The purpose of this research is to propose a method to identify characteristics of rubbles in order to control grasping forces with camera images and forces on fingertips of the hand for rescue robots. Recently, many disasters, especially many earthquakes, have happened. In rescue fields, rescue robots performing various kinds of tasks are required instead of rescue workers to prevent secondary disasters. Amongst the tasks,we focus on rubble withdrawal tasks with recue robots. One of problems is that there are many kinds of characteristics of rubbles. Thus grasping force control method is needed for not breaking rubbles during removing them, because the robots are controlled with wireless cameras and without visual observations.Therefore, an autonomous material identifying system is required. In this paper, we propose a method to identify characteristics of rubbles with hand-eye camera images with the Snakes and forces obtained by force sensors attached on fingertips. Experiments are performed to verify the proposed method with our constructed prototype rescue robot.

The handbell that enjoys performing the bell as a percussion instrument in the group is performed actively in the school, in the church, and in the community circle. Moreover, it is paid to attention as the music therapy. However, many of marketed hand bells are made of the bronze. So, the hand bell in the bass region becomes large, heavy, and expensive. Everyone can not readily enjoy. The researchers study to make the hand bell that is suitable for the purpose of use such as light, easy to use, and comparatively cheap. We also study the suitable material for the use of the hand bell. In the present study, the influence of the processing error on the pitch has been shown using the self-made handbell of pitch of C^#7.