Conventional teleoperation surgical robots can send the endoscopic image from follower to leader system. However, they cannot provide feedback on force information, such as force required to push an organ. Consequently, medical accidents have occurred because of excessive contact between organs and surgical, and psychological stress to operators. Therefore, we developed haptic devices using magnetorheological (MR) fluids. Furthermore, force sensing in the follower system is necessary for force feedback to the leader system. However, it is hard to attached to the tips of forceps or other instruments because electrical sensors must be sterilized. Therefore, we need contact-less force sensing methods. In this study, we proposed the Wireless Haptic Interface using a contact-less force sensing method based on object detection by YOLO v7. In addition, we created an object detection model using a biological model.

An actuator, called RHA (Redundant Hybrid Actuator), composed of two types of motors connected in series which can mechanically switch its operation modes between a large torque mode and a small torque mode is proposed to achieve Assist-As-Needed actuation for assistive devices. A model which was supposed to apply the actuator to an assistive device for ankle motion was constructed. A dynamic analysis was conducted by using the model. In addition, an experimental device was fabricated to simulate ankle motion assistance. By using the device, basic characteristics of RHA were experimentally investigated. From the experiment, it was confirmed that the motion of the driven object made a difference depending on the amount of the torque of the actuator in a small torque mode. Moreover, it was verified that the supporting torque of the actuator in a large torque mode can help the driven object to generate the target motion. These results are shown to support the concept of RHA.

The decline in muscle strength and physical fitness that accompanies aging makes it difficult for the elderly to maintain independence in daily living, and they require assistance from others. Many assistive devices for Sit-to-Stand have been developed, but it is also important to work on maintaining and improving muscle strength and physical fitness for the independence of the elderly in daily living. Therefore, we focused on the concept of Assist-As-Needed, which provides minimal and necessary assistance for the maintenance and improvement of muscle strength and provides major assistance only when it is recognized that the patient is unable to accomplish the motion on his/her own. We have previously proposed Redundant Hybrid Actuator that switches its operating modes between large and small torque modes in motion support using a simple stopper mechanism to mechanically perform Assist-As-Needed actuation. We are conducting research to a Sit-to-Stand assist device for Assist-As-Needed by adapting Redundant Hybrid Actuator to an existing 1-DOF chair-type assist device. In this paper, we present the basic configuration of the device, investigate the feasibility of the Assist-As-Needed through theoretical analysis, and conduct mechanical of design an experimental device.

Haemodialysis (HD) is a treatment that compensates for reduced kidney function and uses a roller pump to circulate blood and dialysate fluid. Wearable artificial kidney (WAK) is designed for continuous 24/7 renal replacement therapy. However, the membrane in the dialyzer becomes clogged with albumin and other plasma proteins over time (fouling), resulting in a decrease in solute permeability. We have developed new roller pumps with the ability to prevent the fouling through pulsation without interrupting treatment. In this study, we built a prototype roller pump to identify the conditions for an optimum pump shape. And we have evaluated the coefficient of variation of the pump pressure under different conditions such as pump geometry and speed. The number of rollers, the angle of the pump shells and the existence of bosses were varied as pump shape. The flow rate was changed between 10 and 200 mL/min. The results showed that the pump shell with bosses and three rollers had a higher pulsation flow.

Eddy current brakes are one of the effective auxiliary brakes as a next-generation braking system of aircraft. Some of the large automobiles uses eddy current brakes which is called "retarders". Speed level of the aircrafts is drastically different from the one of the large automobiles. In the study, the characteristics of eddy current brakes at high speed are investigated considering future application to aircraft. In particular, braking torque of an eddy current break with thin conductor plate are investigated by both of the experiment and the FEM analysis. C1100 and A5052 are adopted as the materials of the conductor plate. It was found that when the plate becomes thinner, the maximum value of braking torque increases and the rotation speed at which the maximum braking torque are obtained, shifts to high speed side. We call the rotation speed “critical rotation speed”. When the rotation speed is over the critical rotation speed, the braking torque goes to down. The reason why the torque becomes lower is also investigated by simulation.

This study examines a method for detecting gas leaks using multiple UAVs within collapsed buildings in disaster areas. We utilized UAVs with gas sensors weighing less than 100g. An experimental environment was constructed to carry out gas detection experiments. Furthermore, we utilized computational fluid dynamics (CFD) software to visualize the airflow around multiple UAVs. The results from both the experiments and numerical simulations demonstrate that the UAVs' propellers can actively agitate the gas, making it possible to detect leaked gas using the gas sensors mounted on the UAVs. This approach offers a promising avenue for rapid and safe detection of hazardous gas leaks in areas difficult for humans or traditional equipment to access, especially in the immediate aftermath of a disaster. The deployment of lightweight UAVs for such critical tasks underscores the potential of UAV technology in enhancing emergency response efforts, providing valuable data that can help mitigate risks and coordinate rescue operations.

Biomimicry is a major driving force behind robot research. Many studies and robot developments have been conducted so far, but robotics is still unable to move away from mechanical movements and functions. The main reason for this is that conventional robotics has replaced living creatures' bodies with a collection of simple mechanical parts that mimic their external movements. In our study, the body of the robot is regarded as a continuum in which various flexible tissues adhere to each other, and the tissues inside the body are imitated (deep imitation). We have discovered that the imitation of the internal structure of the body produces functions unexpected by designers and phenomena that are difficult to understand in conventional engineering and zoology through the anatomy and reconstruction of dog and horse legs. Through the collaboration between soft robotics and zoology, we will unravel the dynamics and motion of flexible tissues inside the animal body and clarify the design theory of ambiguous flexible tissue, which is the opposite of conventional robotics aiming at accuracy and rigidity and will open a new field of robotics.