There are many kinds of problems in environment surrounding agriculture such as the farming population decrease, aging society, fake foods, environmental pollution with agricultural chemicals and chemical fertilizer, the dioxin contamination of field by waste incineration and etc. We should reconstruct a system. It is a farming system in which the state of the field, crops, and the circumference environment is quantitatively understood, and cultivation and the management method corresponding to the difference of these states are selected adequately. This system is necessary at the plant factory using sun optical. Then, we developed the information collecting robot in the plant factory. This robot mainly consisted of the mobile mechanism, the control unit, a proximity switch, an ultrasonic sensor and collects the plant diagnosis information such as the temperature of the leaf and the photosynthesis function with the self-position in the plant factory. As a result, states of each area of crops and the environment were able to be quantitatively understood based on the concept of the speaking plant approach.

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Virtual low-noise space for operators' working space under noisy environment in facility has been studied so far for keeping safety and comfortable working condition. This paper focuses on operators' location sensing methods and a comparison between the methods of machine vision from top and of Spread Spectrum Acoustic Waves are described. From the experimental results in an orange grading facility, it was observed that the method of machine vision showed small enough measurement error but problems of small measurement area and less robustness. The method of Spread Spectrum Acoustic Waves could show that noise tolerance was 13dB and there were possibilities to enlarge measurement area and to increase operator number in the virtual low-noise space.

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Recently, social problems about "Food" are frequently reported such as BSE and camouflage-agricultural product, chemical residues and so on. Accurate traceability information on agricultural production is very important and necessary for solving the problems. To establish the traceability system, sensors collecting information of agricultural products, equipments of network and database are essential. In other words, it is necessary for informatization-agriculture to introduce innovative mechanical systems with a large scale memory function of PC. In this research, development of a mobile citrus fruit grading grading robot is one of objectives. This precision agriculture oriented robot brings labor reduction, farming guidance, quality improvement, environment conservation, and security and safety information. In this paper, constitution of the mobile grading robot and its monitoring camera are described.

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Wearable power-assisted devices have attracted a lot of attention recently, but technology for improving user comfort remains an important issue. In order to study soft actuators and control systems that adapt to human movement, we have developed a power-assisted glove that supports grasping force. To reduce discomfort when the glove is driven, we applied a control algorithm based on the pattern classification method. The controller detects a holding shape by analyzing the initial movement pattern of the fingers with angle sensors and operates actuators to assist grasping force before completing the grasp movement. This method makes the power-assisted glove operate as if it predicted the intention of the user.

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In order to help the activities of physically weak persons, this paper proposes a new concept of a lower-limb power-assist exoskeleton robot. The proposed power-assist exoskeleton robot assists not only the motion of the user using EMG signals but also the perception of the user using an ultra sonic sensor. Consequently, the power-assist exoskeleton robot can modify the assisting user's motion based on the environment information obtained by the ultra sonic sensor. The effectiveness of the proposed concept has been evaluated by performing experiment.

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Artificial arm is one of the most important robotic systems for persons who lost their original arm by accident or disease. This paper describes sensory feedback system and control method of the intelligent artificial arms. The proposed sensory feedback system can feedback hand tactile sensibility and forearm force sensibility to the user. The elbow joint flexion/extension motion, forearm pronation/supination motion, and hand open/close motion are controlled based on EMG signals of the remained active muscles. Natural arm motion can be generated by the proposed intelligent control method.

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"Muscle suit" that provides muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The muscle suit consists of a mechanical armor-type frame and McKibben artificial muscle. Application of the muscle suit to elderly people and/or disabled one requires very high-level safety and usability, from the practical point of view. We then in the first place for the practical use, apply the muscle suit to the manual worker. In this paper, we analyze human arm motion and improve the structure and mechanism of the muscle suit. Also we investigate the effect of the muscle suit for load-holding tasks.

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Recently, the rapid aging is a serious concern in Japan, and the lack of caretaker is anticipated in the future. When flexing shoulder and elbow is difficult, it prevents someone from performing daily activities. Therefore developing a device to realize an independent daily life of caretaker required and people with disabilities and reduce the burden caretaker is expected. To perform daily activities with wearing this device wearability and lightweight is important. So, there are many studies about support devices with pneumatic actuator. In this study, a wearable power assist device like clothes is developed to help caretaker required and people with disabilities flexing shoulder and elbow. This device is consisted of planer actuator and shoulder pad. In this paper, structure and characteristic of this device is described. Additionally, the effectiveness of this device is evaluated by wearing it.

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In this study, we try to develop devices to support elderly person's standing up motion, which is one of necessary and frequent movements in our daily life. Developed assist device is driven with pneumatic rubber artificial muscle.It makes easy to attach in daily life to improve the user friendliness. In this paper, we developed brace type assist device. We measure basic charactaristics of the device, and after that measure force and EMG when the human standing-up motion. From the result, we can verify and view the effectiveness of thiss device.

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In this research, it proposed the active installation device that additionally fixed a wearable equipment to installation person's movement appropriately and handily, and it proposed a simple holding power control valve that controlled it. It was possible to correspond to a dynamic thickness change in the applied part by the holding power and length's changing by air power, and it aimed at the achievement of a handy installation device. It proposed the structure to roll when pressurizing it and to fix the installation device that used the flat tube. Next, it proposed a light and simple holding power control valve by flat tube to achieve an appropriate holding power control with a proposed installation device

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To make a natural interaction the entrainment between human and robot motions plays a vital role. From this view point we have proposed to use neural oscillators for a motion assist system [2]. However there is a drawback of the method. There are many parameters to be determined, and the effects of the parameters of the neural oscillator are related to each other. In this paper we propose to use an online design method of dynamics for motion assists, instead of the neural oscillators. The validity of the proposed method is examined by the simulations and experiments using one DOF motion system for human leg.

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In our previous work, a personal telerobot system named "telecommunicator" has been introduced. The telecommunicator achieves communication with a remote person through a teleoperated robot. Until now, three prototypes of the wearable telecommunicator, T1, T2 and T3, have been developed as research platforms. However, these robots cannot act as an operator with realistic sensations, because of their typical robot appearance. In this paper, to tackle this problem, a wearable miniature humanoid robot is introduced as the telecommunicator. The robot includes 4-dof dual arms and a 3-dof head with a stereo camera system. Its concept, design and a developed prototype model are described.

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This paper introduces a new wearable handring support system for a person who has trouble in motor capability of their upper limb.The support system is used not only for a support system to make their upper limb active in daily life but also for a rehabilitation system to reduce manual loads of physical therapists.The system measures three rotation angles of patient's head: pitch, roll and yaw to control three degrees of freedom of the support system; angle of elbow joint, angle of wrist joint and hand close/open, respectively. Hemiplegia patient who has paralysis on one half of the patient body can use both arms cooperatively by wearing the handling support system on the paralysis side. In our experiments, the system helps pouring task from POP bottle to a glass, while an upper limb on paralysis side of a user grasps the POP bottle and the other upper limb grasps the glass.

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In this research, we introduce a passive wearable walking support system based on brake control referred to as Passive Wearable Walking Helper. Based on the analysis of the walking of the human being, we fund that the knee joint of the human has to support his/her weight during the walking, and the joint moment applied around the knee joint is large for supporting the weight. Consequently, in this paper, we pay attention to the support of the knee joint in walking, and develop a Passive Wearable Walking Helper which could support the weight of the user during the walking. In the control method, we derive the support moment for the knee joint by calculated human model and experiments illustrate the validity of the proposed system and the control method.

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Laparoscopic surgery has the advantages that reducing patient' damages and risks of infection, and early rising. However, doctor is required special techniques in operation because of restricting significant information by endoscope or forceps. A training system for laparoscopic surgery is highly requested. Recently some training simulators are developed, but there are not many simulators with force feedback. We have focused on reflection force by operating forceps and developed the training simulator for the laparoscopic surgery. The simulator is based on the measured motion and dynamic properties of the forceps operated by skilled doctors.

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Recently, various haptic devices are developed and studied. Though there are many force sense and tactile sense, we focused on the inserting sense in this study. The inserting sense is obtained when inserting trocar. It is the first step in endoscopic surgery that is minimally invasive surgery. But trocar insertion needs advanced skill, especially, how to add appropriate pushing force and the rotation is very important. So, to train the insertion of trocar, we develop a haptic device which can present the inserting sensation with reaction force when insert trocar.

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A personal computer is one of needments in this information age , and a number of blind users is now increasing. In order to get information on the monitor display , many methods on reading by synthetic speech and tactile display unit have been reported , and few studies have been made on color recognition. The authors have developed "composite burst vibration signals" in order to generate vibro-tactile hue such as the combination of three fundamental color lights generates every color and have reported feasibility studies. The vibration with the possibility of adjusting to new "Three fundamental color lights" was confirmed

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We have been developing an automatic endotracheal intubation system using a high performance stylet. This system is composed of an endotracheal stylet and a camera attached at the point of the stylet. One of fundamental functions of the automatic intubation system is to check whether the endotracheal intubation is completed appropriately or not. For achieving this function, this paper presents a method for classifying trachea and esophagus images taken by the mounted camera. The proposed method utilizes circular patterns of cricoid cartilage which is observed in trachea images only. Experimental results show that the proposed method can extract the cricoid patterns in trachea images efficiently and accurately.

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We have developed a feedback control system to support to search internal organ for robotic echography. We have constructed a parallel link robot for echography to move the ultrasound probe as doctor's desire using a controller with haptics. However, in case of remote diagnosis (tele-echography), it is difficult to find the target organ because all information for the operator is displayed on the monitor. Therefore we have developed a software to recognize the shape and the motion of heart by processing successive echograms and reflecting to robot control for autonomous search of heart. We have confirmed the possibility to search optimal cross section of a phantom of heart in a preliminary experiment to shorter time to find heart for robotic tele-echography.

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We proposed and developed a new type of micro valve for the hydraulic pressure driven active catheter. By using this valve, we are able to produce the safe active catheter without electricity. In this report, we proposed a new method of input using the pulse wave of pressure and experimentally verified the utility of this input.

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The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (Curved Multi-Tube Device) which was developed by authors. A CMTD, which consists of a straight outer needle and a curved inner needle, was developed for minimally-invasive surgery and needle insertion. And we use ultrasound as a sensing device to detect the position of tumor and the orientation of the needle which is inserted into tumor. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body. In this paper, we focus on needle path correction in pig liver environment after the occurrence of an error.

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An ankle-foot orthosis(orthopedic braces) (AFO) for the physically disabled is constructed of one or two pieces, but the human leg below the knee is composed of over 26 bones. As a result, the present AFO shape doesn't match the action of human leg. Researched and developed the measurement system using shear and pressure sensors, and the action of ordinary person walk was measured using this system.

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In this paper, we propose a control method to skim the ultrasound probe based on viscoelasticity of body surface for robotic echography. We have ever experimented and confirmed to be able to obtain echogram of patient. A physician obtained echogram of the heart with sensing contact force of ultrasound probe on body surface. However, the probe is not controlled as the physician's desire on abdomen because the viscosity of soft tissue cannot be ignored. Thus, we have noticed the necessity to investigate character of body surface before attempt to obtain echogram. We propose a method to measure viscoelasticity of the tissue by approaching the probe to the body surface two times. Finally, we conduct the tracing operation experiment by reflecting the presumed parameter in the robot control.

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The goal of this study is to propose mechanisms of locomotion for micro robot moving in human coelom. In the previous paper, we proposed three types of mechanisms and evaluated their propulsion. In this paper, we focused on the liquid pressure type of mechanism among them, which is driven by a movement of a syringe and a piston. While that mechanism was driven manually in the previous paper, we realized an automatic operation using a D.C. motor in this paper. We measured propulsions of the mechanism and found that the propulsion of the automatic operation is lager than that of manual control. Then we investigated the effects of section shape on propulsion and found the best section shape.

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Total hip arthroplasty (THA) is performed to replace the biological hip joint with an artificial joint for patients who have rheumatoid arthritis or osteoarthritis of the hip joint. Although THA might result in postoperative complications of dislocation, wear and/or loose, their mechanisms have not been analyzed. We have developed a hip joint simulator that can generate the desired hip joint angle and the contact force for any given daily life motion in order to evaluate the performance of the artificial hip joint. Artificial hip joint dislocation during daily living activities was analyzed with the hip joint simulator.

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Among the elderly person, most of their injuries are reported to be caused by falling down with stumbling. It is due to their shuffling walking style since deterioration of their dorsifiexion muscle force along with aging. Walking plays an important role in their independent day life. In this study, we aim at developing a wearable walking support equipment embedded into shoes for a purpose of fall prevention of elderly people. A commercial product of Ankle Foot Orthosis is introduced and newly developed wire type pneumatic actuator is equipped on to support dorsifiexion motion during swing period at walking motion actively. In generally, this kind of active supporting systems require power source. We propose a driving scheme with no use of electric power, but with only potential energy of the wearer. Required specifications for the equipment are derived and the validity of proposed walking support shoes is verified through some experiments.

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In this paper, we consider a new type ofa mat to prevent bed sores for disadvantaged people. This mat is made of 16 actuators. Each actuator has a sponge that is coated with a cloth and an airtight bonding sheet. Further, when air is charged into the actuator, the stiffness of the actuator can be controlled. At this time, the shape of the actuator is hardly changed by the inner pressure. Therefore we divide these actuators into 2 groups. That is to say, one is a compressed group and the other is decompressed group. Thus, the mat can change the contact pressure distribution that acts to the body by using these groups. Since it is reported that blood flow is prevented under the condition that the contact pressure of seating face is over about 32[mmHg], we measure contact pressure at moving of the mat. From some experimental results, it is cleared the contact area of over 32[mmHg] can decrease from 23.2[%] to 2.9[%] for moving.

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In this paper we had proposed a new care bed. The most significant characteristic is that the bed uses non-linear spring mattress. Most of cot cases cannot toss about in bed that a physically unimpaired person can naturally do. It is a main cause of bedsore that a cot case keeps the same posture in bed without tossing about. For preventing a bedsore, the most of cot cases are changed their posture by using caretaker's hand every two hours. The advanced care bed and the air mattress equipped with a postural change function begin to be used for reducing the stress of the caretakers. NLS mattress can adjust the hardness of bed surface partially. Furthermore, by applying the function, NLS mattress can help the postural change operation.

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Communication is very important to enjoy daily life. If we are unable to communicate with others it becomes impossible to enjoy daily life. Person with serious disability often have communication difficulty because of deterioration of muscle functions. Therefore, communication devices are indispensable to support lives of person with serious disability. Communication devices by push switch or touch switch are generally used by person with serious disability. Considering the deterioration of muscle functions and effectiveness of switching device, some effective pointing devices applicable to persons with difficulty are required. In this paper a pointing device for person with serious disability are proposed. This pointing device detects slight physical movements of the operator. In the field test it is confirmed that proposed pointing device is successfully increased their communication ability of the operator.

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Because of change in woman's place in society, the number of working woman is growing and the demand of the breast pump is increasing as well. Commercial product of the breast pump is applying only negative pressure for sucking and many users feel a pain for a long term use. While a baby is using peristaltic motion as the result of tongue and jaw action in addition to suction. Therefore the breast pump with a baby-like peristaltic motion is developed in this research. In order to realize baby-like peristaltic motion, cam mechanism is applied. And in this research, as the result, it turns out that the breast pump developed is realized the same peristaltic motion.

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To realize the long distance gait analysis, the geostationary satellite type gait analysis system is developed. Proposed system is composed of a mobile robot (walking support machine) and three dimension positional measurement device (FASTRAK). This system follows to the subject who attached markers and measures the marker positions for long distance. This paper report the result of gait measurement experiment in the outdoor environment that has little distortion factor to the magnetic field generated by FASTRAK.

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We are developing a geostationary satellite type gait analysis system that consists of a mobile robot and a magnetic three dimensional position measurement device. But in the indoor environment, there are many objects which distort the magnetic field from measurement device. In this paper, we quantify the magnetic field distortion in the rehabilitation room at Kyusyu University hospital. From the experimental results, we confirm the measurement error and the distance between magnetic receiver and floor has increase proportionally relation.

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In this study, we report on an implantable wireless device for measuring the oxygen saturation and the heartbeat. The device consists of a sensor part, a data transfer part, and a power supply part. We fabricated the test device for the sensor part. We measured the oxygen saturation and the heartbeat from an index finger. The heartbeat and the oxygen saturation were 82 times/min and 81.5 %, respectively. Then we fabricated the prototype, which has all functions of the implantable wireless device. The prototype was waterproof for implanting the device into the human body. We were able to receive the heartbeat signal from the prototype in water.

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It is important to keep regular hours for maitaining health. In this paper, we propose a daily life pattern monitoring system for obsity prevention. The system consists of dietary information input system (cellular phone and web input interface) , health information input system (sphygmomanometer, body composition monitor, and passometer), and web guidance interface.

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Human dynamical balancing capability, which includes sense organs for maintaining equilibrium, deteriorates with age, and this deterioration sometimes causes accidents and falls. However, measuring and training methods for this important capability have not been established. Thus, we are creating a training device to improve the physical condition of elderly people, especially those who require nursing care, and help prevent them from losing any further physical strength. After clarifying that our previously developed device with a fixed structure has limitations as a training device, we designed and prototyped a novel building block-type device based on a vehicle with two parallel wheels. Our experiments using this new device with both coaxial and non-coaxial modes showed quite interesting results, suggesting answers to such questions as "which mode is easier for balancing?" and "which mode should first be tried to obtain higher balancing capability?"

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We newly report a tele-echo guided portable robot, FASTele-1 that assists early echo-diagnosis for wounded patients through long-distance. Especially, the robot will be used for primary diagnosis called FAST [Focused Assessment with Sonography for Trauma] looking for in-body spaces filled with blood caused by shock In addition, it can be attached onto the patient's body even by novices without expert knowledge who encounters at the scene. Four degrees of freedom involving pitching, rolling, translational movement and adjustment for sticking to the body surface are given to it. A mechanical spring allowing stable contacts with the patient body surface is adopted to reduce an actuator and a corset enabling easily fitting to various body forms is used as a base part. Evaluation experiments indicating FASTele-1 enables to send Sonography of in-body cavity enough for FAST diagnosis by medical specialists in the separated area confirm the effectiveness of the proposed design method.

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A humanoid robot has not achieved performance like a human. One factor of this matter is output shortage of a motor. The power weight ratio of the motor falls below that of a human's muscle, and the great progress of that cannot be expected. In order to overcome the limitation of performance, the load of motors must be reduced. A humanoid robot Saika-4 is equipped with a gravity compensation mechanism in the legs. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. This paper is aimed to evaluate utility of the gravity compensation mechanism. To evaluate the gravity compensation mechanism, a dynamic walking motion operated by the same control is experimented with and without the gravity compensation mechanism. And joint torques estimated by the current data of the motors are compared.

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In this research, we design a humanoid robot to simplify the motion control. This humanoid has mechanical advantages of the double spherical hip joint and the ankle passive joint. The double spherical hip joint enables the decouple of motion of the leg and the movement of the posture of the upper-body to be set independently by intersecting the rotation axes of six hip joints in one point. On the other hand, the ankle passive joint enables the change of arrangements of the motor, motor driver and gear, which causes the mass reduction of the leg and the shift of the center of gravity to a higher position. Advantage of double spherical hip joint is clarified by required actuator motion for upper-body swing comparing conventional mechanism.

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In this paper, we propose system where we can write control program that uses robot models interactively in Lisp, and translate it to an equivalent C++ code before execution. The objective is to implement realtime plugins for humanoid robots more efficiently.

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We have studied on how to control more humanlike musculoskeletal redundant humanoids, which have over 100 muscles, about 60 DOFs and flexible spine structure like humans. It is difficult to comprehend whole sensor status of such a humanoid, because it has large number of sensors and actuators. In this paper, we propose a new visualization system for sensor integration of musculoskeletal humanoids, which consists of 3D CG model of robots and various graphical sensor icons. By this visualization system, we can easily and intuitively figure out the situation of the humanoid we developed.

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A humanoid robot's multi-camera head system for attention control to human is shown. In order to realize the humanoid robots which assist human, the head system with wide view angle and high eyesight is necessary. A multi-camera head system and examples of object and human recognition for attention control to human are shown.

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It is for humanoid robots difficult to avoid a fall, the humanoid robots have an unstable system. Therefore humanoid robots should minimize its damage when falling by Ukemi motion: an active shock-reducing motion. Then, we propose the Ukemi motion, with Dynamical 3D-Symmetrization method by which the COG trajectory can be generated online and specify the velocity of vertical direction. We present experiments using a dynamical simulation and a real robot, which verifies the method of Ukemi motion generation. These experiments confirm the effectiveness of the techniques.

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A humanoid robot should be able to keep balance in the presence of various disturbances. We address here a class of disturbances that are due to uneven ground, when the usual ZMP methods are not applicable. The equation of motion has the form of that of an underactuated system, e.g. of a free-flying or a flexible base/link robot. We apply an inertial coupling based control method used in previous works for vibration suppression of flexible base robots. Simulations with a planar robot are presented for two types of disturbances: (i) rotating surface and (ii) jointed-toe foot model. In both cases, balance can be recovered in a stable and efficient way.

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This paper presents an approach to generate and control motion while crouching and picking-up. We determine the height of humanoid's base accoding to distance from an object, decide the trajectory of the center of gravity in accodance with the ZMP trajectory and utilize the joints of crotch when stabilizing. We employ a sequence of above methods in crouching and picking-up task.

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This paper proposes the kinodynamic gait planning for humanoid robots where both kinematic and dynamic constraints are imposed. We can simultaneously plan both the foot-place and the wholebody motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we assume two walking pattern generators; the offline and the online ones. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. When sampling the configuration space, three milestones are sequentially connected to the parent milestone. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on several environments.

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In our previous works, we categorized humanoid sideway passing under motion as three sub-motions (approaching motion, passing motion and departing motion) and realized passing motion. In this study, we propose a motion planning method for approaching and departing of sideway passing under an obstacle with a humanoid. The effectiveness of the proposed method is experimentally confirmed with humanoid robot HRP-2.

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This paper describes a new method of selfmodeling based on active acquisition of operating ranges for a humanoid robot. This approach takes insights from pain perception, which is regarded as the function of self-preservation in nature. The anthropomorphic humanoid robot determines the operating ranges of joint actuators and the workspace by its own active behavior. In addition, the robot is thus operated to protect the joint actuators with the irregular contact detection algorithm. We also discuss that the developed robot is robust for dynamical change of the surrounding environment. The path planning in joint angle space for 5 DOFs arm is examined by utilizing the proposed method and Rapidly-Exploring Trees (RRTs). We conduct several experiments in a real environment in order to verify the advantage of the proposed approach.

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When a humanoid robot supports the human activities, they will have to use tools which humans use usually for executing daily life tasks. The trajectory of the tool is impotant for such tasks. In this paper we suggest "Target Guide Tube" as a concept of the motion generation method based on the trajectory. This method generates motions based on velocity of end effector, so the "Target Guide Tube" gives good reference velocity to move on the reference trajectory. We show the experimental results of applying this method to motion generation on the humanoid robot for executing some tasks, such as bringing, wiping and sweeping.

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We proposed a motion generation method with "Target Guide Tube". In this paper, we use the "Target Guide Tube" to modify the generated motions in real time. Because the position and rotation of the "Target Guide Tube" have a direct effect on what-like motion will be generated, we can modify the generated motions easily by changing them. By using the values of sensory devices for changing them, the generated motions will be modified to be adapted to the surrounding environment. We show the experimental results of applying this method to motion modificaton on the humanoid robot.

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This paper presents a new robust realtime manipulation planning system for robot to manipulate movable objects under interactive dynamics simulator. Previous manipulation planning system was not robust under environment which dynamically changes. To solve this problem, we propose an integrated manipulation planning system composed of symbolic task planner, geometric motion planner and interactive dynamics simulator. Iterative planning process based on realtime strategy is done through global motion planning based symbolic representation, local motion planning which generates robot geometric actions and interactive dynamics simulator which controls both kinematic and dynamic simulation modes interactively. In experiments, we demonstrate that our realtime manipulation planning system can solve manipulation problem with several objects efficiently and robustly under dynamic environment.

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