This paper describes development of 6-axis force sensor. This aims at development of the walk analysis equipment which took into consideration the influence which a sense organ has. Concurrent use with picture acquisition of skin modification of the sole is aimed at. Therefore, a sensor needs to be small. Otherwise, the view of a camera will be barred. Sensor form was used as the beam. This sensor uses a distortion gauge. In order to centralize distortion, it has a balanced monotonous structure. It proofread by building a sensor. The subject's weight was measured.

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Identification of physical parameters for soft objects is very important for surgical simulation, human modeling and food engineering. This paper presented a method to identify the physical parameters of uniform rheological deformation based on ID FE model simulations. Firstly, the real parameters were given to the model and simulations were done. Then, simulation results were analyzed and identification method was proposed. Finally, the parameters were identified by using the proposed method which was validated by comparing the calculated value and real value of the parameters. 2D and 3D identification and experiments will be done utilizing CT or MRI device to evaluate our method in the future.

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We propose a method that is enable to translate and rotate in grasping a soft object using FEM. The proposed method transforms a stiffness matrix and calculates an inverse matrix of the stiffness matrix using Singular Value Decomposition. The translation and rotation are calculated using the inverse matrix. In this paper, we describe the proposed method and do a simulation of grasping the soft object.

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This paper discusses a micro dynamic sensing system by using an ink jet and a high-speed camera, so that we can observe dynamic behavior of micro biomedical tissue. Micro water droplets discharged by the ink jet make collision with a target object. Detecting the deformation at the moment of the collision by the high-speed camera, we estimate dynamic characteristics of the object. We show a prototype experimental system and a basic experiment.

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This report describes a method on a force feedback for Virtual Clay with a passive force display glove. It is necessary for virtual space to feedback forces from Virtual Clay, because there are many soft objects like clay in the world. Passive force display will enable the force feedback like clay because of expressing resistance against operator's force. So, if the force feedback of Virtual Clay is fulfilled, it is possible to realize many applications by the passive force display.

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In this paper we introduce a new model of the mechanics of a finger pad that is efficient to simulate. The model simplifies the finger pad mechanics by assuming it to be a thin shell enclosing fluid-like material. Unlike similar approaches in the literature, we incorporate the bending stiffness of the skin and a subject-specific geometric model into the simulation. Thanks to these two features, our model can predict the surface deflection of the whole finger pad with the error of 0.2 to 0.4 mm with reasonable computational cost.

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In this paper, a haptic rendering system is proposed to touch deformable objects, for example organ models in a surgical simulator. This system is composed of three processes, prediction of the forceps position based on chaos theory, interpolation and smoothing of force from an organ model. It solves a problem to be caused by in time to calculate deformation and stress of the deformable model by including these three processes in multi-rate system. The validity of the system was confirmed by simulation experiments using haptic device.

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Human hand is one of the best manipulators existing now. When we designing Robot hands, it is available that imitates Human's one. So we made a "Dynamics simulator by the detail human model" that Musculotendon model based on real human, and looked at its behavior. In this way we try to know characteristics and construction of Human hand. The characteristics of this model is that treats musculotendon has branch. In this research, we show the behavior of branch by 1st Lumblical that is one of the tyipical branches as an example.

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Faint, slipping, stumbling and missing step, are enumerated as a factor of the fall for the elderly while walking. Moreover, a decay of the muscle function and a decrease in Range Of Motion (ROM) and the function of the ankle are thought indirect factors to fall. The relationship between these factors of fall and gait has mostly been clarified from the measurement of gait. However those results are only guesses by a statistical technique, not casual relation for each other. In this research, we clarify the role in gait of each joint and fall mechanism of the elderly, with the gait simulation used the solid body link model.

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In this paper, a semi-autonomous bipedal vehicle based on passive dynamic walking (PDW) principles is proposed. PDW is known as a mechanical system, which is designed to walk down on a shallow slope without active control. To date, some bipedal walking robots have been developed to carry a person on uneven terrains. However, these robots are fully controlled and actuated, requiring considerable power for walking. Neither, they don't utilizes a PDW mechanism ; nor do they don't use the balancing capacity of a human as like a bicycle or motorbike. This paper describes the basic structure of the PDW based human balancing bipedal vehicle and the process of its developments.

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In this paper, we aim at development of the measuring device which can measure 64 points at the same time, and measurement of sound pressers at hundreds of thousands points with the device. In order to prove the effect of the loudspeaker arrays system, it is necessary to visualize sound spots. The following two functions are included in the developed measuring device in order to realize the purpose. One is "multiple points coincidence measurement function" which can measure multiple points in one-time measurement, in order to carry out acoustic field measurement for a short time. And another is "autonomous move function" which a measuring device can move automatically to the arbitrary request place. In order to prove the usefulness of the developed measuring device, the sound pressure distribution measurement experiment of an acoustic field is conducted.

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This paper describes about simultaneous generation of multiple 3D sound spots by using large-scale panel loudspeaker array. The large-scale panel loudspeaker array is developed to make three-dimensional multiple sound-spots. We confirm the large-scale panel loudspeaker array can generate four-place simultaneous formation of the three-dimensional sound spot. From this result, voice communication of information to many people is possible. We consider multiple 3D sound spots from sound pressure distribution measurement result.

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We propose a large-scale motion database structure for searching and reusing existing motion data. Motion data from different sources, marker sets, and skeleton models can be included in the database. All samples from multiple motion clips are put into a single database to consider transition from one clip to another. The database has a binary-tree structure to enable fast search from key motions. We demonstrate the usability of the database through an application to assisting keyframing in character animation.

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In the recent years, motion capture systems are used in order that robots may achieve human motion. Most of those systems need attached markers on human body and several sensors. So makerless motion capture system is needed. In this paper, we propose a posture estimation method using monocular camera. This method detects each body part (arms, legs, head, torso and so on) without markers using motion feature and shape feature. A posture is estimated by constructing the detected parts based on human body structure model. A markerless motion capture system is realized by using this method. In the experiment, we estimated human arm posture using this method.

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Development of everyday life service technology requires understanding everyday life behavior. However, it is difficult to recognize meanings of multiply ambiguous behavior from collected sensor data. To tackle this problem, this paper proposes a system for describing and managing human behavior data using not only sensor data but also meaning and context data. This system consists of embedded sensors for measuring a person's behavior, wearable sensors for measuring the person's remarks and statistical analysis software. The authors applied the developed system to two analyses : 1) causality analysis between "cleaning-up" pattern and person's temperament, and 2) causality analysis between power consumption and behavior.

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Explorative experiments for implementation of loudspeaker array system to real environment are performed. We suggest the new design of the exhibition support system in a museum. The loudspeaker array system will be used for explaining exhibitions at museum. The loudspeaker array system is a non-contact sound interface. The loudspeaker array system can form the high-sound pressure area. The comparison between explaining exhibition by texts and sounds is performed at the museum. For ten days 2007 in March, obtaining cooperation of the National Science Museum, we conducted comparative experiments. We search the effective of explaining by letters and sound by questionnaire and quiz of examinees. In all the experiments, elementary school students are targets. The participants are sixth from third grader.

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Recently, it is possible to measure and observe human behavior in everyday life due to development of sensor and information processing technology. Furthermore, data-driven modeling of daily human behavior is becoming possible using a large number of measured real data. One of realistic approaches to developing an everyday life behavior simulator is to integrate multiple behavior models that are constructed from different real data in a complementary style. In this paper, the authors propose a method for integrating multiple probabilistic models using everyday life terminology.

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This paper describes a pedestrian tracking system by laser scanner TOP-URG by Hokuyo Co. Ltd. mounted on our mobile robot Pen2. Since it has 0.25° resolution at 40 [hz], it can detect human leg (about φ 10 [cm]) from at most 10 [m] distance. System detects leg candidates then tries to track about it, by distinguishing stational objects in the map that robot has previously obtained. Experimental results is also shown.

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Approximately 30,000 persons with non-work-related finger amputations are treated in US hospitals annually. Despite the significant number of finger amputation cases seen, there are few studies on analysis and prevention of finger amputations. We developed a precise three-dimensional Finite Element model of the fingertip to investigate finger amputations. Material properties of bone and nail were utilized from the published data of linear elasticity and plasticity, and material properties of both skin and subcutaneous tissues were hypothesized to be nearly incompressible hyperelastic. We employed von Mises equivalent stress as failure criterion and a user material subroutine of the hyperelastic model with the failure criterion of the effective equivalent stress was formulated. We simulated accidents of finger amputation using the Finite Element analysis and it was possible to examine injury conditions of finger amputations.

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Underwater glider has no propulsive machinery, so that this silent and safe underwater vehicle can be maintained with ease and is easy on ocean environment. The authors developed an underwater glider with independently controllable main wings named 'ALEX'. Main wings, upper rudder, diving rudder, movable balance weight, and vent-blow valves can be controlled by on-board microcomputer system. The ALEX has linear acceleration sensors, angular velocity sensors, pressure gauge, and magnetic compass. These sensor data in storage will be transmitted to PC when the ALEX is at the surface. The purpose of this research is to implement the MAVC2 system for motion control with a microcomputer in three types of methods; pre-programme control, open control, and feedback control. Motion performance of the ALEX was observed in the Ocean and Underwater Engineering Tank of Research Institute for Applied Mechanics, Kyushu University and it was verified that the implemented programme and wireless communication function work well.

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The authors are planning to develop an autonomous underwater vehicle (AUV) with a function of underwater glider with independent controllable main wings. This vehicle has 2 thrusters and 2servo motors for changing the direction of the thrusters. This paper reports development of the new control board which has sensors for depth, acceleration, and direction. Consequently, the result of depth control with P controller by the new control board is presented.

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For the purpose of observing leaks of CO_2 in CO_2 ocean sequestration, submarine robots that can make observations independently and stay over the seabed against the current for long periods of time are needed. In order to achieve this objective, a novel submarine robot was proposed. The robot is moored, its position is controlled by tether, and it generates electricity with sea current power generation system. After that, the prototype submarine robot "Anchor Diver" was developed. Anchor Diver is moored by one tether, moves with horizontal and vertical rudder and goes upstream with reel mechanism. In addition, the use of a movable anchor and generator as a propeller enables Anchor Diver to enlarge its range of activity. This paper describes the detailed development of Anchor Diver and experiments in the water.

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It is important to locate an under water robot which observe and work. In this research, we propose a wire driven under water robot. It uses three teleoperator-controlled unmanned boat. Three wires are extended from respectively boats. The end of wires are connected to an under water robot without outside actuator. Location of this robot is relatively-easy.

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We have proposed an Adaptive Robust Control method for UVMS (Underwater Vehicle-Manipulator System). Through simulations and experiments of an underwater robot with 2 dimensional and vertical planar 2-link manipulator, we have shown that the proposed method has a good control performance in spite of using an inaccurate hydrodynamic model. In this paper, experiments on catching an object the robot with hand are done. The experimental results show the effectiveness of the proposed control method.

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Fish type underwater robots come into use in the fishery investigation field for the purpose of exploring the appearance in the near bottom of the sea, for the sake of oceanic development. Many of the fish type robots that have been developed up to now have complex mechanisms, are bulky, and need motors combined with cranks and advanced technique for motion control. This research aims to develop an underwater robot by using MFC (Macro Fiber Composite) which is a new type of flexible piezo-electric fiber composite with film structure. Compared with conventional artificial muscular underwater robots, MFC can be used by composing underwater robots with a very simple structure. Using MFC actuator, we developed the robots capable of progress and turning motion.

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Autonomous Underwater Vehicles (AUVs) are attractive tools to survey earth science and oceanography. However, there exists a lot of problems to be solved such as motion control, acquisition of sensor data, decision-making, navigation without collision, self-localization and so on. In order to realize useful and practical robots, underwater vehicles should take their action by judging the changing condition from their own sensors and actuators, and are desirable to make their behavior, because of features caused by the working environment. We have been investigated the application of brain-inspired technologies such as Neural Networks (NNs) and Self-Organizing Map (SOM) into AUVs. A new controller system for AUVs using Modular Network SOM (mnSOM) proposed by tokunaga et al. is discussed in this paper. The propose system is developed using recurrent NN type mnSOM. The efficiency of the system is investigated through the simulations. In this paper, the yaw directional dynamics is experienced by using "Twin-Burger". So that, this paper is discussed about this experimental data compare with the simulation model.

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This paper is concerned with a position and attitude measurement system for underwater robots. Recent years dynamics and control of Underwater Vehicle-Manipulator Systems (UVMS) have been studied. The manipulators are required to catch and handle objects. Therefore, sensors that measure position and attitude of the objects must be mounted on UVMS and it is considered that stereovision systems are one of the sensors. However there is no stereovision system for UVMS. We have proposed a stereovision system for UVMS using mobile cameras that can pan, tilt and slide individually by stepping motors, and track the object. Effectiveness of the proposed system has been demonstrated by experiments of position and attitude measurement the ground. Furthermore, we have confirmed effectiveness from the measurement experiment that put the measurement system on a waterproofing box. In this paper, position and attitude measurement experiments of the system enclosed in cylindrical case are done. Experimental results show the effectiveness of the development system.

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In this paper, we describe a basic underwater sound source localization system designed for mounting in underwater robots. Sound source direction is calculated by the Cross Correlation Function and Super Short Base Line method. In addition, we introduce particle filter to develop a robust sound source localization system against noises. According to the experimental and the simulation results, we believe that accurate detecting ability of the developed module is within the region of ± π/3 [rad] from forward direction, and a robust sound source localization system against noises is technically feasible.

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This paper proposes an innovative method to navigate an autonomous underwater vehicle (AUV) for detailed visual seafloor mapping with high positioning accuracy without using any vision-based matching. The method consists of three parts, SLAM (Simultaneous Localization And Mapping), path-planning and terrain tracking. The method was implemented in the AUV Tri-Dog 1 and a series of experiments were carried out at Tagiri vent field, Kagoshima bay in Japan. The AUV succeeded in observation of interesting features of the field including bubble plumes, bacteria mats and tube-worm colonies through 12 fully autonomous dives, totaling 29 hours duration. Finally a photomosaic covering about 3,000 square meters was created.

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This research builds upon the concepts outlined in [4] and [5], to propose a new method to investigate jellyfish, using an AUV (Autonomous Underwater Vehicle) for autonomous sampling of deep sea jellyfish. The concept and design of AUV (Autonomous Underwater Vehicle) 'T-pod' (Target Perception, Orientation, and Detainment system) are discussed and the results of tank experiments are presented.

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Autonomous underwater vehicles (AUVs) have great advantages for activities in deep oceans, and are expected as the attractive tool for underwater development or investigation near future. AUVs need intelligent behavioral decision and accurate motion control for accomplish given missions. For example, in the ocean survey, accurate space positioning is necessary for observation of high accuracy. In this paper, we report about motion control system of the underwater robot "Twin-Burger". First, we estimated parameters in the dynamics. Then, we simulated motion control of the robot using estimated parameters. Finally, we experimented with tracking control using developed controller.

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The goal of this study is to develop a buoyancy control device for underwater robots based on the hypothesis on the buoyancy control mechanism of sperm whales. This mechanism utilizes volume change caused by phase changes of materials. In this paper, we report a new buoyancy control device that utilizes rubber stretch. Paraffin wax filled in the device was cooled by pettier elements and heated by them and a nichrome wire, resulting in volume change. We conducted experiments and confirmed that the proposed mechanism could increase and decrease its buoyancy. Then, we built a prototype of an underwater robot with the device and confirmed that the robot was able to change its buoyancy continuously.

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In this study, a soft actuator for micro-robot using IPMC(Ionic Polymer Metal Composite) which bends with applied voltage and energy supply method using external magnetic field are studied. And driving test for a fish robot with IPMC fin actuator and a drive circuit design for the fish robot were done. In driving experiment, the fin only of IPMC and the fin that had combined PET seat with IPMC were used. As a result, the generation of the impellent was proven.

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Eels wiggle their long and thin body in swimming. This form is called "Anguilhform swimming". Their body is not only a thrust mechanism but also a helm. The method of Anguilhform swimming has features that can accelerate easily and stop instantaneously, compared to method using a screw propeller. And this method has also advantage to be able to whirl around immediately. We think that this advantage will be of much help to swim in a narrow space. We developed an Eel-like swimming robot that swims by Anguilhform swimming. And we assume that Eel-like swimming robot swim in a narrow space, investigated that swimming performance in a narrow water way.

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We develop termite prevention-of-the-breeding-and-extermination robots system. This robot system is applied technology of rescue robot system. The most important feature of this robot system is in collaboration with a worker to protect house from termites. Therefore, these robots are design according as safety guideline for service robots.

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Our objectives in this paper are to develop a safety-preservation oriented method for monitoring operator's reaching and to verify its effectiveness. The combination of hands-off and hands-on control mode of a power assist system, Skill-Assist, is expected to enhance productive efficiency. However, an operator's error which may result in serious injuries is possible to occur in the hands-off control mode, and that is why the reaching monitoring is required. Dual laser range sensor is employed to monitor operator's reaching by detecting minimum distances to the upper and lower body. Experiment for the reaching monitoring demonstrated the Skill-Assist could recognize a dangerous behavior successfully. The experimental result was also evaluated by a minimum safe distance required by a safety standard of ISO, and the effectiveness of the proposed approach could be verified.

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We propose to introduce a UML modeling and an object-oriented approach to risk assessment of human-robot cooperating systems. Risk assessment is based on the international safety standard ISO 14121, and our UML-based, hierarchical unified model includes its elements of machinery, human, environments, origin and consequences of hazards and their types of group. By using the model, different view points of safety factors such as an exhaustive list of hazards, scenario of tasks or potential hazardous situations can be derived from a unique dataset. Also, an iterative process of risk assessment and system modification are executed easily. We describe our model and some examples.

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Human safety is one of the most important issues in human-friendly robotics. This paper proposes a new safety device to guarantee the safety for humans in the human-friendly robot's workspace. The safety device consists of only mechanical components without actuators, controllers and batteries. First, the design concept of the safety device is discussed. Second, on the basis of the concept, the device is developed. Finally, the usefulness of the device is experimentally examined.

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In ISO 10218-1;2006, the specifications for safety and human collaboration that new industrial robots have to satisfy are described. In this paper, one of safety system design of human and industrial robot collaboration based on ISO 10218-1 is proposed.

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Recently, as robots and humans have increasingly come to share common spaces especially in the fields of the medicine and welfare, it has become necessary to consider the frequent physical contact or collision of robots and humans. Therefore, high safety is demanded from the robot of this type. This study describes the development of a manipulator using a smart flexible joint composed of ER fluid and pneumatic cushion. Moreover, the ER clutch and pneumatic cushion were requested and a necessary parameter for a 3-DOF soft Manipulator to install it was requested from the theory value and the experiment value.

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This paper shows a collision relaxation control of a robot arm. The arm needs to keep touching to a moving object during collision relaxation control. Current robots do not have enough control performance to deal with a changing environment. So, robot cannot contact to a moving object and a person safely. This is one of the reasons that robot is considered to be danger. To secure safety in a changing environment, a robot control system with high collision relaxation performance was developed. As the first step of the study, the authors had experiments with the situation that a handcart comes to the robot arm and the robot arm stops the cart.

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A tractor guidance system is developed to support the operator to control the tractor following the target line in the field for plowing fertilizing , pesticide spraying ,sowing, harvesting, manuring ,etc. In the system, an alternative integration solution basing on standard 2^<nd> Kalman Filter (KF) algorism was developed. The system not only estimate more accurate real-time data, but also strengthen the state predicting function, considering the delay of the driving operation. Position, direction, speed and an efficient working route were displayed graphically.

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This Study is aimed for the development of the transportation robot which is usable for transplant in a plastic film greenhouse. Therefore the hanging type transportation robot was developed. This robot recognizes objects or obstacles with ultrasonic sensors and touch sensors. A sub robot followed a main robot, and two robots carried material jointly. The robot was able to do work in phase with a worker.

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This paper describes a harvesting robot system for asparagus. We developed electric cart, robot manipulator and vision sensor for asparagus harvesting. The electric cart has the umbilical cable for the power supply to use it in the green house continuously. The robot manipulator has 4 degree freedom to change the position and has 2 degree freedom for grasping and cutting asparaguses. The vision sensor is composed by two sets of slit laser projector and one TV camera to detect the length and position of asparagus. Using these components, we made an asparagus harvesting robot for trial purposes.

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Recently, the environments of the greenhouses for strawberry are suitable for innovating robot system because equipments and planting system like elevated cultivation are equipped and standardized. This study reports the development and harvesting test of a strawberry-harvesting robot, which consisted of a 6 DOF manipulator, a peduncle-nipping end-effector, and a stereo vision system. At the test, 80.0[%] of strawberries, which weren't covered by other fruits could be harvested and the necessity of improving the end-effector and considering harvesting tactics has occurred. This study also contains the development of unit-exchanging transportation robot. An unit has 4 trays to stock 144 strawberries safely, and the robot can exchange these trays in 5[sec] in order that harvesting robot can operates continuously.

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In the progress of precision farming, it is very important to collect variety of information on crops and field. In this study, we developed a prototype mobile eggplant grading robot in order to get information that be used for presentation of better way on cultivation. This robot can collect and accumulate the fruit's features information and location information at the same time while harvesting. After the field test experiment, a prototype mobile eggplant grading robot has achieved its purpose which was acquiring and storing information in real time and has created field spatial maps from the information. These maps could be useful for site-specific management which contribute to cost saving and pollution reduction.

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To save the labor, a robot was developed for harvesting strawberry grown on table top culture at low cost which can work fleetly and accurately. First of all, the exposure level of fruits was investigated. From the result, the exposure level of fruits was higher than that of the passage side when seeing from the planting bed side. Then, a new harvesting robot was examined about the mechanism approached from the planting bed side. In addition, this harvesting robot consisted of three compact color sensors and an ultrasonic range sensor without CCD camera. From the recognition experiment of the harvest target fruits, the fruits of the harvest proper time were able to be judged according to the number of color sensors which detected red tinge. The result of this experiment indicated the possibility of the harvesting robot without visual sensor.

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There are many types of orange fruit grading machines with machine vision systems, but it is still difficult to detect rotten parts, because their colors are similar with normal parts. Objectives of this research are to investigate the excitation wavelengths of the substances for determination of lighting device specification, and to construct an inspection system for fruit grading by color image and for the rotten part detection by UV lighting device. From an analysis of orange fruit skins, it was found one of major fluorescent substances was flavonoid methyl whose exciting wavelength was 365nm and fluorescence wavelength was about 530nm. A machine vision system consisting of a pair of white and UV LED lighting devices and a color CCD camera was proposed for orange fruit grading. Since the time between color and fluorescence image inputs was short enough (14ms), it was considered that UV LEDs addition to white LEDs-color TV camera system installed in fruit grading lines made rotten fruit detection possible.

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A machine vision system for a tomato fruit cluster harvesting robot was studied in this paper. This machine vision system mainly consisted of two identical color TV cameras (VGA class), four lighting devices with PL filters, and two image capture boards. Two images were acquired by the machine vision and RGB color component images were converted into HSI images. Based on the HSI images, main stem, peduncle, and fruits were detected and an end-effector grasping point on the main stem was recognized using physical properties of the tomato plant. Since difficulty to recognize the grasping point depended on exposure of plant parts and on robot access angle, acquired images were classified into three groups (A, B, and C) and were recognized. Experimental results showed that 73% of grasping points on main stems were successfully recognized excluding Group C (images in which some of them were occluded.) which was not able to be recognized even by human eyes.

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We are proposing an organic cultural method for paddy fields in hilly and mountainous areas. In this method, a small rover (AIGAMO ROBOT) assists weeding work by running and stirring soil in the paddy field. So far, we confirmed the effects of weeding by the robot in experiments. In this paper, we report on the experiment of weeding by AIGAMO ROBOT and the observation of the paddy field from weeding to harvesttime in 2007.

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