This paper proposes a tendon-driven mechanism with a spring in order to improve a grasping stability of a robotic hand. The properties of the tendon drive system with a spring are investigated from the viewpoint of grasping stability in numerical simulations. For example transitions of a grasping force and a finger posture are examined when a grasping object is displaced by an external force. The grasping stability decreases, however the stability decrement of the tendon-driven mechanism becomes less than that of the conventional joint drive system, because the joint drive system allows a fingertip to rotate following to the external force. As a result, the fingertip tends to slip at grasping point. On the other hand, a fingertip of the tendon-driven mechanism rotates in the opposite direction in the same case. Besides the tendon-driven system mechanically and simultaneously responds to the disturbance without a time delay.

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We develop Transfromable Robot Hand system composed of robot hand, robot manipulator and finger stand. Transformable Robot Hand has attachable and movable fingers. Recognition of a grasping object, attachment and detachment of fingers, arrangement of fingers and grasping are operating elements in the developed system.

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In this paper, we propose grasping and manipulating method for a robot hand with gravitational effect. The proposed method can be applied to the robot hand with arbitrary (more than three-fingers) numbers of fingers. We experimentally apply the method to Transformable Robot Hand.

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Recently, it has been required that various objects with different shapes or sizes could be held and grasped by robot hand mechanism for the sake of factory automation and labor saving. Corresponding to such needs, we have developed an articulated mechanical hand which has an envelope grasp capability. Since the developed hand is possible to envelope and grasp an object mechanically, it can be used easily and widely in the factory where various shaped and different sized parts should be handled. In this paper, the change of grasp configurations for the object size is studied on the developed mechanical hand and conditions for realizing a suitable grasp are analyzed geometrically.

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We show that various grasping operations with a multi-fingered robot hand can be achieved by cooperation of primitive finger operations. Assuming that several functional units of software modules are running in a robot hand system, we define primitive finger operations in terms of those software modules in order to yield organized operation.

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An anthropomorphic soft finger with many tactile receptors is supposed to have high tactile sensing ability. However, it is more difficult to control a robot equipped with the fingertip because it is too difficult for the designer to calibrate all the receptors randomly distributed in it. One of the approaches to realize dexterous manipulation by using it is skill acquisition through a task. In this paper, we propose a learning mechanism to acquire a skill for Peg-in-Hole task by using tactile sensor and vision sensor. We show a preliminary experimental result to show the effectiveness of the proposed method.

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In general, manipulators are not assumed to collide to other object with impact. But manipulators can do a lot of operations by using impact. Especially, it is effective in the case of large resistant force. On the other hand, there is danger of destroying the manipulator by the impact force. For this problem, we proposed impact manipulation without impact force transmission, which is verified by calculation. We also proposed to consider work on operations as an index to measure achievement of the operation. We verified the relation between the velocity of the manipulator and the work on the operation by some experiments. Therefore, impact manipulation was achieved.

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In this paper, we analyze contact forces in robotic manipulation such as power grasps. In power grasps, the robot can keep grasping the object without changing its joint torques against external disturbances to some extent. However, the grasp forces in power grasps maybe indeterminate even if all the joint torques are given. A previous study by Omata et al. showed that there is a range of friction forces derived from a constraint on sliding. The range of contact forces can be calculated from the range of friction forces. Although the previous study only discuss power grasps, the method can be applied to other situations such as graspless manipulation. However, there are some cases where this method overlooks possible friction forces. We present a modified method to solve this problem.

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This paper analyzes grasp stability of two objects in three dimensions. For efficiency of tasks, multiple objects are grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects is quantitatively evaluated. In case of two grasped objects in three dimensions, the number of parameters of object displacement is twelve. However, the displacement of the objects is constrained by each other, because the contact between the objects has to be maintained. Independent parameters of the object displacement are provided and then finger displacement is derived. The grasp stability is evaluated from the viewpoint of the potential energy method.

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Paper sheet is flexible but has no retractility. For manipulation of paper sheet, it is necessary to analyze its behavior. In this paper, we propose 2 dimensional paper model with equilateral triangle meshes. The validity of the model is verified by comparing the transformed shape with actual deformed paper shape. Actual manipulation with the model is realized.

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In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static, in a constant cantact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, the regrasping strategy based on visual feedback is presented and experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. A cylinder is chosen as a specific example of target for dynamic regrasping, with successful dynamic regrasping tasks are experimentally achieved.

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This paper proposes a supervisory control system for a multi-fingered robotic hand and provides its control framework. The system consists of master and slave systems. The master system provides an intuitive operationality and can be applied to control of slave robotic hand with different configuration. The closed loop of a slave controller guarantees a secure manipulation without any tactile feedback to an operator. It is easy to manipulate an object even there exists time delay in communication between the master and the slave systems. A unified preshaping (releasing) and pinching controller and orienting controller are proposed for a manipulation in a horizontal plane as a case study. Unification of preshaping and pinching controller avoids undesirable jump phenomena, which may cause unstable behaviors at the transition between preshaping to pinching because of exchange of the controllers. The three experiments are executed to confirm that the slave hand pinches objects and controls their orientation angle easily even time delay exists.

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In this paper, by using the impedance control of power instruction-type, the tracking control for the noncontact and the force control for the contact can be reasonably realized. Final goal of our research is to present an intelligent bin picking system, which recognizes an object using a camera and pick it up using a robot hand out of the part group of various forms. In this paper, we proposed grasping control which suppresses the excessive power and excessive vibration between fingertip and object. The excessive power and excessive vibration are generated by the recognition error of camera. Then, this research applies the impedance control of force instruction-type. The effectiveness of the proposed control is shown through simulation and experience.

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This paper discusses a dynamic capturing strategy where a 2D stick-shaped object with both translational and rotational velocities is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired translational velocity or a desired rotational velocity under the friction independent collision. We propose the capturing strategy where the robot system can start to take action without knowing any information of the object in advance. The proposed strategy is demonstrated by experiments for verifying the basic idea.

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In this paper we describe a strategy for humanoids to reach objects by using proximity sensors on their hands. Normally we use head cameras of humaniods to measure environment, but that ways of measurement are not precise enough for humaniods to reach objects certainly. We also describe the system to sense proximity of humanoids hand by a camera and a light source on it.

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We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The hand and the sensor is respectively capable of high-speed finger motion up to 180 deg per 0.1 s and high-speed tactile feedback with a sampling rate higher than 1 kHz. We have achieved the pen spinning task using the two robot fingers. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task with the three robot fingers using the system. The paper describes the tactile feedback control strategies and experimental results.

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This paper presents the evaluation results of the actuator unit for operation under extreme environmental conditions. This actuator consists of a high efficiency brushless servo motor unit equipped with torque sensor, temperature sensor, angular position sensors, and also has built-in reduction gear and is supported by large bore ball bearings. The actuator can be directly connected to the external mechanism without extra bearings. This paper presents the project concept, specifications of the final prototype and evaluation using actual mobile robots.

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This paper presents a nonmetallic and light robot hand using balloon type pneumatic actuators developed by us. The drive system of our proposed robot hand uses balloon type pneumatic actuators originally developed in consideration of safety for human contact. The characteristics of the pneumatic actuator proved that it is possible to drive a robot hand and get enough generated force to grasp objects by lower inner pressure and air volume. Therefore, a model the same size as a human hand can be made without a big air compressor.

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The aim of this research is the realization of a new transmission for bicycles using pneumatic power. In this paper, we report the measurement system which was designed and developed. Using this system, various types of data of the pneumatic drive bicycle were measured for the first time. Then, the experiments made energy efficiency clear and optimized drive conditions of the pneumatic drive bicycle. By the experiments, it is certified that energy efficiency is up to 30%. In addition, the variable-speed function and the energy regeneration function were evaluated. As a result of experiments, availability were verified based on tangible data.

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Worm gear driven master-slave manipulator has been made and tested. It is well known that a worm gear has high reduction gear ratio, and it is impossible to drive it reversely. But this reversal drive motion can be achieved by applying the positive force feedback control to organize a power assisted system. Force reflection servo type bilateral control is applicable to this worm gear driven master-slave manipulator because of its power assisting feature. Parallel beam support structures are used to detect the tangential force of the worm wheel. The experimental result shows that this system is feasible and self lock feature is effective when power is lost.

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In conventional design of the planetary gears, its freedom have been considerably limited due to several restrictions. In this paper, a new design method of the planetary gears while relaxing the constraint for correct gear teeth assembly was proposed and examined. In case non-isogonic allocation of planetary gears was allowed, major constraint would be eliminated and the freedom in planetary gear design would be significantly expanded. On the other hand, the dynamic unbalance on the planetary gears caused by their non-isogonic allocation was analyzed. In order to evaluate the unbalanced forces while applying proposed design method, its magnitude was quantitatively estimated.

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The purpose of this study is to examine the effectiveness of active seat suspension when it is applied to small cars and the problems associated with its practical use. A small active seat suspension is installed for one-seater electric automobiles. In an actual driving test, a test road in which the concavity and convexity of an actual road surface were simulated using hard rubber was prepared. In this paper, we aim to develop a vibration isolation system of the driver's seat with high robustness using the sliding mode control, which is tolerable to factors such as variation of parameter variations of a motor. Experiments were carried out for several conditions, and the obtained results were compared with optimal control results. As a result, it was verified that the suppressive effect of the sliding mode control on the vibration isolation was confirmed.

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This study aims at development of a soft intelligent rubber actuator of McKibben style. McKibben rubber actuator is an artificial muscle, which is pneumatically driven. At present, almost servo systems with this rubber actuator are driven with external sensors, which cause lowering the compliance and growing the size. In this report, we developed the soft pressure sensor using rubber and conductive film and embed the sensor in the actuator. The characteristics of the sensor had creep behavior, therefore we proposed the new idea of applying the mechanical model to the sensor model. Using the model, we realized servo pressure control successfully.

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Conventional pneumatic cylinder is difficult to be used for positioning servo system, and difficult to be miniaturized. In this research, we succeed in developing an intelligent cylinder that had the function of detecting position of the piston. The piston rod has stripes fabricated by YAG laser. The stripes are detecting by a micro optical encoder. This rod stripes are made every 0.338 millimeters. We made several prototypes of stripe pitch from 0.338 millimeters to 0.169 millimeters of positioning accuracy of this cylinder.

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In this paper, a new type of a tendon driven system using a pneumatic balloon is proposed. This system consists mainly of a tendon driven mechanism and a silicon tube. We can select two kind of the system: one is a high power type system and other is a long stroke type system. These systems have a difference in how to roll a tendon. We chose high power type system and made a rehabilitation instrument for an ankle with it. Movement of a rehabilitation instrument depends on a pulley with foot part of AFO pulled by a tendon drive system. As a result of having experimented on movement of a rehabilitation instrument, the actuator is enough to output the power for turn of an ankle.

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We suggest the method to reduce the slippage between stator and slider of a linear ultrasonic motor. Ultrasonic motors have problem of low efficiency with friction contact and short life by abrasion. This study makes the vibration on stator's surface "constant tangential velocity while the stator is in contact with the slider" by adding another vibration whose frequency is three times higher compared with basic vibration. Considering to combine plural vibration mode, I turned up that it is the best to combine the first and the third vibration in order to reduce fluctuation in the tangential velocity of stator surface while the stator contacts the slider. Contact with reduced slippage should raise efficiency of an ultrasonic motor. This also means small abrasion of stator and slider to prolong the available period.

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The purpose of this research is to develop the design method that can design various types of MDOF Ultrasonic Motors, resolving problems of conventional designing method. We decided to adopt the genetic algorithm considering the features of designing a MDOF Ultrasonic Motor .The decision variable are the shape of the vibrator and the vibration modes to drive it. We set evaluation functions considering designing conditions of a MDOF Ultrasonic Motor. We confirmed that the plate type MDOF Ultrasonic Motor designed by this designing method has ability to realize 3-degree-of-freedom movement that is more efficient than the conventional one. Therefore we showed the possibility that this designing method is useful for designing of any types of MDOF Ultrasonic Motor.

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The purpose of this research is to develop the multi-degree-of-freedom ultrasonic motor that can independently rotate multiple spherical rotors with a single stator. First, we proposed driving principle of the motor that has two spherical rotors. We can drive two rotors independently, by combining the first and second longitudinal vibration modes, first and second twist vibration modes, and odd number bending vibration mode of the rectangular plate. We designed and produced the stator with the use of finite element method. By measuring vibration characteristics and drive performance, we confirmed the effectiveness of proposed driving principle.

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We propose the tailor-made multilayer piezoelectric actuator with large displacement and large force. In a past piezoelectric actuator, the achievement of a small, low-cost actuator with large displacement and large force was difficult. We solved these problems by combining two bimorph type piezoelectric elements by the both ends being supported, and accumulating it. Moreover, the ratio of displacement and force of this multilayer piezoelectric actuator can be widely changed by changing the size of bimorph type piezoelectric element. In this study, first, we show the structure of this multilayer piezoelectric actuator. Next, displacement and force of this multilayer piezoelectric actuator were theoretically derived. The analytical results almost corresponded to the experimental results. Next, prototype multilayer piezoelectric actuators were fabricated and evaluated. The evaluation results showed that this multilayer piezoelectric actuator can generate a displacement of several 100 μm or a force of several N within the size of 10×10×10 mm.

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This paper reports the voltage characteristics of an electrostatic stick-slip actuator called DC electrostatic impact drive. The actuator utilizes impact force caused by oscillating weight. A simple equivalent circuit model where the actuator forms series capacitors is proposed to evaluate the voltage change of the weight. We also investigated voltage characteristics of the actuator through measurements of the displacement of both the oscillating weight and the actuator body, as well as the electrical potential of the oscillating weight. It is found that the vibration frequency and amplitude of the weight increase with an increase of applied voltage.

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We are developing a fin type actuator using artificial muscles. The purpose of this actuator is instead of the screw propeller on control in slow speed. The underwater creatures have functions that are possible to move freely in the water even if there are disturbance such as tidal current and coastal waves. Developing actuator imitates the function of fish fin and uses an artificial muscle. Artificial muscles are included various materials and are used an electro conductive polymer. In this paper, we introduce the concept of the developing actuator and electro conductive polymer that is an artificial muscle.

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This paper presents the effect of electrode geometry for high performance of an ultra thin-planar pump using the electro-conjugate fluid (ECF). The ECF is a kind of dielectric and functional fluids, which generates a powerful jet flow (ECF-jet) by an applied static electric field through a pair of electrodes. The ECF-jet directly acts on the working fluids, therefore, the ultra thin-planar ECF pump needs no moving parts and produces no vibration and noise. The proposed pump consists of three parts: a pump base, a top cover, and an electrode substrate. The overall dimensions of the ultra thin-planar ECF pump are 120 mm×38 mm×13 mm and the flow channel height is 500 μm. Various arrays of the electrodes, such as rectangular, saw-tooth, and arc-shape electrodes, were investigated for high performance of the proposed ultra thin-planar ECF pump. The pumping experiments of the fabricated pump were performed with five different electrode patterns using FF-1_<EHA2> as the working fluid. Through experimental results, the no-load flow rate of 940 mm^3/s, maximum output pressure of 11.6 kPa, and maximum output power of 3.1 mW were achieved at an applied voltage of 3.0 kV.

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The micro reactor systems are actively researched today. The fluid control devices such as micro pumps and micro valves are necessary for them. We developed the electromagnetic micro linear pump which will be built into micro reactor systems. This pump can realize high resolution and requires little maintenance. Moreover, the developed pump can correspond to a variety of kinds of fluids. In this paper, the structure and the characteristics of this pump were shown.

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Recently, several soft actuators have been researched because of their high safeties. In this paper, firstly, we designed the actuator whose length is 11mm made of silicone rubber. Secondly, the actuator is analyzed on its displacement and generating force by Finite Element Method. Thirdly, we designed and developed the actuator based on the result of analysis. The actuator has bellows structure which cause bending deformation of actuator. We made a basic experiment of this actuator and compared with the result of analysis. Experimental results agree well with the result of analysis. Finally, we applied several actuators to mechanism which can transport some object. This device has ability of transportation.

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This paper describes the development of micro magnetic fluid actuator driven by the external alternating magnetic field. The micro magnetic fluid actuator is composed of a permanent NdFeB magnet and kerosene-based magnetic fluid. The actuator is characterized by wireless operation with alternating magnetic field. The driving characteristics of micro actuator are examined by using a digital high speed video camera system. The dynamic responses of micro actuator are revealed experimentally.

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Proposed new actuation mechanism realizes active or semi-active mobility for flexible long cables such as fiber scopes. The ciliary vibration mechanism was developed by the flexible ciliary tapes that can be attached to existing cables easily. The ciliary vibration mechanism has plastic or metal thin wires called cilia and achieve driving power through cilia vibration. As the cilia are angled and planted, by adding vibration to the cables, the body can move forward through a falling-down and standing-up motion. The behavior of testpieces that were used in experiments were simulated using model. In the model, numerous cilia are treated as one linear spring and one rotational spring as a whole. In addition, to confirm the characteristics shown in experiments, experimental results were compared using calculated results.

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Nation based precious metal plating ion conductive polymer-gel film (ICPF) actuator is very attractive because of its high-speed response and softness of the material. The deformation characteristics, especially the generating direction of residual strain changes with the density or the amount of the Na+ driving ion. If the residual strain generates the same side of the initial strain, the displacement of the ICPF can be controlled by popular integral control method. In this paper, the long timedeformation characteristics of Au-NF 115 ICPF was investigated and linear motion type displacement positioning actuator was produced.

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We developed a novel technique to handle a lipid nanotube by laser tweezers in water solutions. Laser tweezers are suitable for manipulation of a single microscopic object. Single cell manipulation is important for biological research works, and advanced techniques such as 3D manipulation are much useful for measurement and environmental control around the cell. Here we aim to develop 3D manipulation technique that can manipulate several objects with different shapes. For this purpose, first we developed functional gel-microtools. We can manipulate nano-micro objects easily with the gel-microtools. We succeeded in controlling the position and orientation of a lipid nanotude by using 3D Synchronized Laser Micromanipulation and novel functional microtools. Second, we newly developed an observation system to improve blurring of image by synchronization of shutter timing of CCD camera and laser scanning. With this system, we can obtain clear image of the targets for 3D manipulation.

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A local pH sensing method in a microchip using a functional gel-microtool was newly developed. We used a salting-out gel-microtool impregnated with BromoThymol Blue (BTB), which is used as a pH indicator. The salting-out gel-microtool is made of ENT-3400, which is hydrophilic photo-crosslinkable resin. The primary constituent of this resin is polyethyleneglycol. A solution mixed with ENT-3400, BTB, and high concentrations of electrolytic solution are stirred, and a lot of microspheres impregnated with BTB are obtained. These microspheres are cured by UV illumination and adhere to the glass substrate, however, we can manipulate them one by one using the optical tweezers. Therefore, we can move and position it in the closed environment. Here we propose to use the salting-out gel-microtool with BTB as a carrier of pH indicator. We can measure pH value locally from the color of microtool using calibrated color information in YCrCb color space. We succeeded in measuring local pH value with the pH sensing gel-microtool by locating it at the desired point in the microchip.

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This paper presents a compact vision system to be embedded into a PDMS (Polydimethylsiloxane) chip which will be fabricated to achieve living-cell-manipulations such as positioning, cutting, sizing and so on. The prototype vision system has been designed with the necessary magnification without losing the image resolution. Images taken with this vision system are processed to determine the position and the size of an egg-cell in a micro-channel. The accurate measurement of these parameters is important for the success of our planned cell-manipulations.

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The development of the autofocus technology in the microscope is necessary and indispensable to automate work with a microscope. However, a current autofocus technology lacks at high speed, and is a bottleneck of the speed-up of the microscope measurement. Our group are proposing the technique for presuming the position on the focus side by using the diffraction pattern that appears when the cell is observed with the microscope, which we call "Depth From Diffraction". In this paper, we propose the algorithm to achieve the high-speed autofocus by the use of "Depth From Diffraction", and evaluate the effectiveness of it by experiment on the autofocus actually.

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This paper describes the research and development of tiny sensing system to detect a cell running at constant velocity in the capillary. There are various methods to measure particles in the liquid. We adopt the light-intersecting method to detect a cell in a capillary, since the mechanism of detection can be basically composed by only a light source element and a detector. The objective of this research is to develop a compact and economical, if disposed, sensing mechanism easily boarded on a micro chip. The paper will describe the principle of the mechanism, basic experiments and results.

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We developed a novel technique for local heating of the multiple microheaters on a chip with a 2D projected pattern of the IR laser using the DMD (Digital Micromirror Device: Texas Instruments). The DMD contains a rectangular array of about 0.5 million hinge-mounted microscopic mirrors or more. Each angle of micromirrors is controlled based on the grayscale picture on the PC monitor. We used it to pattern the IR laser. The reduced projection of the patterned laser beam is irradiated to the evenly divided ITO(Indium Tin Oxide) thin films on the glass plate through the optical lens. Here we applied this method to the immobilization of multiple microorganisms by the thermosensitive hydeogel to assay their individual properties. The hydrogel solution around the irradiated microheater was gelled. In experiment, we confirmed gelation of arbitrarily-selected microheaters, and we succeeded in immobilization of target cells in-situ on a chip.

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We have been developing a mask-less printing technology for microelectronic circuits utilizing an electrostatic inkjet system. Drops of paste that contained Ag nano-particles were injected on a substrate by the electrostatic force to form electrode patterns. The formation of the drop was controlled by the application of pulse voltage between the plate electrode and a fine tube that contains Ag paste. It was demonstrated that line electrodes of 200 μm pitch were successfully printed on a glass substrate. A multi-layered printing was also realized by overcoating glass paste on the electrode.

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In this study, we were going to assemble a small part with a micro injection device. In this case, it is necessity to inject binding material at narrow area (from 10μ to 0.1μm). This report discusses a pipetting device that can inject small quantities (from sub-pico liter to femt liter range) of binding material. Because the size of the micro pipette used to apply is minute, the surface tension of the adhesive and the influence of the viscosity are very greatly related. Then we develop the pipetting device using the force of gravity by free fall, and experiment the performance of pipettes with different point angle. From experimental result, we obtain the relation between the point angle of pipette and the quantities of binding material.

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In the nano and micro range, adhesion forces make a manipulation difficult We developed the method of relaxing adhesion forces between the micro object and the endeffector using oscillation. However, there are a lot of uncertain points in the principle of this method In this paper, this phenomenon is analyzed and micro manipulation method based on the analytical result is developed.

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At present, very small gear and electrostatic motor are fabricated on silicon substrate using semiconductor micro processing technology, and it becomes necessity to process of these micro components. But, handling technology that can handle micro elements, as small as several to several ten micrometers, has not been developed yet. To solve this problem, we specially process diamond material and design end effector that handle micro elements. At manufactured micro 3 axis stage by way of trial that can identify the location of stage by submicron resolution and put in chamber of SEM. We add a CCD camera as an observation system for assistance in SEM.

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A compact 3-DOF micro-finger manipulator based on micro parallel kinematics structure is presented in this paper, which uses three piezo-electric actuators and two flexure joints - one is revolute joint and the other is ball joint - as its main mechanism. The problem of inverse kinematics between end effector position and actuator displacements along with the jacobian matrix for this design is derived. A glass needle of 10cm length is used as the end effector to increase the workspace of the micro-manipulator. The design parameters are chosen so that we can obtain a large workspace volume as much as possible. The simulation results illustrates that the proposed model has a large workspace and in the same time small in size.

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This paper presents a method of visual servoing to a face whose position/orientation is estimated by model-based matching. The proposed method utilizes a model-based matching method and an evolutionary search technique of 1-Step Genetic Algorithm (1-Step GA) for real-time recogniton of dynamic images. We demonstrate the capability of the proposed method by applying it to the visual servoing to 3-D position/orientation (6DOF) of moving human face.

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The paper, describes a method for detecting persons and measuring distance in real time by stereo camera. A person on the image is detected by Model-based Matching and Genetic Algorithm. The distance from the camera to the person is calculated by the disparity of defeated person on the stereo images. The method obtains the person's position and height.

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