Recently robots have become targets of studies by scientists and engineers. These-robots are classified into three types, i. e., the industrial robots, intelligent robots and human-operated robots. In this paper, emphasis is laid on the description of the information system of the intelligent robot as well as the relation between robot engineering and bioengineering. As eyes and hands are the most important organs for the application of the robots to industries, the hardware and software of the hand-eye system are discussed.

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A method for phonocardiograph (PCG) processing by general purpose computer is given. Two parameters are introduced to detect the characteristics of heart sounds, one of which is called short-time power spectrum PS (w, t), and the other, short-time average frequency AF (t).
PS (w, t) expresses temporal variations of power of heart sound in certain frequency band; it offers information for detecting the location time of the First or Second heart sound, split sound and heart murmur in low frequency band. AF (t) is defined as the square root of the second moment of PS (w, t) with regard to w, and under a suitable condition, it is proportional to zero crossing number of PCG in certain time interval. Therefore, AF (t) can be used for detecting PCG characteristics in high frequency band. Usually, heart murmur is extracted with its envelope pattern, at which time the frequency information on heart murmur is omitted. Parameter AF (t), however, may include the frequency information as well as the envelope pattern information of heart murmurs.
In this paper, procedures to detect these parameters effectively by applying digital filtering theory are shown. Then several examples obtained by applying these procedures to Medium Frequency Heart Sounds are presented graphically. These results show that heart sound characteristics may be detected rather easily without any information on Low Frequency and High Frequency Heart Sounds.

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In this paper, the measuring transducer which is composed of a mechanical and an electric system is considered. Let the voltage, current, and impedance of the electric system be E, I, Z, respectively, the force, velocity and mechanical impedance of the mechanical system be F, v, z, respectively, and further, the force factor be A.
It is supposed the phenomena in the transducer to change sinusoidally. Then, if external force F is applied to the mechanical system and induced current is generated in the electric system, z=r+jωm+s/jωI=- (AF/z=) / (z=+A²/z=) =E₀/ (z=+z=_m) =-AF/z= {r+A²/z=+j (ωm-s/ω) ^{} -1} (1), where w is a working angular frequency. If s/m=ω₀² and r+A²/z=r', I= (-AF/z=r') e-jφ√1+ (ω²m²/r'²) (1-ω₀²/ω²) ²tanφ= (ωm-s/ω) r' (2)
Expression (2) gives the induced current in the electric terminal, when a mechanical signal is applied to the input terminal, and shows the frequency characteristics. If voltage e is applied to the electric terminals and the force of the mechanical terminals F=0, instead, theni=z=v/A=e/ (A²/z=+z=) =e/ (z=+z=m) (3)
, where i is the current that flows in the electric circuit. Since expression (3) is of the same type as expression (1), we can easily derive expression (2) from (3). And the calibration curve of the measuring transducer can be obtained from (3). Therefore, the quantity of mechanics can be found by the electric system only of such a measuring transducer. Les us call the system in which expression (3) holds a “percussion system”.
In order to make sure of the idea above stated, we have taken a phonocardiograph as an example, calculated the constants of the phonocardiographic microphone, obtained the voltage sensitivity characteristics using the methods of motional impedance and of vibrometer, and compared them with those in an anechoic box etc.
The authors have made a further study of the relations between the sensitivity and frequency characteristics of a phonocardiographic microphone, and the influences of air compression in the anteroom of a closed room.
As a result, the motional impedance method that can be treated as a sound and vibration system in phonocardiography input has been found to be the most advantageous calibration for phonocardiography.

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Many researchers have published various kinds of papers concerning the problems, but it is somewhat difficult to derive clear evaluation methods from their results, because of the difficulty of achieving objectivity.
In this paper are presented psychological experiments carried out by using vibrometer of acoustical calibration apparatus in triangular, sawtooth, square and pulse waves. This study has shown the relationship between vibratory sensibility and electric phenomena of living body. The threshold curve of square wave vibration is lower by 12.3 dB than that of the sine wave vibration near 30 Hz.
We think that the evaluation of vibratory sensibility should be done by a physical measurement which relates also to the subjective evaluation. In this meaning, it is necessary to find the new physical measurement.
We observed that the subjective vibratory sensibility and potential variations take place linearly with the vibratory level.

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Collagen is a principal protein in the connective tissue of animal, and has been utilized as its hydrolized product, glue or gelatin. Recently, disintegrated native collagen fibers have been actively applied to make reconstituted collagen articles for various uses in the form of film, filament, strand, tubing and sponge. Collagen may be much expected as a biopolymer applicable in the -field of ME or bionics by virtue of its mechanochemical, biomedical and other properties.
In view of the affinity of collagen for water and skin, an attempt has been made to apply collagen membrane to measuring electrical potential of living body. Three methods of making collagen membrane are available : dry extrusion, wet extrusion and the electrochemical method. Mainly applying the electrochemical method, the authors have made a collagen electrode on the laboratory basis. Although the electrode made up of only a collagen membrane containing electrolyte and water gives good result, the gelatin paste-coated electrode shows excellent effects. Viscoelasticity of gelatin paste may be of great advantage to stability of measurement.
Furthermore, several phenomena in the electrochemical method are shown and an analysis thereof has been attempted. The variation pattern of electric current with time depends on acidic condition of collagen dispersion and other factors. Relation between the thickness of dry collagen film and the tensile strength per thickness of the film may suggest somewhat dynamic mechanism of the electrochemical method.

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