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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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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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Effect of Movement on Positioning Accuracy in a Transponder-based Acoustical Positioning

Effect of Movement on Positioning Accuracy in a Transponder-...

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Regional Conference on Acoustics and Vibration 2017, RECAV 2017

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

A transponder-based positioning method using audible sounds for a large-scale area positioning has been proposed by the authors. The proposed method has two characteristics;it employs audible sounds instead of ultrasounds to measure long distance by using audible sounds, and it achieves positioning without clock synchronization among devices which is required additional equipment such as radio wave. However, positioning of the moving object (terminal) is still challenging because the proposed method requires longer measurement time than other methods since it measures the round-trip time of flight (TOF) among the terminal and the anchors (transponders). In this paper, we evaluated the effect of the terminal movement on positioning in simulations and experiments. From simulations and experimental results, it was found that the effect of Doppler and the terminal movement cause random error and offset in TOF/distance, respectively. Consequently, it was found that our proposed method is sensitive to the terminal movement. © Published under licence by IOP Publishing Ltd.

关键词： Transponders

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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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A wearable soft robot for movement assistance on eyelid closure

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ROBOMECH Journal 2018年第1期5卷 1页

作者： Kozaki, Yuta Matsushiro, Naoki Suzuki, Kenji Ph.D Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba 1-1-1 Tenodai Tsukuba Japan Department of Otolaryngology Osaka Police Hospital 10-31 Kitayama-cho Tennoji-ku Osaka Japan Faculty of Engineering System and Information Engineering University of Tsukuba 1-1-1 Tenodai Tsukuba Japan

We present a facial wearable robot to support eyelid movement for patients with hemifacial paralysis. People with facial paralysis are not able to blink, which leads to dry eyes and could cause permanent damage to the cornea. To address this issue, we developed a robotic system to support eyelid movement on the paralyzed side based on voluntary eyelid movement on the healthy side. The robot has a novel mechanism for supporting eyelid movement and is made from soft material, which we call the eyelid gating mechanism (ELGM). We defined the requirements for eyelid manipulation. Then, we introduced design rules for the ELGM based on this definition, and conducted a deformation analysis. As a result, we could control deformation so that it is tailored to eyelid movement with simple rotational input at two hinged ends. This system provides appropriate support for eyelid movement in a non-invasive and gentle manner, based on voluntary eyelid movement on the healthy side. In this paper, we present a performance evaluation of the developed ELGM and the wearable facial robot. We confirm that ELGM could aid eyelid closure in 8 out of 10 patients. Further, we find that the time lag between eyelid closure detection and completion was 236.9 ± 19.4 ms. © 2018, The Author(s).

关键词： Deformation

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Escaping chair: Furniture-shaped device art 16

Escaping chair: Furniture-shaped device art

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ACM International Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 2016

作者： Oozu, Takeshi Yamada, Aki Enzaki, Yuki Iwata, Hiroo PhD Program in Empowerment Informatics University of Tsukuba Japan

ISBN: (纸本)9781450343718

Furniture-device is the device having furniture appearance and physical input and output function. The Escaping Chair is a furniture-device having physical and dynamic interaction with a user to let them perceive the intent of their action and personify the furniture. The Escaping Chair interacts with the bystanders by trying to move away from nearby people. By doing this, the device tries to make the person fail to sit on it, and stimulates their perception about sitting. The idea of a furniture-shaped device was extended from one of my previous artworks, which used furniture as input mechanisms. I exhibited the chair and observed the interaction sit produced with exhibition visitors. It succeeded in making people wonder during the interaction, as I planned, and making them further chase the chair, which indicates a new capability of the device. There were some challenges regarding load tolerance, detection latency and failure, which I have proposed improvements for. Copyright is held by the owner/author(s).

关键词： Virtual reality

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

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Journal of Physics: Conference Series 2018年第1期1075卷 012046-012046页

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 Tsukuba Ibaraki 305-8573 Japan Ph. D. Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-8573 Japan Faculty of Engineering Information and Systems University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-8573 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.

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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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Effect of Movement on Positioning Accuracy in a Transponder-based Acoustical Positioning

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Journal of Physics: Conference Series 2018年第1期1075卷

作者： Hirokazu Iwaya Satoki Ogiso Koichi Mizutani Tadashi Ebihara Naoto Wakatsuki Graduate School of Systems and Information Engineering University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-8573 Japan Ph. D. Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-8573 Japan Faculty of Engineering Information and Systems University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-8573 Japan

A transponder-based positioning method using audible sounds for a large-scale area positioning has been proposed by the authors. The proposed method has two characteristics; it employs audible sounds instead of ultrasounds to measure long distance by using audible sounds, and it achieves positioning without clock synchronization among devices which is required additional equipment such as radio wave. However, positioning of the moving object (terminal) is still challenging because the proposed method requires longer measurement time than other methods since it measures the round-trip time of flight (TOF) among the terminal and the anchors (transponders). In this paper, we evaluated the effect of the terminal movement on positioning in simulations and experiments. From simulations and experimental results, it was found that the effect of Doppler and the terminal movement cause random error and offset in TOF/distance, respectively. Consequently, it was found that our proposed method is sensitive to the terminal movement.

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