evaluating individual thermal stress are the difficulties in measuring individual thermal parameters, clothing insulation, and metabolic rate. In this study, we aimed to overcome these limitations with metabolic rate measurement. For calculating metabolic rate in real time without breath gas analysis, we proposed a derivation method from oxygen consumption and lung volume. We found that the deviation of chest size is proportional to the change of lung volume in each person, and the coefficient of determination was greater than 0.90.

关键词： Lungs Volume measurement Size measurement Training Thermal stresses Atmospheric measurements Particle measurements

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Robust Localization of Mobile Robot in Reverberant Rooms Using Acoustic Beacons with Iterative Bayesian Filtering

Robust Localization of Mobile Robot in Reverberant Rooms Usi...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Satoki Ogiso Koichi Mizutani Naoto Wakatsuki Tadashi Ebihara Ph.D. Program in Empowerment Inforamatics University of Tsukuba Japan Faculty of Engineering Information and Systems University of Tsukuba Japan

A method of estimating location by acoustical signal and microphone array without the detection of direction-of-arrival is proposed. The proposed method consists of the following steps. First, acoustic beacons in the environment emit signals and the localizing target receives the signals with a microphone array. Next, the localizing target calculates the probability distribution of the location by a particle filter. The cross-correlation functions of the microphone array elements correspond to the location and beacon arrangement. Herein, the cross-correlation functions are used as a likelihood function by projecting them to the localizing state space. The localization result is calculated as the weighted sum of the particles based on their likelihoods. The proposed method is tested and evaluated in an indoor environment with four beacons. The result shows that the proposed method can achieve better localization than the previous method.

关键词： Synchronization Mobile robots Wireless fidelity Receivers Microphone arrays Acoustics

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Real-time Snowboard Training System for a Novice Using Visual and Auditory Feedback

Real-time Snowboard Training System for a Novice Using Visua...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Takashi Kuwahara Itsuki Takahashi Shintaro Harikae Ph.D. Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba Ibaraki Japan Independent Ibaraki Japan Graduate School of Systems and Information Engineering University of Tsukuba Ibaraki Japan

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

In snowboard training, it is especially important to learn proper weight transfer and to perceive a gap between the perceived movement and the actual body movement. However, previous training systems don't have sufficient function, and the effectiveness of each feedback on weight transfer, which includes not only the front and back but also left and right has not been reported. In this study, we propose and develop a real-time snowboard training system for a novice using visual and auditory feedback, and confirm its basic performance and effectiveness of each feedback. This system mainly consists of four components: (1) a center of pressure (COP) detection device, (2) a posture estimation device, (3) a visual feedback device, (4) an auditory feedback device. We experimented to confirm the feasibility to enhance motor learning by using the developed system and to evaluate the effectiveness of each feedback on weight transfer, which includes not only the front and back but also left and right. In conclusion, we developed a real-time snowboard training system for a novice using visual and auditory feedback and confirmed that our system could assist the proper weight transfer. Furthermore, in short-term learning, we confirmed that the effectiveness of each feedback, and visual feedback or visual and auditory feedback is the best way to enhance motor learning.

关键词： Training Visualization Protocols Snow Real-time systems Floors Sports

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Training system using ground reaction force of the affected leg

Training system using ground reaction force of the affected ...

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SICE Annual Conference

作者： Ryoichiro Shiraishi Hiroaki Kawamoto Yoshiyuki Sankai Ph. D. Program in Empowerment Informatics University of Tsukuba Ibaraki Japan Faculty of Engineering University of Tsukuba Ibaraki Japan

ISBN: (纸本)9781509009374

Most patients with a paralyzed leg have difficulty in putting the body weight on the heel when they stand up, as well as diminished motor function of the affected part. This paper proposes a new training system for increasing the heel load of the affected leg in several postures. The developed system integrates Ground Reaction Force (GRF) sensors and a graphical monitor with a motion support device. The GRF sensors measure the load of the heel and toe on both legs and the users can recognize their motor information by looking at the monitor. The users can also hold their standing position and half-rising posture by using the motion support device. A basic experiment confirmed that the GRF sensors have measurement accuracy within 5 % error and measures the GRF of the toe and the heel part separately. We carried out a feasibility experiment in two patients to confirm that the users were able to conduct the training by using the system, and the users increased the GRF of the heel part. All the participants recognized their movement of the affected leg by looking at the monitor, and increased the GRF of the heel part when the visual motor information was provided. Moreover, the orthosis decreased the number of times that spasticity occurred and the results suggest that the training is feasible, and the system is effective in helping patients with the affected leg to conduct the training for increasing the GRF of the heel part.

关键词： Training Legged locomotion Monitoring Strain Safety Sensor systems

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Evaluation of Time-difference-of-Arrival Error of Acoustic Beacons Caused by Velocity of Microphone Array

Evaluation of Time-Difference-of-Arrival Error of Acoustic B...

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Regional Conference on Acoustics and Vibration 2017, RECAV 2017

作者： Ogiso, Satoki Mizutani, Koichi Wakatsuki, Naoto Ebihara, Tadashi Ph. D. Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8573 Japan Faculty of Engineering Information and Systems University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki305-8573 Japan

In this paper, we described a criterion of estimating the quality of time-difference-of-arrival (TdOA) estimation with a moving microphone array. The microphone array was supposed to receive a known signal from an acoustic beacon which transmitted a binary code with binary phase shift keying (BPSK). The movement of the microphone array may cause two kinds of error on the TdOA estimation;physical change of TdOA caused by the movement, and apparent change caused by the lower correlation values of doppler-shifted signals. For evaluating the latter error, we employed the peak to average power ratio (PAPR) of the cross correlation function. The doppler effect on TdOA error were evaluated with a computer simulation. The microphone array was moved at -2 to 2 m/s, covering the velocity range of indoor mobile robot. Besides the velocity, following three parameters of the sound were investigated. The types of the code for evaluation were chosen as M-, Gold and Kasami sequences, carrier frequencies were 0-40 kHz, and chip rates of the binary code were 0.5 - 20 kHz. As the results, it was confirmed that if PAPR is lower than a certain value, 40 in this simulation, the peak detection of the cross correlation is difficult and it results in high and unpredictable TdOA errors. Higher chip rates and lower carrier frequencies showed better resilience against the doppler effect. The proposed criterion may infer the maximum velocities at which TdOA can be estimated without any measure against the doppler effect for realistic parameters. This criterion would contribute to the on-line evaluation of the quality of TdOA, which may be beneficial for estimating sound direction of arrival. © Published under licence by IOP Publishing Ltd.

关键词： doppler effect

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development of a PAC5 system at the University Hospital in Brussels, Belgium

Development of a PAC5 system at the University Hospital in B...

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Application of Optical Instrumentation in Medicine XIV and Picture Archiving and Communication Systems (PACS IV) for Medical Applications 1986

作者： deconinoo, F. duerinckx, A.J. Kuijk, S. Nyssen, M. Tombeur, d. Laarbeeklaan 101 Brussel1090 Belgium Ph.D.-M.D. Program Office University of Miami School of Medicine MiamiFL33166 United States Medical Informatics Vrije Universiteit Brussel Faculteit Geneeskunde Laarbeeklaan 103 Brussel1090 Belgium Belgium

A prototype PACS system is being designed which will connect an existing nuclear medicine mini NM-PACS with an imaging facility in the medical school, a PET and experimental medical imaging facility, and research imaging facilities in the Radiology and Nuclear Medicine department of the Free University in Brussels (VUB, Jette), Belgium. The local nuclear medicine NM-PACS uses SOphA (Informatek) equipment with parallel dMA connections. The PET and experimental medical imaging facility is based on Apollo workstations. The medical school imaging network connects a VAX 11/785, a VICOM and several other computers, and is physically located next to the hospital. A local radiology Rad-PAC5 will be based on an Ethernet link. The "global PACS" described in this paper will connect all image processing facilities. Initially, 4 Apollo workstations with a token passing ring network (12 Mbit/sec), a 500 Mbyte storage, and Ikxlk displays will be used. The following subparts of the "global PACS" are novel: a pictorial-menu driven user-interface software for image display, processing and management is being developed to facilitate the use of the PACS hardware. The image data base is distributed over the different areas of the hospital and university. The system will also provide the distributed computing power (parallel processing and acquisition of images) needed for a new HIdAC PET camera being constructed at the university. This PACS project is part of a large scale European effort (EuroPacs) to develop PACS technology. © 1986 SPIE. All rights reserved.

关键词： Medical imaging

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