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Eisuke AOKI, Masafumi NOGUCHI, Jae-Sung HONG, Etsuko KOBAYASHI, Ryoich ...
Article type: Article
Session ID: 1A1-A01
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Complete resection of glioma is required to obtain satisfactory outcome. It is difficult for neurosurgeon to identify boundary between glioma and normal tissue by the naked eye. Therefore, various surgical assistance systems for detection of brain tumor such as surgical navigation system have been used in clinical operations. It is required to integrate intra-operative information obtained from intra-operative biomedical measurement systems to realize more sophisticated surgical navigation. In this research, we developed an integrated intra-operative information platform using middle ware, which has global position and global time management capabilities. To evaluate the platform, we integrated various devices and systems for neurosurgery to the platform. Through an In vivo experiment, we confirmed that basic performance and effectiveness of our platform in simulated clinical environment.
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Sanghyun JOUNG, Etsuko KOBAYASHI, Hideo YANO, Ichiro SAKUMA
Article type: Article
Session ID: 1A1-A02
Published: 2006
Released on J-STAGE: June 19, 2017
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We have developed a bone cutting device to conduct precise spherical bone cutting, which is necessary procedure in Rotational Acetabular Osteotomy(RAO). In this study, we conducted a spherical bone cutting on two porcine pelvises and evaluated its clinical usefulness from resultants. Maximum temperature with water-irrigation of 10ml/min fluid was lower than 40 degrees which is enough to avoid heat-induced necrosis during the cutting procedure. The resected width, 2-2.2mm, is also suitable for the bone regeneration. And we showed that intended cutting was performed by measuring 3-dimensional surface position of the cut porcine pelvises. We will apply the navigation systems to conduct more precise bone cutting as the next stage and we are sure it will be able to assist RAO in the near future.
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Kotaro TADANO, Kenji KAWASHIMA
Article type: Article
Session ID: 1A1-A03
Published: 2006
Released on J-STAGE: June 19, 2017
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Recently, development and research of surgical manipulator has been widely performed. In order to realize safer and more precise operation, force measurement and feedback are required. In this research, we have proposed a forceps manipulator which is able to estimate external force without force sensors using pneumatic cylinders. Furthermore, in this paper, we developed a pneumatic manipulator supporting forceps. The prototype manipulator has 3-DOFs which are driven by pneumatic cylinders. We estimated external forces acting on the tip of the manipulator measuring pressures of the cylinders and compared them with outputs of a force sensor. Experimental results showed that the developed system successfully estimated the external force in x,y component.
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Jumpei ARATA, Hiroki TAKAHASHI, Shin'ichi WARISAWA, Kozo KONISHI, ...
Article type: Article
Session ID: 1A1-A04
Published: 2006
Released on J-STAGE: June 19, 2017
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In this paper, a remote surgery experiment, which was conducted between Japan and Korea by using the developed minimally surgical system is described. A research internet, APII (Asia-Pacific Information Infrastructure), which consists of an optical submarine cable network, KJCN (Korea-Japan Cable Network) was used as an information transmission channel. In the experiment, a laparoscopic cholecystectomy was successfully performed on a pig. The network time delays of robot and images were 6.5 msec and 435 msec respectively.
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Koji IKUTA, Masahiko SATO, Koji HOTTA, Akira NAKANISHI
Article type: Article
Session ID: 1A1-A05
Published: 2006
Released on J-STAGE: June 19, 2017
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When we do insertion training by using Virtual Endoscope System, if we can realize our own skills, more highly training effect is expected .Then, we developed trainee's insertion skills with quantitative evaluation method. And we valified the effect of this system. Furthermore, to make endoscope simulation more real, we developed new dynamics model. So more skillfull insertion method can be performed by Virtual Endoscope System. And we experimentally valified training effect of skillfull insertion.
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Ryosuke KOBAYASHI, Akira KOBAYASHI, Daisuke SATO, Masaru UCHIYAMA
Article type: Article
Session ID: 1A1-A06
Published: 2006
Released on J-STAGE: June 19, 2017
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This paper describes pushing operation modeling of brain tissue for the brain surgery simulator. To ensure operative field, this operation is first aimed at resection surgery of brain tumor. Using a brain spatula, cerebral sulcus and two cerebral hemispheres are pushed aside by brain surgeons. Therefore, modeling of forces and deformations occured by contact is required. Those forces have three components, that is the resistance force, the friction force and the viscosity resistance. And deformations is calculated by geometrical relation between models. In the simulation experiment, the availability of this operation modeling is also confirmed.
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Toshio TAKAYAMA, Takashi FUTAMI, Toru OMATA, Hideki AKAMATSU, Toshiki ...
Article type: Article
Session ID: 1A1-A07
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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In laparoscopic surgery, operators can use only rod-shaped forceps and therefore high techniques are required. To overcome this problem, much work has been done to develop multi-dof forceps. However they are still inappropriate to handle or retract large objects like organs. This paper proposes mechanical hands that can be assembled in the abdominal cavity. Each part is inserted through trocars. Two types of such three-fingered hands are developed. The three fingers of one are independently driven and those of the other are not. Experimental results verify that both hands can grasp a large and oily objects like organs. The goal of this study is to develop robot hands that can replace HALS (Hand-Assist Laparoscopic Surgery).
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Yutaka MITA, Eriko OKI, Young-Kwang PARK, Hiroyasu IWATA, Yasuyuki SHI ...
Article type: Article
Session ID: 1A1-A08
Published: 2006
Released on J-STAGE: June 19, 2017
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To establish an integrated evaluation system for cardiac surgeons, our group has been proposed a new concept "Self-training evaluation system"; which includes an in-vitro mock circulatory system that provides various types of coronary disease as a training machine for cardiac surgeons. The "Self-training evaluation system" consists of three parts. 1)Training plate, 2)Pulsation Unit, and 3)Scoring system for self-evaluation. This paper describes the method of training with Pulsation Unit, and evaluation of the surgical technique quantitatively based on hydrodynamic analysis.
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Mamoru MITSUISHI, Shin'ichi WARISAWA, Yoshikazu NAKAJIMA, Naohiko ...
Article type: Article
Session ID: 1A1-A09
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Recently, the number of robot-assisted orthopaedic systems has increased. As one of the backgrounds, it is considered that error between plan and result of bone cutting is not constant because of the individual surgeon skill. The authors have been developing a bone cutting robot which has 7 degrees of freedom. A prototype of the total system for minimal invasive knee arthroplasty surgery including preoperative planning system and registration system has been implemented. In this paper, details of the minimal invasive knee arthroplasty surgery system and each function contained in this system are described.
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Ken MASAMUNE, Akari AGATA, Yasuaki SASAKI, Teruyoshi SADAHIRO, Sumihis ...
Article type: Article
Session ID: 1A1-A10
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Radiofrequency Ablation (RFA) is a low invasive treatment to eliminate liver cancer cell. However, it is difficult to place a needle accurately especially after the first insertion because the ultrasound image is distorted by micro bubbles generated in the first cauterization. To solve this problem, we developed the navigation system which consists of 3D tracking sensor, ultrasound imaging system, user-interface software and a simple 2DOF navigation robot to support the second or third insertion task. In this paper, newly user-interface and the simple robot are presented. The robot holds the needle guide with two arms, which have a pivot joint on each tip to determine the orientation of the needle. Each arm is separable for the sterilization. System accuracy in in-vitro testing was 6.17 ± 0.59mm, and the main error was considered to be the ultrasound image calibration and the rigidity of the needle, that should be solved for future tasks. With the navigation information and the robot, surgeon can operate the RFA needle more precisely.
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Kazuo KIGUCHI, Satoshi SHIMIZU, Makoto SASAKI, Motoji YAMAMOTO, Tsutom ...
Article type: Article
Session ID: 1A1-A11
Published: 2006
Released on J-STAGE: June 19, 2017
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In this paper, we introduce the measured motion and dynamic properties of the operated forceps operated by skilled doctors in order to develop the laparoscopic surgery simulator for training of the laparoscopic surgery.
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Shoichi BABA, Hiroki TAKAHASHI, Hijiri SATO, Shin'ichi WARISAWA, ...
Article type: Article
Session ID: 1A1-A12
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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In neurosurgery, surgeons have to perform minute and precise manipulation with poor visibility due to blood or cerebrospinal fluid, and it is particularly difficult to operate in the deep surgical field. To overcome these difficulties, the authors have developed a robotic system to support micro-neurosurgery. Based on the evaluation, sophistication of the system is implemented. To ensure the sterilization of the forceps, and to respond to many kind of surgical tools, the authors have developed robotic forceps which are composed of the three components. The connection of these components can be performed with simple operation. And not to prevent visual system, the diameter of the forceps is reduced to 2.5[mm].
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Kentaro Arioka, Yusuke Sakata, Hiroaki Ishizawa, Hiroyuki Kanai, Kunih ...
Article type: Article
Session ID: 1A1-A13
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Recently, in the medical field, the used apparatuses should be evaluated the cleanliness to prevent the patient from being infected after they are washed and sterilized. Moreover, only used apparatuses which had be proved the cleanliness should be used again. So we focused an endoscope which hasn't had a good evaluation system for cleanliness yet. Then we have done it's qualitative and quantitative evaluation with Fourier transform type infrared spectrum measurement.
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Yuzo YAMAGUCHI, Takumi YOSHIMIZU, Yoshihiro MUTA, Mitsuo TASHIRO
Article type: Article
Session ID: 1A1-A14
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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A catheter driving mechanism is developed having two rotors which pinch an aspirate catheter between them and incline to the catheter axis in opposite angle with each other. The two rotors are drove with the same amount of torque in opposite direction to minimize residual torque that devolves on the patient. The driving mechanism showed ability to insert to and draw out a 4mm diameter flexible plastic catheter from a respiratory cannula more than 200mm long with constant speed of about 30mm/s accompanying the rotation of the catheter. The mass of the driving mechanism is about 30g including a joint to a ventilating apparatus and a joint to a vacuum resource for aspiration. Model aspirate tests of 5 kinds of liquid model secretions showed the possibility of aspiration by the driving mechanism developed.
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Takayuki KON, Asami SUGINUMA, Akinori SEKIGUCHI, Yuichi TSUMAKI, Drago ...
Article type: Article
Session ID: 1A1-A15
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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With aging, human skin develops a dry condition called senile xerosis. The skin lesion can be prevented by daily skin care, for example, by applying an ointment containing moisturing factors several times in a day. Aged persons, however, have difficulties in accessing their back and rely therefore on nursing care for such treatment. But note that in underpopulated areas such nursing care may not always be available. To tackle this problem, a skincare robot has been proposed in our previous work. In this paper, a prototype of the skincare robot is introduced. In addition, fundamental experiments are executed to confirm its validity.
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Takanori MASUDA, Motoyoshi FUJIWARA, Tadashi INABA, Yuichi KASAI, Taka ...
Article type: Article
Session ID: 1A1-A16
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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We are developing the 6-axis material tester, with a 6-DOF parallel mechanism with hybrid position/force control to evaluate mechanical spine properties. We published the principle of the 6-axis material testing machine before. In this study, we show improvements in testing methods. Especially, we arranged control methods for estimating indices, Neutral Zone and Coupling Motion.
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Kahori NAKAMURA, Ryo KURAZUME, Toshiyuki OKADA, Yoshinobu SATO, Nobuhi ...
Article type: Article
Session ID: 1A1-A17
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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One of radical cures of hip joint diseases is a replacement operation to an artificial hip joint. In general, the preoperative examination is indispensable for this operation in order to determine an adequate shape of an artificial hip joint. A patient usually receives Computed Tomography (CT) examination to obtain a preoperative 3D shape of a patient's joint. However, radiation exposure by CT scan is much higher than the one by radioscopy, which is typically used for a diagnosis of osseous anomalies. This papaer proposes a method to estimate a 3D shape of patient's femur from two radiographs and a parametric femoral model. Firstly, we develop the parametric femoral model utilizing statistical procedure of 3D femoral two 2D images using a distance map constructed by the Level Set Method. Experiments using synthesized images are carrried out to verify the fundamental performance of the proposed technique.
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Hisato UDA, Yushi SADAMITSU, Chiaki ARINO, Akimitsu HARADA, Motoaki SU ...
Article type: Article
Session ID: 1A1-A18
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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We developed a robot system for the conventional measurement of the carotid blood flow using an ultrasonic diagnostic equipment, aiming at reduction of the patient and doctor burden. The authors developed a probe manipulator consisted of 6-DOF linear parallel link mechanism and a 6-DOF passive positioning arm for adjusting the probe manipulator. This positioning arm consists serial link and parallel link. This manipulator operation adopted two method, direct input by virtual compliance control and remote control by external input device. Furthermore, we constructed an image processing algorithm to detect tunica intima and a probe control algorithm for searching the best section automatically in a long axis measurement.
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Kazuhiko TAKAGAHARA, Kazunori HOSHINO, Kiyoshi MATSUMOTO, Isao SHIMOYA ...
Article type: Article
Session ID: 1A1-A19
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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We proposed the method of obtaining a strong reflected light from a deep artery to expand the area where the oxygen saturation level can be measured. We fabricated the phantoms which imitated an optical characteristic of human body. An artery model was laid inside the phantom. We irradiated the light of a LED to the phantom, and measured reflected light from the artery model in the phantom by a photodiode. We obtained a strong reflected light from a deep artery model by adjusting the distance between LED and a photodiode. We conducted a similar experiment using the human body, and verified the efficacy of adjusting the distance between a LED and a photodiode.
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Tatsushi TOKUYASU, Yusuke FUJII, Motoji YAMAMOTO, Kazutoshi OKAMURA, K ...
Article type: Article
Session ID: 1A1-A20
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Intraoral radiography is commonly used to diagnose dental carious and periodontal diseases of patients before dental therapy is administered. Recently it is reported that dental student's skill for intraoral radiography declines, because it is difficult to make enough practice time while in dental school. In the previous work, we have developed a desk-size prototype system using PHANToM Omni, but some problems with respect to size and accuracy were noted by the dentists. In this paper, we design a new positioning device of indicator cone for simulator and evaluate its positioning accuracy. After the system construction is complete, we validate this simulator with skilled dentists.
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Yoshichika IIDA, Kempf ROLAND, Yuichi KURITA, Makoto KANEKO, Eiichiro ...
Article type: Article
Session ID: 1A1-A21
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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The internal eye pressure is an important index for judging whether an eye suffers from glaucoma or not. The conventional eye pressure measurement is valid only under the condition that all subjects have the same structural eye stiffness. This paper challenges the stiffness sensing of the human eye by pressing it with a contact probe. The displacement of the eye is captured by a camera with high resolution. We found a nice matching between experimental results and theoretical approach.
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Naomi KURODA, Masamichi SAKAGUCHI, Hideo FUJIMOTO
Article type: Article
Session ID: 1A1-A22
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Many patients suffer from complications caused by surgical operations. The ileus which comparatively happens frequently is one of the complications. The cause of the ileus after a surgical operation is debility of peristalsis. Therefore, we propose the vibratory capsule device which activates the peristalsis of small intestine from the inside of patient's body, and make a prototype of vibratory capsule device. Moreover, the vibration spread characteristic to the surrounding of a flexible thing was measured as a technological approach. First of all, the experiment that used the gelatinizer was conducted, the experiment that used pig's enteric canal was executed afterwards, and the results were compared.
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Yuki WAKUDA, Akiko NODA, Yasuhisa HASEGAWA, Takayuki MATSUNO, Fumihito ...
Article type: Article
Session ID: 1A1-A23
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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In this paper, we propose the wearable sleep control system and estimation method of the sleep state using pulse wave. We are trying to make an adaptive human interface of sleep control system above mentioned. There are 3 steps for realize the system. At first, the system could be estimate human sleep state. Secondly, system must be an adaptive system for differences among individuals. At last, the system must be able to do something to human to control user's state. We are considering about most simple way to control human's sleep cycle phase is to control awakening timing and sleep time. Now, the ordinary alarm clock operates according to the time. And we have to set the "time" in advance. But human has a rhythms in one's sleep cycle. The cycle affects one's sleep depth and wake-up timing.
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Naoto NISHI, Shiroh ITAI, Yoshiyuki MIWA
Article type: Article
Session ID: 1A1-A24
Published: 2006
Released on J-STAGE: June 19, 2017
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In the fMRI experiments, there is a need for the input device that has good operability. So, in this research, with due consideration for the operability in the MRI environment, we developed the five button switches whose exterior fit your hand, and two-dimensional joystick using gimbal mechanism. These one-handed controllers have good operability in the MRI environment because they were designed based on the sense of use in the mock-up of the MRI machine. And we confirmed that these one-handed controllers had no influence on MRI imaging, and functioned well in the MRI environment. It's hoped that these one-handed controllers are effectively-utilized in the various fMRI experiments.
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Kazuo KIGUCHI, Yoshihiko SAKAMOTO, Makoto SASAKI, Jiro UOZUMI, Keiji N ...
Article type: Article
Session ID: 1A1-A26
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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We propose an urination assist system implantable in a patient who has difficulty in urination in order to assist the urination. In this paper, we optimized each link parameter of the proposed bladder compression system. The effectiveness of the proposed system was evaluated by experiment.
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Kousei NOJIRI, Nobutomo MATSUNAGA, Shigeyasu KAWAJI
Article type: Article
Session ID: 1A1-A27
Published: 2006
Released on J-STAGE: June 19, 2017
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In the rehabilitation with the CPM device for the upper limb, because the musculoskeletal structure of the upper limb is not clarified, the influences of the upper limb joint in CPM are not analyzed. Especially, the influences by accompanying pronosupination of forearm are uncertain. In this paper, we measured flexion and extention movements with pronosupination of forearm in CPM, and derived each joint tourque from the data of obtained each joint displacement and reaction force, by using skelton model of forearm based on the biomechanics and using FEM(finite element method) that Isobe proposed. Moreover, forearm motion is generated from the calculated joint torque, and the validity is verified.
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Atsushi MINATO, Hiroshi KOBAYASHI, Yukihiro MICHIWAKI
Article type: Article
Session ID: 1A1-A28
Published: 2006
Released on J-STAGE: June 19, 2017
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Swallow is one of the crucial function for human living, though the mechanism has not been elucidated so far. These days, Cine MRI and X ray video have been developed and they supply the fundamental information to analyze it. In this paper, the analysis results by Cine MRI and X ray video are shown and the prototype of swallow robot is presented.
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Shouta MIYAGUCHI, Kousei NOJIRI, Nobutomo MATSUNAGA, Shigeyasu KAWAJI
Article type: Article
Session ID: 1A1-A29
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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CPM(Continuous Passive Motion) is a surgical treatment or physiotherapy following surgery or trauma. CPM devices have been mainly applied to disorders in the lower limbs. One of the problems of CPM devices for upper limbs is that most of CPM devices were not taken into account that the forearm pronate and supinate while CPM for the elbow joint. In this paper, CPM of healthy subject is considered as ideal motion. The motion is analyzed using a regression analysis. And we suggested trajectory generation of pro-/supination based on elbow extension angle and reaction force in CPM.
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Naoya HOSAKA, Junya TANAKA, Akira KOYAMA, Kazushige MAGATANI
Article type: Article
Session ID: 1A1-A30
Published: 2006
Released on J-STAGE: June 19, 2017
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In this paper, we will discus about our new measuring method that can detect EEG under exercising by using Algorithm that we designed. Five normal people subjects were tested with our method, and EEG without artifact were able to measured in all cases.
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Motoyoshi FUJIWARA, Takanori MASUDA, Tetsuya ISHIKAWA, Norihiko KATO
Article type: Article
Session ID: 1A1-B02
Published: 2006
Released on J-STAGE: June 19, 2017
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The index of the end effector resolution of multiple degrees of freedom manipulators is proposed. A calculation method of the index that used the differential kinematics is shown. Resolutions of the actuators are associated with the end effector resolution by this index. Furthermore an algorithm that searches for the link parameters from the specification of a manipulator was developed. The examples of the search which utilized the index as one of the specifications are shown. The problems are initial value dependencies and falling into a local best solution. Improvement of this algorithm is the future problem.
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Yong YU, Zhanwu PEI, Takuma KUBOZONO, Showzow TSUJIO
Article type: Article
Session ID: 1A1-B03
Published: 2006
Released on J-STAGE: June 19, 2017
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We have proposed an approach for deriving direct Jacobian of closed-loop parallel mechanism. In this paper, we discuss the kinematics analysis of closed-loop parallel mechanism based on the proposed direct Jacobian.
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Syamsul Huda, Yukio Takeda
Article type: Article
Session ID: 1A1-B04
Published: 2006
Released on J-STAGE: June 19, 2017
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In this paper, mobility, displacement and singularity were kinematically analyzed for a novel 3-URU non-overconstrained spherical parallel mechanism, which consists of three symmetric limbs. Mobility analysis was carried out based on the screw theory to reveal that the mechanism performs pure rotational motion of the platform. Singularity analysis was performed by the terminal constraint theory. Equations for inverse displacement calculation were derived.
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Takashi SONODA, Isao TAKAHIRA, Kazuo ISHII
Article type: Article
Session ID: 1A1-B05
Published: 2006
Released on J-STAGE: June 19, 2017
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We developed the artistic robot "J2: Jumping Joe". This robot behaves some acrobatic motions. So, this robot's joints needs high specification. The joints of this robot should be strong, stiffness, and speedy. But such as the joints usually becomes heavy and big. The robot joints employing linkage mechanisms (parallel mechanism) was adopted as an approach to obtain lightening and high speed achieving high power and a high rigidity.
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Masahiro TAKAIWA, Toshiro NORITSUGU
Article type: Article
Session ID: 1A1-B06
Published: 2006
Released on J-STAGE: June 19, 2017
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Nowadays, the breast cancer, over ahead of stomach one, holds the highest cancer incidence rate among Japanese women. Detection of breast cancer is done by palpation diagnosis, which require doctor to have highly experienced technique. In this study, we develop a palpation simulator which forms a woman's actual breast model holding active controlled variable stiffness property. A pneumatic parallel manipulator is employed as mechanical part of our simulator. In order to display a concrete stiffness feeling to human (doctor), control strategy is proposed where the contact point is detected using an idea of graphical intersection test. A reference stiffness is realized by constructing a compliance control system. By regulating the reference position according to the applied contact force, a palpation motion is executed. The validity of the proposed palpation system are confirmed through some experiments and analysis.
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Toshimitsu HISHINUMA, Dragomir N. NENCHEV
Article type: Article
Session ID: 1A1-B07
Published: 2006
Released on J-STAGE: June 19, 2017
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This paper describes an experimental system for teleoperation of a redundant manipulator mounted on a flexible base. Kinematic redundancy is resolved with the help of an additional constraint, obtained from vibrational dynamics. The problem of kinematic and algorithmic singularities is addressed via the Singularity-Consistent method developed in our previous research. Experimental data show vibration suppression with high efficiency. When no vibrations are present, our approach ensures effectively reactionless motion within a relatively large workspace. The efficiency while moving through an algorithmic singularity is also demonstrated.
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Yasuyoshi TAKI, Koichi SUGIMOTO
Article type: Article
Session ID: 1A1-B08
Published: 2006
Released on J-STAGE: June 19, 2017
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In the SRS manipulator The singular configuration can be classified by a tedious movement. The minion orbit and the tedious movement orbit that passes a different kind of singular configuration are considered.
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Masahiro SEKIMOTO, Ji-Hun BAE, Noritaka MORIWAKI, Suguru ARIMOTO, Ryut ...
Article type: Article
Session ID: 1A1-B09
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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A simple control method for realizing dynamic object manipulation by a hand-arm system with redundant DOFs is proposed, which need not introduce any performance indices to solve inverse kinematics uniquely and Jacobian pseudoinverse. The proposed control signal is composed of superposition of three control signals for damping shaping, secure pinching, and object manipulation. It is shown through computer simulations that synergistic choice for damping parameters based on "Virtual spring-damper hypothesis," which is proposed in physical analysis of human reaching movements, can work well even in the case of object manipulation by the redundant hand-arm system.
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Nobutaka TSUJIUCHI, Takayuki KOIZUMI, Masashi HASHIMOTO, Yasuhisa GEND ...
Article type: Article
Session ID: 1A1-B10
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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We cannot make a redundant manipulator determine the unique posture with only position information. But it is possible if we use the performance function of the posture. However the solution is difficult in analysis because its equation contains the complex non-linear functions. There are alternative solutions used numerical computations, however these ways are needed many seconds and converge out of mobile area with manipulator on default value. In this paper we present that the supervising signals are made with numerical computations and those signals are used to learn a neural network. And we prove this method useful because the designed neural network has given the optimum posture according to only position information in the simulation.
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Kazuya TASHIRO, Seiji AOYAGI
Article type: Article
Session ID: 1A1-B11
Published: 2006
Released on J-STAGE: June 19, 2017
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It is difficult to solve inverse kinematics of an articulated redundant robot, since this problem is nonlinear. In this paper, a method for solving this problem using both genetic algorithm and analytical solution is proposed. This method is divided into three procedures; (1) making a target path from an initial pose to the goal one, (2) solving inverse kinematics by genetic algorithm for tracing this target path toward the goal pose, (3) solving inverse kinematics by an analytical method for realizing accurately the goal pose within the neighborhood of it. As a preliminary example, the effectiveness of this method is confirmed by computer simulation in case of that a 20 DOF robot passes through a hole in a thick wall.
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Katsuya Matsuzaki, Hajime Sugiuchi, Yuuichi Nagata
Article type: Article
Session ID: 1A4-B12
Published: 2006
Released on J-STAGE: June 19, 2017
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Five fingers robot hand with both anus of the human type is researched and developed in this laboratory. Up to now, to achieve dexterous work that man has gone to this robot hand system, the research has been done. In my research, the addition of the sign language interpreter function to renew to "Sign language interpreter function only of the right hand by voice recognition" mounted by last year and to use the both aims is tried Moreover, the research on the addition of the thread generation and the divergence function that work description system SAEN of an original this laboratory had not had it so far was done repeatedly.
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Byeong-Sang Kim, Hyukjin Yim, Shinsuk Park, Jae-Bok Song
Article type: Article
Session ID: 1A1-B13
Published: 2006
Released on J-STAGE: June 19, 2017
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This paper introduces a novel mechanism for robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in contact tasks by using a simple control scheme.
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Yuki TANABE, Shugen MA, Kousuke INOUE
Article type: Article
Session ID: 1A1-B14
Published: 2006
Released on J-STAGE: June 19, 2017
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Snake performs locomotions adaptive to various environments. In this study, we develop a 3D snake-like robot, which can detect the normal force from the ground and has high mobility. In this report, we present an autonomous motion control method corresponding to the state of contact of the trunk with ground. As a result, the environmentally adaptive locomotion of a snake-like robot is achieved.
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Junya Furuichi, Koichi Hashimoto, Yasushi Iwatani, Shingo Kagami
Article type: Article
Session ID: 1A1-B15
Published: 2006
Released on J-STAGE: June 19, 2017
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A lot of mathematical models of collective behavior for animals have been proposed by ecologists and physicists. This paper applies one of the models to a multi-agent system with non-holonomic constraints. In addition, this paper makes a quantitative assessment of the resulting collective behavior of robots for the obstacle avoidance problem.
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ZhiDong WANG, Yasuhisa HIRATA, Kazuhiro KOSUGE
Article type: Article
Session ID: 1A1-B17
Published: 2006
Released on J-STAGE: June 19, 2017
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In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.
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Tomoyuki NISHIHAMA, Shoichi MAEYAMA, Yutaka TANAKA
Article type: Article
Session ID: 1A1-B18
Published: 2006
Released on J-STAGE: June 19, 2017
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We propose a mobile manipulator with another detachable mobile hand to extend the work area and the manipulation ability such as multiple manipulators. The detachable mobile hand is developed and evaluated by some experiments to grasp an object outside the work area of a single manipulator. As the results, We confirmed the proposed system can grasp the object by cooperation of the mobile manipulator and the detachable mobile hand. This paper describes the developed mechanism in detail and reports experimental results using a real robot in a real environment.
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Daisuke ASAMI, Hisashi OSUMI
Article type: Article
Session ID: 1A1-B19
Published: 2006
Released on J-STAGE: June 19, 2017
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A way of cooperative manipulation of an object by using slippage of parallel grippers is proposed. After the relationship between the slippage and the grasping forces is analyzed, it is shown that the slippage can be used to manipulate the object. Some algorithms for manipulating a large plate by two manipulators is proposed and some fundamental experiments are done to verify the effectiveness of the proposed method.
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Gilgueng HWANG, Chantanakajornfung Preeda, Hideki HASHIMOTO
Article type: Article
Session ID: 1A1-B20
Published: 2006
Released on J-STAGE: June 19, 2017
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A Control Strategy for Multi-robot Tele-micromanipulation over delayed network is described. In this paper, several simulations and semi-experiments(i.e. real master and simulated slaves) are performed to prove the validity of the proposed control scheme and tele-micro design methodology. We first decompose the dynamics of multiple slaves into two decoupled systems which are the shape system describing cooperative tweezing aspect and the locked system while preserving energetic passivity. Scattering based communication is used to passify the master-slave communication delay.
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Naoyuki OKUNO, Yasuhiro TSUDA, Taro IWAMOTO, Koji SHIBUYA
Article type: Article
Session ID: 1A1-B21
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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The double action hydraulic remote drive system for robot hands has been developed. Hydraulic lines are built in the cylinder in order to prevent the resistant force caused by the motion of pipe lines. A small size swivel joint is also build in the joint of the finger. Double action pump is driven by a motor. The reverse drive pump is combined with a forward drive pump. The precise screws for micrometer are used to drive a double head pump piston. The experimental results show that this system is feasible, but interference must be minimized for precise control.
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Masaya Nomura, Akira Takashige, Kiyoshi Nishimoto
Article type: Article
Session ID: 1A1-B22
Published: 2006
Released on J-STAGE: June 19, 2017
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In the near future, anthropomorphic arms, hands and fingers will be expected to accomplish sophisticated and dexterous manipulation. Then first, we design an anthropomorphic finger driven by SMA coil work out as antagonistic muscles consisted of a flexor muscle and an extensor muscle. In addition, the angles of the finger joints will be detected by several potentiometers incorporated. The output force from SMA coil is proportional to it's temperature, so we have shown that the output can be regulated by estimating the temperature of SMA coil from the one of a thermistor mounted on and it is possible to control the finger joint by actuating two SMA coils coordinately.
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Kenjiro KANDA, Futoshi KOBAYASHI, Fumio KOJIMA, Keisuke SHINNO, Wataru ...
Article type: Article
Session ID: 1A1-B23
Published: 2006
Released on J-STAGE: June 19, 2017
CONFERENCE PROCEEDINGS
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Human hand is a multifunctional end effctor which is widely used for various purposes. The purpose of our study is to realize an universal robot hand system which has the same capability as human hand. In this report, a universal robot hand system which we have developed is described.
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