This paper deals with Intra-Vehicular Activity (IVA) support robot system designed to support astronaut activities in the Pressurized Module (PM) of Japan Experiment Module (JEM). We developed the ground experiment system for IVA support robot to verify key-technology, for instance, floating and moving mechanism using air fans, monitor technology, communication technology with astronauts. We will report detail design and functions of experiment system.

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This paper proposes a new approach that is simple and robust dead reckoning for insect-like rovers. The body position and orientation estimation of legged rover has the same type of difficulty as the direct kinematics of parallel mechanisms. The proposed method solves the problem by using a least squares fitting algorithm. Walking experiments with real hardware and numerical simulations evaluate estimation accuracy of the dead reckoning.

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In tissue engineering field, many engineered approaches is researched, including artificial heart, artificial joint and synthetic vascular prosthesis. We have been developing scaffolds of three-dimensional synthetic vascular prosthesis in tailonnade. Vascular endothelial cells (FILIVEC) attached on inner surface of the scaffold has effects as anticoagulant action. Structures of the inner surface are important to adhesion of cells. In the present study, we aim to quantify inner surface condition of the scaffold by observing behavior and morphology of HIJVEC. For that purpose, we recreated inner surface of the scaffold on PDMS (polydimethilsiloxane) sheet by micro fabrication. As a result, we measured the resist semiround pattern which had 8 μm diameter and 5 μm bight, and looked the concave pattern on PDMS. And, HUVEC adhered on patterned PDMS. In addition, we fabricated arterioles model by photolithography. We succeeded at making arteriole tube model which had 1.1 cm length, 300〜400 μm diameter.

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We developed Bio-chemical IC chip-set having a temperature control system. Using this chip firstly, we demonstrated a cell culture. Secondly, we demonstrated Cell-free protein synthesis. Finally, we demonstrated a temperature cycle for polymerase chain reaction (PCR). Therefore, our successful results will provide a new and strong method for proteomics analysis at finger-top size.

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We propose a nano pipette with a lipid nanotube (LNT) as a nanochannel. Lipid nanotubes have multi lipid bilayer with a hollow cylindrical nano structure and their outer and inner surfaces are hydrophilic. Fabrication process of the LNT nano pipette is consisted of two processes; picking up and sealing processes. As picking up process, a single lipid nanotube is picked up inside micro glass pipette by use of micromanipulator. Then, as sealing process, the interspace between the lipid nanotube and the micro pipette is sealed with photo-crosslinkable resin. A lipid nanotube of the fabricated nano pipette is used as a nanochannel. The fluorescent solution was spouted by electroosmotic phenomenon from the LNT nano pipette. The nano pipette is effective to apply the minimal changes to the environment as an end-effecter for biological applications.

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Biodegradable scaffolds are of great value in tissue engineering. We have developed a method to fabricate patient-specific vascular scaffolds from a biocompatible and biodegradable polymer, poly(L-lactide-co-E-caprolactone). This method is very useful owing to its flexibility in materials and vascular configurations. In this paper, we propose a way to fabricate scaffolds of human carotid artery by combining processes of rapid prototyping, lost wax, dip coating, selective dissolution and salt leaching. As a result, the development of porous biodegradable scaffolds was successful, and their mechanical strength covered the range of human's blood vessels (1-3 MPa) enough. Human umbilical vein endothelial cells were also cultured on the scaffolds and their biocompatibility was confirmed by the growth of cells. The Young's modulus of scaffolds was controllable by changing polymer concentration and porosity. The wall thickness of tubular scaffold was also controllable by changing polymer concentration and pulling-up velocity at dip coating. We believe that this fabrication technique will be applicable in patient-specific regenerative medicine of blood vessel.

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Molecular biologists use a fluorescence microscope to observe intracellular ions (molecules) and study intracellular mechanisms realizing cellular functions. However, they often miss a freely moving cell from a scope of the fluorescence microscope and then discontinue observation. To overcome this problem, we developed a new microscope system, which enables us to observe intracellular ions and molecules with a fluorescent light and track the cell with a transmitted light at the same time. High-speed visual feedback control was an efficient technique for cell tracking. We demonstrated that it is possible to continuously observe intracellular Ca2+ ions of the freely moving paramecium, which is one of the fastest cells. Our microscope system should become an irreplaceable tool to investigate a frontier in molecular biology.

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A micro-manipulation system for cell analysis is proposed. It consists of a two-fingered micro hand, an optical microscope, some measurement devices, user interfaces and a computer. The micro hand allows dexterous manipulation of a single cell: grab, positioning, rotation and releasing. The system has functions of auto-focusing, position detection, auto-tracking and auto-calibration. A new graphical user interface for overall control of the system is developed. A user can operate the micro hand using a haptic device and the GUI. This system enables detailed observation and analysis of cells.

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This paper introduces a molecular mechanics study by using an intermolecular dynamics software (IMD) coupled with virtual reality (VR) techniques, which permits manipulation of molecules in molecular dynamics simulation and 3D graphical display. The main novelty of the proposed simulations is based on the micromechanical and microelastic property characterization of living cells by applying Bilateral SMMS (Single Master Multiple Slave) teleoperation system to manipulate a living cell in their virtual native environment.

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Natural disaster rages in recent years, and this damage tends to increase by influence of global warming. At the time of a disaster, not only victims but also rescuers are caught up in a disaster. This phenomenon is called the second disaster, and now some rescue robots are developed to prevent this disaster. Therefore, in this study, I developed the device which is able to set on the rescue robot, acquires a pulse wave of victims which is one of the bio-signals by easy sensing and detects Arterial Oxygen Saturation with the rescue robot to realize more effective rescue operations with grasping conditions.

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SEMG (Surface Electromyogram) has many benefits, for example, measurement of SEMG is easy and a characteristic pattern of SEMG is obtained for each different movement. In this research, it aims at the development of a new interface to be able to control various equipment by using a characteristic pattern of SEMG In this paper, we will talk about our developed control system that works as diverse equipment.

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In this paper, we describe about a developed navigation system that supports the independent walking of the visually impaired in the indoor space. This system is composed of colored navigation line, and an intelligent white cane and an acceleration sensor. The white cane has a color sensor. This cane senses the target colored navigation line by a color sensor. When a color sensor finds the target line, the white cane informs a user that he/she is on the navigation line by vibration. This system cannot obtain user's direction. Therefore, this cane cannot inform direction error to the destination. So, we use an acceleration sensor to detect user's direction. Five normal subjects were tested with our new system.

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Natural cellular activities are increasingly exploited for micro analytical systems, biochemical reactors. Novel use of pulsating heart cell as mechanical micro actuators has been developed in our group. For example, micro pomp using cardiomyocyte sheet. This study aims at the development of a muscle block where the sheet is enhanced to three dimensions using Parylene. If we can make the pulsating muscle block, there are some advantages such as various structures can be made by assembling, and process it to easy-to-use shape according to the purpose. In addition, to strengthen the contractile force of muscle cells, it is necessary to expand and contract muscle cells by physical stimulation. We will develop the device that can stretch muscle block in three dimensions. We developed prototype of parylene three dimensional structure and stretching system and did some experiments about them.

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A various kind of micro actuators have already been developed and reported for micro robots. However, a rotary bio-actuator has not been reported yet. In this study, we propose a novel autonomous rotary bio-actuator powered by heart muscle cell contraction for biocompatible microrobots. The bio-actuator is rotated by a restoring force stored in the elastic band while the gel structure contracting. First of all, a macro-model of the actuator was fabricated and the principle was confirmed. Then culture conditions in a three dimensional gel were examined. To enhance the contracting force of the gel structure, a stretching device was developed. These techniques will enable us to realize the rotary bio-actuator in future.

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A newly muscular cells stretching system which improves output of bio-microactuator that driven by the contractile force of muscular cells is developed. Using conventional model, muscular cells are stretched only one or two linear directions, in contrast arched muscular cells stretching system has a new structure which stretches cells circumferential direction. It enables to produce a bio-microactuator which has new structure. The muscular cells are cultured on the thin film made of PDMS and elongated and contracted by using an external magnetic field as driving source. As a result, we realized that cells culture in totally closed and safe environment for cells. We conducted fundamental experiment with using cultured skeletal myoblast and observed change in cell orientation.

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We propose a novel automatic tracking system capable of tracking fast-moving, small objects under extreme conditions by using high-speed visual feedback for assessing sperm chemotaxis. The system shows remarkable performance and versatility, good enough for practical use in biology. Experimental results showed that we successfully achieved continuous stable tracking of swimming ascidian spermatozoa with quality sufficient for assessing sperm motility, indicating the feasibility of our system to tracking almost any type of cell.

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Our goal is to utilize microorganisms as micro-robots by using galvanotaxis (locomotor response to electrical stimulus). To reach this goal, observation of three-dimensional galvanotaxis must be achieved. Our group has proposed the technique for autofocusing cells by using the diffraction pattern that appears, which we call Depth-From-Diffraction method. In this paper, we propose a novel three-dimensional tracking system incorporating the Depth-From-Diffraction method and the border-following algorithm to observe galvanotaxis of Paramecium cells. Experimental results shows that the system successfully captured the first ever three-dimensional galvanotactic motion of Paramecium cells.

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This paper describes a transparent MEMS device that was designed to detect both the optical and electrophysiological signals of the luciferin-luciferase reaction. By using microelectromechanical systems (MEMS) technologies, we have studied and developed "Micro Channel Array" (MCA) integrated with suction holes and electrodes as planar patch-clamp devices. A transparent MEMS device was developed as an advanced MCA. Developed transparent MEMS device employs SU-8-based MCA structure for simultaneous multipoint detection of optical and electrophysiological signals. In this study, we tested the newly developed device using the mPerl-luc slice culture, which has circadian rhythms, and is a typical example of cells in which a luciferin-luciferase reaction occurs. We could measure the optical and electrophysiological signals of the mPerl-luc slice culture. Herein we describe the experimental results of this study, and describe the design and fabrication of the transparent MEMS device with MCA.

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In this paper, we will discus about our new measuring method that can detect EEG under exercising by using an adapting filter algorithm that we designed. Five normal subjects were tested with our method, and noises that were measured with EEG were rejected by using our filter in all cases. Our system was experimentally developed and this system was connected to a personal computer with a wire. We think that a wireless system is better. So, the wireless system that can transmit 2 kinds of data (EEG with noises and the acceleration) by using the frequency modulation was developed and assessed.

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There are approximately 300,000 visually impaired persons in Japan. Most of them are old and cannot make appropriate use of their white cane. Therefore, it is imperative to develop some instruments that support the independent activities of the visually impaired. Our objective of this study is a development of the navigation system which can be used in the indoor space (e.g. underground shopping mall, airport, hospital, etc.) and support activities of the visually impaired without help of others. This navigation system can follow a colored guideline that is set on the floor. In this system, a color sensor installed on a white cane senses the colored guideline, and by vibration, the system informs the visually impaired that he/she is walking along the guideline.

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This paper discusses the direction dependent response of human skin under the high speed deformation with the speed of lm/s. Under such condition, it has been well known that human skin deformation can not modeled as linear one, such as by using linear spring, damper, and mass. We newly found that the direction dependence comes from the deformation mechanism during force impartment and recovery phase.

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This paper presents a new fault diagnosis strategy for the event-driven controlled systems such as Programmable Logic Controller. First, the controlled plant is considered to be divided into some subsystems and the time interval between succesive two events in each subsystem is modeled as a randam variable. Then, the fault diagnosis algorithm is proposed by using the Bayesian Network (BN), which can represent the causal relationship between subsystems. Furthermore, the design algorithm for the structure of the BN is developed using the information on the control law and the controlled plant. As a result, large scale diagnosis problem can be addressed with less computational burden. Finally, the usefulness of the proposed strategy is verified through some experimental results of an automatic transfer line.

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We discuss a placing motion of a grasped object by a robot hand equipped with a flexible sensor on the finger. The aim of this study is to realize a quick placing motion with a small impulsive force between the object and the floor. We consider a dynamic model which includes deformation of the flexible sensor occuring when the hand grasps the object and we can obtain a trajectory of the hand which ensures that the impulsive force is less than the object's mass. The validity of the model and the effect of the sensor's flexibility are examined through simulation and experiment.

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In the paper, it is written about a study of a robot that it was installed a robot of 3'DOF on the tip of a robot of 6'DOF. This paper describes control method to be able to create the movement that imitated finger-arm movement of a human being. It will be enable to achieve this purpose by using algorithm of cooperation control of a finger-arm. In the method, When a finger trace aim orbit, an arm assists you to be a finger always keeps high manipulability. The effectiveness of the method is inspected experimentally.

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A golf swing robot which has a smart structure and enables high-speed swing based on dynamic coupling drive has been developed by authors. We have reported the feasibility of combining target dynamics and energy control to generate the golf swing trajectory from address position to impact position by now. In this paper, we apply the method to generate the whole swing trajectory and show its efficacy through experimental results.

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A golf swing robot based on dynamic coupling drive has been developed by authors, which enables high-speed swing while by a smart structure. And a model of golf swing robot with considering the visco-elastic joint stop was established and used for motion control. In this paper, an improved model of joint stop with considering contact force is established and used for motion control. The swing with using joint stop is realized successfully.

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A golf swing robot based on dynamic coupling drive has been developed by authors, which enables high-speed swing while by a smart structure. As a characteristic of the robot, joint stop limiting range of movement at a wrist joint gives strong force of constraint. However, in the case of high-speed manipulating as golf swing, robot would be broken by excessive contact force by accident. In this paper, as a contact control of joint stop, reflexive avoidance by shoulder joint is proposed and applied to following swing. The swing with using reflexive avoidance is realized successfully.

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This paper presents an assisting method for positioning task using flexible master-slave system. The proposed assisting method is unilateral control consisting of input shaping compensator in the master side and direct acceleration feedback of the end-effecter of slave manipulator in the slave side. As the input shaping compensator is notch-filter is used, which removes vibration frequency from operating force signal. The effectiveness of the proposed method is verified from standpoints of maneuverability and operator's feeling. The former is based on the evaluation of the time responses and the success time, and the latter the subjective evaluation of an operator (Semantic Differential Method and Principal Component Analysis)

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In this paper, we propose a robotic catapult based on spatial closed elastica which generates spatial impulsive motions. The spatial impulsive motion of the catapult is obtained by not only bending but also twisting the long elastic plate. We show a serial chain approximation model of the continuum catapult in order to understand the phenomenon in 3-dimensional space.

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In this paper, we propose impulsive swimming robots using the robotic catapult based on closed elastica. The robotic catapult is the functional mechanical structure which can generate impulsive motions repeatedly by utilizing the elastic energy of a bended elastic material. The experimental results by the prototypes of the impulsive swimming robot show that we can realize compact robots with high swimming performance.

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This paper represents a stability analysis of a non-collocated mechanical system. Non-collocated mechanical systems include a visual feedback control of a flexible arm and an indirect simultaneous positioning of fabrics. Coefficient matrices of the dynamic equation are asymmetry in a linear non-collocated mechanical system. We analyze the stability of a non-collocated system by a particle model and a Lyapunov function. In derivative (D) control, the asymptotic stability depends on viscous modulus and whole length of a soft object not to depend on division number of a particle model. We also confirm that a pair of gains stabilize the system in position and derivative (PD) control.

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We present a link mechanism with a loosely coupled mechanism (LCM), modeled on a human joint. A viscoelastic object functions as a cartilaginous area and soft actuators as muscles. The link of an LCM has high compliance with soft materials, additionally bends smoothly as a human joint. We made an LCM using shape memory alloy (SMA) actuator bundles to regulate the link angle. Due to large generative force of actuator bundles, we have better response in angle control. Although it is impossible to set a high gain for each SMA, the whole system using actuator bundles can realize high gain feedback in angle control.

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Recently, the use of robots has entered human life, and relationships between humans and robots have become closer. It is desirable that these robots have characteristics similar to humans. For this reason, we have given attention to an artificial muscle actuator. In this study, we used straight fiber type artificial muscles, which have excellent characteristics derived from the McKibben type regarding the contraction rate and force. We developed a 6-DOF manipulator actuated by straight fiber type artificial muscles. Furthermore, we have tried to control position the manipulator and evaluated its behavior.

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In this paper, we propose an identification method for a SCARA-type planer two link robot arm with elastic reduction gears, which is treated as a serial two-link-two-inertia system. We utilize not only motor encoders but also rate gyros and accelerometers on each link in the identification method, The identification method consists of three steps. The first step is the rigid model identification using a well-known procedure. The second is the elastic model identification using a multi-input multi-output state space model technique in which the interaction forces between two links are decoupled. The third is the physical parameter identification using the state space model. Experimental results showed accuracy of the identification method.

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Digital acceleration control has been proposed to control non-linear mechanical systems. The advantage of this method is that construction of controller becomes easily even though non-linear factors or disturbance exist in controlled object. However, it requires position, velocity, and acceleration of controlled object to construct a controller. Not all mechanical systems can obtain the information of velocity or acceleration of controlled object. So the application of the digital acceleration control method has been confined to the area of which can obtain those information. In this paper, we use position sensor and differentiate it by using filtering technique in order to obtain velocity and acceleration. We use ESDS that is based on sliding mode technique. Simulation results show the validity of ESDS as the differentiator.

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To realize the prediction motion planning, it requires making models by recognition using vision, planning using dynamics calculation, and reducing the difference between real and simulation. These needs relation between recognition action programs and dynamics simulators. This paper picks up the block stacking problem and realize the prediction motion planning on EusDyna, which is one of the environments that integrate robot brains and simulations. Recognition, modeling, planning and decrease the error of prediction are illustrated in a humanoid robot.

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As well know, a bicycle is a high efficiency vehicle and is suitable for society in the future. In the practical use, however, the bicycle is not always stable and the motion stabilization is required for a widespread application. This paper focuses on the instability of the bicycle. In particular, self-sustaining control strategy of electric bicycle motion using backstepping with acceleration control is proposed. The proposed method makes it possible to achieve a low speed running of bicycle. The validity of the proposed algorithm is confirmed by numerical and experimental results.

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In this paper, the parallel solution scheme is applied to the inverse dynamics computation of a robotic mechanism, and is implemented into a control system. This paper explains the process of the joint torque calculation by the parallel solution scheme and the outline of the robotic mechanism. Some control experiments are carried out on the robotic mechanism, with feed-forward plus feedback control, in comparison with single feedback control system. The results indicate the validity of the parallel solution scheme in feed-forward control of actual robotic mechanism.

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This work is concerned with the development of SORLs, a biped walking robot using Strand-Muscle Actuators (SMAs). The SMAs drive a joint by antagonist muscles, and joint angle and stiffness are easily controlled by their nonlinear elastic properties like mammals. Having simple mechanism a multi-D.O.F. failure-tolerant joint is easy to realize by their multiple mounting to the joint. Moreover the joint is suitable for flexible and complex motions, and can adapt to various environments. In this article the mechanism of SORLs is introduced, and then the experimental results of stand-up motion and stand-on-one-foot motion are shown, which verified the usability of SORLs.

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In this paper, 3R underactuated manipulator under gravity is to be considered. Dynamical behaviors under vibrational input to the first joint are analyzed via averaging analysis. It is clarified that dynamic stabilization onto a configuration other than the gravitational equilibriums can be realized using a kind of artifical potential prodused by vibrational input against gravity.

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In this study, a hyper-flexible 3D display (3D-HFD) is proposed by controlling dynamic motions of string-like hyper-flexible element (HFE) and luminous patterns of LED on HFE. A prototype for 3D-HFD is constructed and experiments are executed to show that it can display several patterns and can form three-dimensional surface by controlling turning speed. A 3D dynamic model of HFE is considered to simulate and design displayed patterns of the 3D-HFD. Simulations are compared to experiments with the prototype and shown to be valid.

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The objective of this study is to apply the concept of structural health monitoring to the detection of bolted joints loosening without human involvement. The smart washer consists of the cantilever available to detect bolt loosening by using flexibility of cantilever and self-sensing/actuation function. The principle of how to detect the loosening of a bolt is the basis that the natural frequency of a smart washer system vary depending on a bolt tightening axial tension. Periodic maintenance of bolted joints is necessary to prevent an accident. The problems of periodic maintenance inspection with human-involvement are time-consuming, labor-intensive and high-cost. This paper is proposed that the remote health monitoring system by using smart washers. The remote health monitoring system is constructed by applying internet.

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In this paper, a joint axis relocation mechanism for robot origami was developed. :Robot origami is a transformation robot by folding a joint. A joint axis relocation mechanism (JARM) built-in robot origami was designed, which is possible to describe several shape by transforming itself without disassemble. This mechanism could switch its joint axis without separating the connected 2 plates. Robot origami can be made by combining number of these plates and making up closed-loop structure. The mechanism analysis by CAD confirmed that the robot origami composed of four JARMs transform several shape.

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In this paper, we introduce a flexible control system using RS485 network. We develop some modules for sensing and controlling a robot via RS485 network. It includes integrated control module, sensor module and motor control module. The integrated control module corresponds to main module and the others correspond to sub modules. Each sub module has own ID. They are connected with daisy-chain and the connection can be changed flexible. We made some robots using these modules. These kinds of modules are already existed, but they need complex hardware or they are not disclosed the hardware and the software. These systems are disclosed and can be modified arbitrary. Furthermore, ready-made modules are provided.

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Automated analysis systems for mouse scratching play a critical role in disease pathophysiology and new anti-pruritic drugs developing. In this paper, we develop an automated behavior analysis system, which can detect mouse scratching without painting markers. This system is based on a real-time vision system which can calculate frame difference feature at 240 Hz. We verify the effectiveness of our developed system by long time experiment using laboratory mice.

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Real-time flow measurement at high speed sampling rate is necessary for microscopic fluid control. In this paper, we propose a real-time flow measurement method for one dimensional fluid flow in micro channel. We also implement our proposing method on a high speed vision platform which can work at 1000 fps, and evaluate its effectiveness by showing flow distributions measured at real-time.

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Visual inspection is still playing a major role in manufacturing process at product lines. However, the manufacturing process has rapidly become automated in factories. Therefore, automated visual inspection system is highly needed. In this paper, we propose a high-speed and real-time inspection system, which can take the place of visual inspection. The system uses the cylindrical lens for acquiring multidirectional reflected light of one line as an image. Furthermore, it makes the system easy to introduce into product lines. As one of its application, we applied to a scratch inspection, and the result is shown that the proposed system is efficient and effective.

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In this paper, we propose a new feature point tracking algorithm for high-speed vision system. In addition, we implement this algorithm on high-speed vision system, and realize real-time 1000 fps feature point tracking for megapixel image (1024×1024 pixel). This algorithm is easy to implement on hardware because of its small computational complexity.

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In this paper, we propose a real-time contact detection method using a high-speed vision system. We introduce a contact detection algorithm by using frame difference. This algorithm recognizes objects that come in contact by change of difference value. Experimental results show the effectiveness of this system.

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This paper describes object recognition system based on multiple visual cue integration for knowledge based humanoid robot system. The knowledge used in this system is also referenced by a motion generation planner in our system, which enables us to realize simple description of behavior generation and visual verification tasks. Finally we shows vision based tea serving tasks by a humanoid robot in a real environment.

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