RSi (Robot Service Initiative) is a group to promote smoothly using various services of a service robot that uses the communication network at the home and the office. RSi specified "RSi Protocol V1.0" as a communication protocol specification for the robot service that used the network. Using this specification, it is possible to provide the robot services, which are the free combination of a service robot and contents, for users. RSi also provides the robot services based on this specification for its members at any time. This paper reports RSi's approach for the practical use of the robot services, and its latest results.

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Recently, the practical use of a home robot that can accomplish various tasks in a house is expected. Most of the home robots that have been put to practical use so far perform just a simple task, or are used just as communication tools. We propose a minimalistic multitask home robot that should be of modular structure (the so called "3M concept") and that should use environment embedded information in an optimal way.

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This paper presents the power amplifier machine which accomplishes high gain and dexterity in human pinching motion. First, the concept of Man-Machine Synergy Effector (MMSE) is introduced from the point of forms of physical interactions among human, robot and surrounding environment. Next, Power Finger, and embodied tool of MMSE in human pinching motion is proposed. The development process of Power Finger is then introduced from basic concepts through mechanical and systematic installation involving control scheme.

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This paper describes an experimental study of power assist systems proposed by the authors. This power assist systems utilize mechanical elastic elements and optimize stiffness of the elastic elements in order to reduce torque of actuators while generating operator's periodical motions. These systems realize amplification of its operator's torque and optimization of the stiffness simultaneously. However, we haven't carried out experiments using power assist systems which consist of mechanical devices with stiffness adjustability. Therefore, we made an experimental system which has an adjustable stiffness device. The stiffness of the elastic element installed in the experimental system could be adjusted from 1.8[Nm/rad] to 6.6[Nm/rad] within 0.7 seconds. As a result of the experiment, we confirmed that the power assist system can amplify operator's torque and optimize its stiffness. In addition, we experimentally investigated that the elastic element reduced the actuator's torque.

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Personal robots are expected are expected to play a major role in our elderly-dominated society. In particular, they should always have a non-negative effect on their partners, neither physical nor emotional. In this paper, we present the development of the portable Bioinstrumentation System WB-2 (Waseda Bioinstrumentation system no.2) which can objectively measure and understand the physical and psychological effect of the interaction between robots and humans.

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Recently, assistance systems for driver's safety have been developed in the industrial fields. Especially, an Antilock-Brake System (ABS) that maintains driver's controllability at the emergency situations is representative. Near the future, driver support system like car navigation will be developed. However, this kind of supporting system without monitoring and considering the driver's behavior will makes increase the physical and mental workload for the drivers. In this paper, the driver's behavior modeling method by using the information of the driver's operation and running environment have been discussed. Especially, in order to evaluate the driver's skill as an ability of adapt for the driving environment, the experimental method by using Driving Simulator have been proposed.

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The static characteristics of pneumatic bending actuator, which is made of fiber reinforced rubber, have been investigated theoretically and experimentally. The theoretical expression for estimating the bending force of an actuator has been derived for the arc-shaped deformation model with one degree of freedom. Experimental measurements were carried out to examine the relationship between the bending angle and the bending force of actuators. Experimental results show that the derived expression is valid and useful for design of this type of bending actuator. It is also shown that even a small actuator, 16mm in diameter and 100mm in length, can put out bending force more than 5N at the edge.

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An electro-conjugate fluid or ECF is a kind of functional fluid, which generates a powerful jet flow (ECF jet) when subjected to high DC voltage. The ECF jet becomes more powerful as an electrode pair, inserted in the fluid, becomes smaller, i.e., the ECF could be an attractive fluid power source for micro actuators. This paper develops a high performance ECF micromotor having a novel saw tooth electrode series. The motor has four disk plates with the electrode series as a rotor. The inner diameter and length are 9 mm and 10.6 mm, respectively. Experimental results confirm the output power and torque of the motor are 18 times and 8 times larger than those of a previous ECF micromotor having bar-shaped electrode pairs.

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On purpose to realize flexible electro-rheological microactuators (FERMA), this paper presents a MEMS-based flexible ER microvalve (FERV) by integrating thin SU-8 cantilever structures and the SU-8-sandwiched micro fluidic channels for homogeneous ER fluid. The structure of the FERV is the fluidic channel-embedded cantilever and the combination of an upper structure and a lower one fabricated separately and respectively. The FERV is composed of thin flexible polymer (SU-8) cantilever-shaped structures and much thinner metal patterns for electrodes. The FERV is successfully fabricated and the bending of the FERV shows enough flexibility. The static and dynamic characteristics of the FERV are experimentally investigated and prove that the controllable pressure change rate of the FERV is about 70 % of the supply pressure and the response time at the step-up and the step-down is about 0.1 second. There is not such a difference of the static and dynamic performance between a straight FERV and a bent FERV, showing that bending does not affect the characteristics of the FERV. A bellows-type FERMA has the output displacement of 5 mm with supply pressure of 40 kPa and electric field strength of 2.5 kV/mm. The experimental results prove the feasibility of FERMA.

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This paper describes a new concept for linear motion based on the similar theory of strain wave gearing, which has been used for more than forty years by Harmonic Drive Systems Inc. Gear teeth are replaced by screw threads and rotation of the input side generates linear translation at the output. Besides design flexibility and reasonable costs, the new rotary-to-linear harmonic drive(R) has shown promising potential in positioning accuracy as well as in high load capacity. It is able to compete (and to surpass in some features) with ball screw or lead screw systems.

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To have a tactile sensor that can measure direction and distribution of force, common strategy is to add a mechanical tab on top of four sensing elements. The tab translates force direction information to the sum and difference of the elements' output. However, in this common technique, quantitative measure for the goodness of the sensor has not been proposed. In this paper, we propose to use singular value decomposition (SVD) to quantify the sensor. We also applied the proposed method to design the reflector pattern of the optical type tactile sensor.

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The tactile sensor which is used at the whole body of the humanoids should be the low price because the humanoids need many sensors. However, many existing tactile sensors utilize expensive tactile sensor elements and peripheral circuits. This paper proposes a novel tactile sensor which consists of a charged body a conductive wire only. The sensor utilizes the charging phenomenon and the electrostatic induction phenomenon, and can detect various touch conditions. Because of the principle of the sensor, the designer can select arbitrary materials as the sensor. Therefore, the sensor has flexibility and stretchability if the sensor is made of soft material. The paper reports the principle and basic features of the sensor. Experiments show that the sensor output depends on contact dimension, contact velocity, and material of contact objects. However, the sensor does not depend on contact weight.

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We propose a new tactile device which measures multi DOF vibrations exerted on the proximal phalanx. In this paper, as a pilot experiment, we carried out experiments on the identification of contact positions by using 2 DOF vibrations. It was shown that with an accelerometer placed on the backside of the proximal phalanx, taps on distal phalanx and middle phalanx can be discriminated.

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We propose a novel sensing device named "3-dimensional capture sheet (3DCS)". The cloth-like sheet measures its own 3D configuration. There is a lattice structure inside of the sheet, and each link of the structure has a triaxial accelerometer. The roll and pitch angles of the link are derived from the gravity vector measured by the accelerometer. Furthermore, the relative yaw angle is also determined owing to the lattice structure. The posture of each link is fully described by these three angles. Then, the whole shape of the sheet is estimated by combining all of the links in computation. The sensing theory, simulation results and prototype experiments are shown in this paper.

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We proposed a method to detect the center of gravity (CG) in an object with a cantilever-type of tactile sensor. This sensor is covered with elastic body and the size of the sensor is 20mm × 20mm × 8mm. This sensor is capable of measuring shear force, moment, and grip force. The detectable shear force was limited down to 1×10^<-1> N, and the detectable moment was limited down to 1×10^<-3> Nm. We attached the sensor on a robot hand and the CG of objects (80 g, 120 g, and 200g) were detected within a 2.5 mm error. We also fabricated matrix sensors comprising 9 tactile sensors. We detected the CG of a 1.5 kg-object by using the matrix sensors within a 10 mm error, which shows the feasibility of stable grasp with our matrix sensors.

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In this paper, we proposed a method to measure the shapes of objects with a shear stress sensor comprising cantilevers arrayed in line and covered by silicon rubber. Our sensor system offers the detection of concavo-convex shapes by scanning the surface of the object once. In the detection experiment, we observed the minimum width of convex shape was 3 mm, and the minimum gap of concave shape was 17 mm. In addition, we demonstrated that various types of object shapes such as diagonal, circle and circular ring were detected by this method.

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The ultimate goal of this study is to develop a haptic interface for dexterous manipulation. To achieve this, we proposed the electrotactile and kinesthetic integration. Our electrotactile display presents natural touch sensations of objects. In addition, this display is so small that it does not invade the moving range of fingers. The haptic interface for dexterous manipulation is realized by mounting it on a kinesthetic display that has wide workspace. We constructed the single-fingered prototype system. Then, we evaluated the manipulation efficiency resulting from the electrotactile-kinesthetic integration. From the result, we confirmed the tendency that the integration improves the accuracy of the manipulation.

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A micro ultrasonic motor using two sector shaped piezoelectric ceramics vibrators has been designed and fabricated. The vibrators generate elliptical motion by the 1^<st> longitudinal mode and the 2^<nd> flexural bending mode vibrations. The preload between the tip of the vibrator and a rotor is given by a horizontal elastic mechanism. This micro motor has a low-profile, lightweight and compact structure. The outer diameter and the thickness of the vibrator were 10 mm and 0.6mm. The fabricated vibrator was oscillated in the frequency of 340 kHz. The stationary rotation speed was 1200 rpm and the starting torque was 0.1 mNm when the applied voltage was 20V_<p-p>.

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This research aims to realize a flexible displacement sensor that can be attached in a soft actuator. The fabricated flexible sensor is composed of piezoelectric polymer, conductive paste and rubber base. Piezoelectric polymer: poly(vinylidene fluoride-trifluoroethylene) [P(VDF/TrFE)] was used for the detection of displacement of flexible sensors and conductive paste was used for electrodes. These sensors were attached in FMA(Flexible Microactuator). Displacement of FMA and the sensor output voltage were compared, and sensing characteristics were evaluated. Furthermore, servo control of FMA using the sensor was performed. As a result, high positioning accuracy was verified.

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Pneumatic actuators have lower environmental load compared with hydraulic actuators. Moreover, pneumatic actuators can achieve compliance and flexibility easily. For the above-mentioned reasons, pneumatic actuators are used in widely fields of medical treatments and industries. However, there is a difficulty in positioning, and impacts at the cylinder ends are large when the actuators are driven with high speed. This study aimed at a development of a new mechanism of a variable orifice driven by PZT. This orifice can control the flowing of air and can control the piston speed realize energy absorption of the pneumatic actuator. First of all, the orifice vibration was designed using FEM analysis. The designed orifice was fabricated and evaluated. In addition, the principle of the orifice was confirmed.

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To develop a wearable assist device, an device which are light weight, flexible and can put on along the human body is expected. Therefore pneumatic rubber artificial muscle as a small light weight actuator fitting the human body flexibly has been used. In this paper, the planar actuator can put on along the human body and the net type actuator for taping of which has high stretchiness of actuator oneself by using pneumatic rubber artificial muscle have been developed, applied it to an assist device.

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We have previously proposed the basic structure of a detector of surface defects (tiny protrusions), such as dirt in paint, on smooth hard surfaces. The detector incorporates a single force-sensing resistor film (FSRF) covered with two elastic sheets. This paper presents finite element analyses on the detector mechanism. The analyses suggest that the detector's capability depends on the stiffness of the backboard through which the FSRF is pressed and on the distribution of the pressing force.

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This paper presents the development of a finger-mounted tactile sensor for surface deflection detection. The sensor is composed of a thin rubber sheet and a silicone rubber with the void in the center. On the center of the rubber sheet, two strain gauges are attached point-symmetrically. One's finger is put on the silicone rubber of the sensor and the sensor is slid over the objective surface. For mounting the sensor on the finger, the sensor is embedded in a cotton work glove. By obtaining difference between the two strain gauges, the sensor responds to the surface deflection. It does not respond to the uniform surface. Furthermore, real-time signal processing utilizing the wavelet transformation is proposed for detecting surface deflection from the sensor output. Experiments are carried out on the plane surface and curved surface. Results show that the sensor is capable of detecting surface deflection.

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To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for controlling grasping force of multi-fingered robot hand based on slip detection using the Center of Pressure(CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load within 1ms. With the CoP sensor, incipient slip can be detected as the sensor force output signal change before the slip displacement occurs. We propose a method for controlling grasping force based on slip detectionand. It is confirmed that the grasping force can be adjusted to adequate force on the robot hand grasping with the proposed method.

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Handling behavior of human can be divided into Pinching and Grasping. In multi-fingered robot hand, wrapping grasp which permits the object to contact with the finger link other than the tip of finger, or palm is called Power grasp. The interaction with the tactile sensor is indispensable for the achievement of Power grasp to and unknown object with the multi-fingered robot hand. In this study, for the achievement of Power grasp operation which doesn't depend on the grasping object wit the multi-fingered robot hand, we propose a method for multi-point contact force control in inside of the finger by tactile sensor feedback without information of the grasping object and verify the proposed method by the experiment.

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To prevent the robot from dropping the object, the tactile sensor which detects not only the contact position and force but also slip sense is necessary. In this study, it aims to detect a slip with the Center of Pressure (CoP) tactile sensor. This sensor can install in the robot hand, and has the feature of flexibility, thinly, and lightness. CoP tactile sensor can measure center position of distributed load and total load. In addition, we show that CoP tactile sensor can detect the tangential force and describe the influence of the coating material used for the sensor surface protection.

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We consider a mechanical filter with using a High Density Pin Matrix. Various pin matrices with different spatial resolution were created. Before evaluating how the spatial resolution affects the tactile perception, we referred to the result obtained in physiological research. The pin matrix with small tip curvature was created for confirming the effect of the pin-tip for sense of touch. The consideration suggested that small curvature of the pin tip produces noisy tactile signal comparing with bigger curvature one. This prediction was consistent with the perceptual impression, i.e., some subjects felt tickling sensation with pin matrices with narrow diameter pin-rod and small curvature pin-rod.

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We developed a fibratus tactile sensor which uses reflection property. Using this sensor we can evaluate a feeling of gently stroking which have never been evaluated. We propose a new interface by utilizing this fibratus tactile sensor. This time we study the requirement of hardness distribution of fibers and the base silicone rubber of fibratus sensors.

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The tactile sense of fabrics is one of the technology challenges for the researchers of tactile displays. It is required to present both the mechanical and the thermal stimuli at the same time to reproduce the feeling of fabrics. We propose a novel method to reproduce the fabrics feeling with a different material which surface is roughened by using the process of mold texturization. This type of process has can change not only the surface profile of an object and also the thermal conductivity characteristics. We conducted thermal model simulation experiment and psychological experiment to evaluate the effect of the surface process. The result of both experiments suggested that the certain kinds of material such as a silk cloth and a polystyrene cloth can reproduced by making small cut on an aluminum plate.

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This research is a fundamental study on variable stiffness mechanism using electromagnet and spring. In this study, we develop an unit that can change the stiffness to the combination of the electromagnet with the spring. And, it's basic characteristic was examined. Next, the mechanism was modeled, and the control method of the stiffness. In addition, we examined whether it can control. As a result, it has been understood that stiffness is changed from 0.12kgf/mm to 0.165kgf/mm, and stiffness can be controlled but it takes time.

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This paper presents a method for mechanical stiffness control of the antagonistically driven joint using the ANLES(Actuator with Non-Linear Elasticity). This system fundamentally mimics a skeletal muscle. It requires a non-linear elastic body similar to human muscles. At first an antagonistically driven joint mechanism using the ANLES is described. It follows to show the basic formula for controlling the stiffness and the posture of the multi-D.O.F. joints by multiple-ANLES. Subsequently, this paper shows results of the position control and the stiffness control of 1.D.O.F. antagonistically driven joint. It also shows an outline of developing a 3.D.O.F. antagonistically driven joint in currently going on.

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Nowadays, robots maniplated by human are aggressively researched and developed. Such robots need large generative force, high speed response, good controllability, high safety, low friction, backdriveability and so on. We have created a novel prototype linear actuator with new structure applying an ER gel, a recent functional material. It is an all-purpose actuator satisfying characteristics for human-coexistence welfare robot.

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A balloon type pneumatic actuator is proposed as one of the pneumatic actuators. Until now, the proposal of the mechanism has been performed as for this actuator. However, the relation between the generation stroke and compressed air that was driving source has not been modeled until now, and the design manual the design was not requested. Then, in this study, we propose a method to design balloon type pneumatic actuator made by a silicon rubber. First of all, we propose model of balloon type pneumatic actuator considering a stroke. Next, the validity of proposed model is evaluated through some experiments.

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Generally speaking, pneumatic systems have the merit of high power-to-mass ratio. However, the entire system becomes high-order and non-linear due to the compressibility of air and valve dynamics. In this paper, we propose a cascaded feedback control scheme for trajectory tracking of pneumatic drive systems. We mathematically proved that the proposed scheme can effectively reduce trajectory tracking error even though nonlinear dynamics of air compressibility is considered. Also we have experimentally verified the usefulness of cascaded feedback control scheme for trajecty tracking of pneumatic cylinder system.

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In order for human beings and robots to live together, it is important to make the stiffness in driving part of robot being variable in real time and arbitrarily like human beings. Especially, we pay attention to the robot arms. In order to realize robot arms with variable stiffness in joint parts, we suggest using pneumatic cylinders for the robot arms because they have a lot of advantages. For example, by using them, we can not only adjust the level of backdrivability easily and widely, but also construct safety, clean and light system and achieve a high speed operation. As the preliminary experiment to realize robot arms above, we control the stiffness of a pneumatic cylinder with one degree of freedom in real time. This time, we change the differential pressure at both ends of the pneumatic cylinder by using a simple control technique like PID control.

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In this paper, an air hockey robot system that is able to play with human was introduced. In order to hit back the puck rapidly and accurately, we use camera to take the image of a high speed moving puck and develop the algorithm of high speed image processing. The method of prediction of the trajectory of a puck and the optimal robot arm control method are also proposed.

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Traditional skills can be defined as high level techniques for making traditional artifacts. For example, with traditional skills such as ceramic art, intangible or dynamic processes are very important. But it is difficult to acquire the dynamic skills. In this study, we developed the ceramic forming simulator. This simulator can present the deformation of the clay and the operator can operate the virtual clay on the wheel with force sense feedback.

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Bicycle is the most familiar vehicle in our daily life. But, rider operate bicycle to use dynamic principle very artfully and do many acrobatic performance. If I can apply the technique to the robot, moving robot, even though wheel type robot, that can run freely on irregular ground can be made. There for object of this investigation is making robot that can do not only stablile running but also many technique like jumping.

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The goal of this research is to develop a gymnast robot that can perform uneven bars gymnastics. The uneven bars gymnastics is considered to be the expansion of horizontal bar gymnastics in the sense of kinematics. But it has many unique problems in the sense of dynamics. In this paper, the gymnast robot model is modeled in a two dimensional plane as a linked system of three rigid links. The most important maneuver in the gymnastics is to move from one bar to the other bar during the performance. The main target of this paper is to derive the conditions so that the gymnast can reach and grab the other bar after aerial somersault. In the conditions, we use the method to contol the angular velocity of the whole body and to get the proper rotational angel by manipulating the moment of inertia of the whole robot body.

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The purpose of this research is not only the development of an entertainment robot but also elucidation of human basic movement of throwing. Furthermore, the results may be applied to the future humanoid robot as one of the abilities of its arms. Therefore, we focus our attention on 'Shuriken nospin'. 'Shuriken nospin' is the method of throwing Shuriken with controlling rotation speed and translation speed of Shuriken. We study robot arm that throw nonspin Shuriken.

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Now, voices of almost all robots are made by speech synthesizer. They are sounds produced by electronic speakers. This is a study on Singer Robot using artificial larynx. Now it can generate Japanese 5 vowels [a], [i], [u], [e], and [o]. But it is very difficult to generate clear vowels because the frequencies of formants are not easy to be controlled by changing the cross sectional area of the vocal tract. Singer Robot is expected to produce vowels with correct formants in order to sing in distinct pronunciations. We proposed a new optimal adjustment method of vowel formant. In this method, an optimal area distribution of vocal tract can be searched for the targeted vector of the first formant and the second formant of clear vowel. In this paper, we introduce a system to adjust formants optimally, which analyzes formants in real-time and feeds back them to Singer Robot.

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Many researchers have been studying on the micro robots considering the various purposes of those. We also have been the micro robot with moving mechanism and an actuator, which has an electromagnet and two permanent magnets. In this paper, we proposed three-leg electromagnet-type of micro robot which has some sdvantages comparing with our another type of micro robot. In this study, we made two prototypes of micro robot and carried out some experiments using prototype No.2. As a result of the experiments, we described some problems of our prototype of micro robot No.2.

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Landing control of a humanoid robot is proposed to soften the shock when a robot jumped from a step. The designed actuator is using a cushion mechanism with a torsion spring. It was confirmed that the robot was able to land on a hard floor without breakage.

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Nafion 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 direction of residual strain changes with the density or the amount of the Na^+ driving ion. In the case of Au-Nafion ICPF the difficulty of the positioning control mainly depends on the direction of the residual strain. If the direction of the residual strain is the same to the initial strain, we can control the position of the ICPF by integral feedback control method. Therefore, we have to to keep the direction of the residual strain of ICPF. To keep the direction, we have to prevent the leakage of Na^+ driving ion from inside the ICPF. In this paper, we found that 0.1% NaOH solution could prevent the leakage of Na^+ ion and the long time positioning control of long time was enabled by this condition.

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A new design method of the combined planetary gears capable of achieving high-reduction ratio while relaxing the contraint for correct gear teeth assembly was proposed and examined. In case non-isogonic allocation of planetary gears was allowed, assembly constraint would be relaxed and the freedom in planetary gear design was significantly expanded. This expansion enables to configure high-reduction combined planetary gears that was not feasible in conventional design allowing only isogonic allocation. However, the non-isogonic structure would not result in dynamic unbalance that causes noise and vibration through proper mechanical design.

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This paper presents a variable stiffness mechanism using linear springs. This mechanism has a simple structure using linear spring which is arranged at an angle. First, we explain the principle of variable stiffness mechanism and analyze it. Then, we show experimental results to confirm the effectiveness of variable stiffness.

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This paper describes development of a 3D actuator that is consisting of two kinds of artificial rubber muscles. These are shrinkage type artificial rubber muscle reinforced with fiber and flexion type artificial rubber muscle. The 3D actuator is copied from movement of a tongue, so the 3D actuator can do flexion movement and peristaltic movement as human tongue. Characteristics of these artificial rubber muscle are investigated and built control table that indicate relationship among inner pressure, displacement and force. The 3D actuator was fabricated with the muscles. Characteristics of the 3D actuator, such as flexion rate, flexion force and of control table, were carried out. Concept and architecture of the 3D actuator and control method are also described in this paper.

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We developed a character robot that is expected to appeal to visitors and increase tourists to Hakodate area. A squid is chosen as the motif of the robot, because it is one of famous regional food and easily associated with Hakodate. The robot is made with aluminum and plastic, its height is 1.8m and the weight is 150Kg. The robot has 23 degree of freedom actuated by an air cylinder and a joint is structured with 3 cylinders. The body of the robot is moved by one joint and the arm is formed by 3 joints, i.e. 9 cylinders move one arm. Rest two cylinders are used to move eyelids. Cylinders are controlled from an H8 microprocessor and control commands are given via LAN using HTTP. A graphical interface executed on a PC is built to register and send a sequence of commands. The robot demonstrated in Hakodate and appeared in TV news, newspapers, and new sites on the Internet.

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Recently, small size humanoid robots become familiar because of increasing of robot kits on the market, web pages about assembling robots, and robot contests. Through people can easily get a robot with multi-degree of freedom, motion control of such robot is not so easy. Especially, if the robot is used for amusement, various and complex motion is required to express emotional motions. To achieve such motions with a simple equipment, we propose a method to convert MIDI data to robot motion data. MIDI percussion are selected as a device to control robot motion intuitively. Because the sound generated by beating percussion includes various information, the pitch, the scale, the tempo, and the accent. In our method, these information is converted to motion data of the robot, i.e. angle or angular velocity of joints. In the experiment, arms of a small size humanoid are controlled by beating a dram set.

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This study aims at developing a violin playing robot that is able to produce expressive sounds. This leads us to understanding human Kansei. In this paper, we will describe bowing motion of an anthropomorphic robot arm that we developed and analytical results of produced sounds. The robot arm has 7 D.O.F and is driven by D.C. motors installed in each joint. We confirmed that the robot reproduced a same sound every time. We also observed vibration of 4 Hz in the sounds. We considered that the vibration was caused by natural frequency of the bow.

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