Humanoid robots are expected to assist human activities in daily life. However it is difficult to achive a task without any failings. A robot system is presented in this paper which is integrated with task planning system and error handling system.

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In this paper, we proposed an autonomous mobile robot system for dynamical environment. The robot system consists of two layers. The one, high-frequently and periodically, generates a trajectory avoiding obstacles by local information from sensors equipped on the robot. The other layer plans and renews avoiding path with global information. We show that the robot system was able to arrive at a goal in dynamical environment with obstacles: a near moving obstacle and moving obstacles in robot's blind spot.

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SBW system eliminates the mechanical connection between the driver and the vehicle's front tire. Instead, actuator is located at the pinion shaft of "rack and pinion" part and receive inputs from the control module to turn the wheels accordingly. The objecitive of this research is to make bilateral control system with feature of power steering. The effectiveness of the control method is demonstrated by experiments with an electronic vehicle.

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We propose devices management software on home network for informational support to residents in home that provides pervasive computing environments. Today, many different devices that present information to residents are installed in homes. When an application program executes informational supports, the program needs to choose the device suited to the situation. To solve the problem how to choose the device used for the support, the program need to consider the position and the posture of the residents observed by sensors, and the form of the information presented to the residents. The device management software can decide which device to use based on functional and spatial property data in administration server of the home. By the software, programs can execute informational supports easily without depending on home environment.

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To reduce physical burden of workers on conveying and mounting works, power assist devices have been proposed recently. In many conventional power assist devices, controlled objects are assumed as rigid bodies. The vibration control technique of conveyed flexible structures has not been fully addressed. This paper presents an effective vibration control method for conveyed mechanical structures with power assist. In this study, the power assist is realized by an impedance control method. If the impedance characteristics of the power assist device are perfectly controlled by the impedance control, the impedance characteristics are known values and correspond to the dynamic characteristics of the disturbance for the vibration reduction problem. Then, this study applies the disturbance accommodated LQ optimal control method to the vibration control. The effectiveness of the proposed method is verified by numerical calculations.

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HAM (Human Adaptive Mechatronics) is a human centered concept proposed by K. Furuta that indicates intelligent machines to help the human to aquire the skill and after aquiring the skill, the machine gradually fade out. In this study, based on HAM, a development plan of an active training wheel for bicycle exercises was proposed. A basic mechanism of the active training wheel and a monitoring system of the condition of the bycycle riding were developed. The improving point of our system was investigated from the bicycle training of a 6 year old child.

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In our previous works, we proposed a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. In this algorithm, especially, a virtual force is applied to the object supported by multiple passive robots for realizing a path following function or collision avoidance function. However, we did not consider the feasible region of brake control, which is determined based on the servo brake condition of the passive mobile robot, for generating the virtual force. Therefore, when the virtual force is out of the feasible region of the brake control, the performances of the path following function and collision avoidance function are decreased. In this paper, we propose a distributed motion control algorithm of the multiple passive mobile robots by considering the feasible region of brake control of each robot, and the proposed algorithm applied to two PRPs experimentally for illustrating its validity.

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This paper presents a new control methodology for the mobile robot wherein the autonomous and man-machine-cooperative controls are combined. In the proposed control scheme, the 'autonomous control' and the 'man-machine-cooperative control' are designed by the time-state control and impedance control, respectively. The former tries to reduce the deviation from the guideline of the robot, the later, on the other hand, generates the power to assist the operator's skill. Furthermore, the composing method of the two different controls are discused. Finally, some experimental results are shown to demonstraight the usefulness of the proposed strategy.

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The goal of this research is to develop a gymnast robot that can perform uneven bars gymnastics. The uneven bars gymnastics is considered to be the expansion of horizontal bar gymnastics in the sense of kinematics. But it has many unique problems in the sense of dynamics. In this paper, the gymnast robot model is modeled in a two dimensional plane as a linked system of three rigid links. The most important maneuver in the gymnastics is to from one bar to the other bar during the performance. The main target of this paper is to derive the conditions so that the gymnast can reach and grab the other bar after aerial somersault. The research object is that we studied trajectory generation in air using inertia moment of systems and effect of swing motion.

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As the concern for the robot rises, humanoid robot has been researched actively in recent years. This study deals with the casting motion of a human. It is one of the fundamental motions in our daily life. In "Kobujutsu", old Japanese martial arts, there is "Jiki-dahou", that is, one of the jaculating methods of Bo-Shuriken (straight Shuriken). "Jiki-dahou" can control the rotation speed and the translational velocity at the same time. The purpose of this research is to analyze Shuriken jaculating arts in old Japanese martial arts and develop a jaculating robot that can jaculate Bo-Shuriken by "Jiki-dahou" method. A grasping and releasing mechanism of Bo-Shuriken is made for jaculating experiments of the robot. It is necessary to release Shuriken at the given accurate velocity and the angular velocity in order to meet a target. Some experiments of jaculating Bo-Shuriken has been done in order to verify the availability of the "Jiki-dahou".

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The healthcare and entertainment area is one of the concerning area for a service robotics. So we are focusing to the service robot system for the entertainment and healthcare of human being. In this paper, we suggest the riding robot system that is a riding robot like as a horse, and the rider can to enjoy the riding motion include the walking motion, running motion, turning the direction, and checking the health conditions. These health conditions include the horseman's weight, blood pressure, and pulse and heartbeat used by the specially designed bio-handle mechanism. In order to generate the riding motions like as a horse, we developed the 3 DOF saddle mechanisms for the entertainment that are simulating the motions of pitch, roll, and bounce. And the reins and spur mechanism are developed which is to feedback the intention of horseman like as the start of walking, running, stopping, and turning of direction. And also, the bio-handle mechanism for the healthcare are developed which is to check the user's weight, blood pressure, pulse and heartbeat for intention of horseman like as the start of fast walk, stop, and turn to the left or right direction. In order to evaluate the performance and healthcare service of the developed riding robot system, we evaluated the three kind of riding motion like as the low speed, middle speed, and high speed riding motion. And also, the healthcare services of users are tested.

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Realization of mechanical softness is an important issue for a safe and adaptive control of robots in the real world. However, because the robot also requires stiffness for task execution, the simultaneous realization of softness and stiffness is necessary. In this paper, we design a nonlinear passive stiffness using closed kinematic chain. Because the proposed mechanism utilizes linear spring and nonlinearity of the closed kinematic chain, we can easily design the nonlinearity of the stiffness by changing the link parameters of members. The proposed mechanism is used for the leg of a robot and the mechanical parameters (length of members) are optimized so that the impact force on landing is reduced. The effectiveness of the proposed mechanism and optimization method are evaluated by simulations and experiments.

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Human safety is one of the most important issues in human-friendly robotics. We have developed a safety device to improve the safety for humans in the human-friendly robot's workspace. The safety device consists of only mechanical components. In this paper, we develop a 3-DOF (Degree of Freedom) robot manipulator equipped with the safety devices. The usefulness of the safety device is experimentally examined by using the robot manipulator.

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This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

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A prototype of a variable stiffness joints drive module is presented in this paper. Although human beings adjust the stiffness of their joints depending on a task, most joints of current robotic arms are very stiff and not variable. The joints are usually driven by motors through gear trains and the reduction ration is high. This mechanism causes the high-stiffness of the joints. In order to provide human-like characteristic for robots, you should make the stiffness of joints variable. The module we are developing will be used to realize a robot with joints whose stiffness is variable. The robot can adjust the stiffness of joints depending on a given task like a human being. In this paper, the first prototype of the module is described, and results of the experiments that were conducted to verify the variable stiffness are shown.

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This paper describes a new remote control operable with stroking its surface. There are lots of remote controls in our houses such as TV remote controls, air conditioner remote controls, and so on. However, when we use a remote control, we need to look at both the fingers and an appliance that we want to control. It is not highly problematic for young people, but elderly people have a difficulty in operating remote controls. It will be comfortable for people to use a remote control without looking at the fingers. In this study, we propose a remote control, Rebo, operable with stroking its surface and apply to a TV interaction system. The advantages of Rebo in comparison with conventional button-based remote controls is the tolerance for mistakes because it enables unfamiliar users to home electric appliances to use it casually without fear of mistakes and unexpected behavior.

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This paper investigates reliability of information communicating between humans and robots for constructing a robot system spreading a rumor. In recent years, development of robots is active and accordingly the chance to meet the robots increases in the public space. However, it is expected that there is the difference between the reliability of information from humans and robots. We carried out experiments to investigate this problem. As a result, the reliability of information from robots is higher than that from humans. The results of the experiments give a helpful suggestion to design a social robot.

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In these days, people expect functions to comprehend characteristics of the user, for example interest and liking, to communicate with computers smoothly. In this study, we constructed a system to visualize an interest model of the user based on information in browsed Web pages by the user by extracting words and interword relationships. In this model, metadata is appended to words and interword relationships. Kinds of metadata of words are personal name, corporate name, site name, name of commodity, product name and location name. Metadata of interword relationships is prepared to these words. This system makes a map by visualizing this model. This system has functions to modify this map. We showed efficacy of this system by using the evaluation experiment.

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"Singing" is one of the most important and popular artistic human activities. The purpose of this research is to develop a mechanical Singer Robot with artificial larynx. We have already developed a singer robot that can generate Japanese 5 vowels [a], [i], [u], [e], and [o], and it can change the voice pitch by manipulating the artificial vocal cord. The robot has become to be able to generate some of the Japanese consonants such as "ba" and "pa". In this paper, the investigation of the influence that the pitch control mechanism gives to the consonant utterance is described. To expand the consonant that was able to be uttered, the vocal chords vibration control mechanism that switched the voiced sound to the voiceless sound was made.

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Recently researches of biped running robots have been increasing. Most of these researches deal with low-velocity running such as jogging. As the running velocity becomes higher, the ground reaction force becomes larger than that of low-velocity running. The larger reaction force makes the robot unstable. Therefore, in high-speed running, the control of the ground reaction force is very important. In this study, in order to get the fluctuation of mass center of runner's whole body, we simulate running movements of human athlete in a weightless condition. How the movements of four-limb during running effect the relative position between the body and the mass center is analyzed from the simulation. The simulation results can be used for controlling the running robot to stabilize the posture of it and for controlling the reaction force.

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The purpose of this research is to develop a manipulator that can carry an object on a flat plate to the desired position dexterously and can throw the object upon the higher place. The manipulator consists of a robot arm with two links and a flat plate rotating as an end-effecter. The system is constrained in a vertical plane. The manipulation of "Wrist rotating motion" is used to make the object on the plate moved stably on the plate by making the plate angle perpendicular to the direction of the force acting on the object. The force can be measured by an acceleration sensor attached at the plate-rotating axis. The trajectory of the manipulator for throwing a rectangular parallelepiped object upon the higher place is designed. The desired trajectory and the control method are verified by experiments.

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In this paper, a example of the education about the machinery safety and risk assessment in the class of college of technology. This try have the practice of risk assessment for a service robot, and the problem about a description of inherently safe design.

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Service-robots have not been assured the safety authorized for physical coexistence of human and robots, Only the reason of small revel of risk is not sufficient for robots to be used for their own service to human. In this paper, to resolve the problem of resultant responsibility caused by residual risk, idea based on the trust system is presented that Principle of trust-law is applicable to establish the new condition of coexistence of human and robots.

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Recently, robots called "Service robot" are expected to make comfortable life for people. However, service robot is not utilized for people in our society because there are not completely safety rules. The International Organization of Standard require that risk management should be performed by engineer or designer. (ISO14121[1][2], ISO 12100[3]) According to the International Organization of Standard, the safety measure of service robot is depended on engineer or designer. Therefore in this paper we try to suggest the service robot secure, to implement risk assessment. We propose a method for risk evaluation by ISO steps described in this paper. Evaluation experiment are also performed by using soccer robot.

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This study aims at the development of the fault-tolerance function of welfare device to avoid the human error of manual operation in case of malfunction of the machine. The method to prevent the carelessness by inexperience and the ignorance of risk by experience or unawareness is proposed and verified by the experiments of operating manually the linear sliding mechanism.

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In communications between human beings, it has been found that happy facial expressions are promoted and anger and sadness expressions are weekend by the partner's reactions with synchronized emotional expressions. Then, we have proposed a human-robot interaction technique based on the emotional synchronization to improve the human emotional state. Also we have developed the proposed interaction system using a facial expression robot KAMIN. In this paper, we evaluate the proposed technique by the interaction experiments between human and the robot KAMIN. It was found that the robot reactions with emotional synchronization changed human emotion comfortably.

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To establish a harmonic interaction between a human and a computer, we reconsider human interactions that establish natural communication. Instead of investigating verbal communication, we use the simple and low-level environment where inputs and outputs of subjects are restricted in a low dimension at the behavioral level. Our final goal is to clarify with the simple environment how humans can create human-like interaction such as an interaction that produces the feeling of human. To achieve it, behavior-based turing-test is proposed here. As a result, it is shown that the emergence of turn-taking behavior plays an important role to pass our behavior-based turing test. The results are also discussed with the attractor superimposition.

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The purpose of this study is to obtain a novel useful description of a humanoid's appearance which is important for designing friendly and humanlike exterior. We focused on a biological word "flesh" and considered its design. Appearance features which can be called "skin surface" and "filling" were extracted and an robot exterior was designed considering these features. Effects of these features on oddness of the robot and tactile interaction were analyzed through questionnaire survey.

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Congestion in parking lots is a common problem. While the behavior of the vehicles is known to have an influence on the congestion of the parking lot, this aspect has not been well studied. In this research we developed a traffic simulator to observe and study the influence of the behavior of individual vehicles on the overall congestion of the parking lot. In our study we experimented with five behavior patterns, and the results indicate that defensive driving behavior helps towards alleviating congestion problem.

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Exoskeletal robots are attracting great attention in the field of robotics with various human-interactive applications. In the control of such exoskeletal robots, model based controllers are often implemented to determine its desired torque commands. For this purpose, an accurate dynamic model of the device including the user's body is required. In real applications, however, the model parameters such as mass and center of mass of each segment are not exactly known since the human body is involved. In this paper, the dynamic model of an exoskeletal robot SUBAR (Sogang University Biomedical Assistive Robot) including the user's swing limb is assumed as simple planar links and the model parameters are obtained by the parameter identification method. Furthermore, for the simple and accurate identification, the dynamics of hip and knee joint motions are decoupled by fixing joint angles in the experiments. The presented identification method is verified by experiments.

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This paper presents an electromyography (EMG) signal based control method for a six degree of freedom upper-limb exoskeleton robot (SUEFUL-6) to assist the human motions of shoulder vertical and horizontal flexion/extension, elbow flexion/extension, forearm supination/pronation, wrist flexion/extension, wrist radial/ ulnar deviation and daily activities of upper-limb of physically weak individuals. The proposed EMG-based muscle-model-oriented control method enables the SUEFUL-6 to assist the user's motion according to the user's motion intention. Experiments have been performed to evaluate the effectiveness of the control method.

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This research is not the high technological power assist system. The aim of this development is the making goods as simple as possible and more economically, and be able to exchange the conventional cloth supporter. Almost all the conventional knee supporter works by flexing the knee joint, and not be found by using mechanical suspension. Now we invent the mechanical supporter system. This system works only when the knee feels shock, and don't work other way. So the people attached this system can move the legs smoothly, like when he does the stretching exercise. We apply the combination spring and pneumatic system, and check availability by simulation.

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Recently, many power-assist robots have been developed to support and amplify human muscle strength. These robots are expected to use in various fields such as medical welfare, rescue, agriculture, physical labor in the factory and so on. In these activities, one hand is always in active to accomplish the task. Therefore, the hand assist device is useful. There are several researches to assist the hand. Pneumatic actuators are used because of high power weight ratio and light in weight. However, the degree of freedom (Dof) is yet to be enough. In this paper, a grip amplified glove using bi-articular driving mechanism is proposed and developed. Pneumatic artificial rubber muscles (PARM) are used as the actuator. The glove has totally 10 Dofs. The glove has the feature that the electrical sensors are away from the wearable part. Therefore, the glove is environmentally-resistant. The effectiveness of the glove is demonstrated experimentally.

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This research aims at development of a novel system to support wrist motion. The system aimed at patients with one-sided paralysis suffered from brain disease and orthopedic patients. In this paper, it is studied that a wearable surface shaped soft actuator, and its control method. The actuator, named WTA-band, is able to output torque more than the need torque of wrist's 2 DOF motion to utmost limit. Its output torque and position is controlled by pneumatic pressure. To control its position, it was developed that a novel mechanical feedback control system, named Wireless Position Feedback Valve. The system can be controlled by wireless signal from a sensor on non-paralytic wrist. Next, Experiments showed that wearable actuator, which is composed of 4 WTA-bands and a supporter, has an ability to support wrist's 2 DOF motion. Furthermore, its effectivity was evaluated by Tokyo Medical and Dental University. Finally, experiments showed that the goal system, which consists of WTA-bands and Wireless Position Feedback Valve, can control wrist angle.

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Because of the progress of industrial technology, we have liberated from heavy tasks in a large sense. However, heavy tasks that are difficult to mechanically automate are still remained a lot in the field of agriculture, manufacture, construction, and so forth. These heavy tasks are big issue since they cause work-related musculoskeletal disorders. Therefore, we developed Muscle Suit in order to solve this problem. Muscle Suit, wearable robot, provides a muscular support by wearing it on the laborers. The use of McKibben artificial muscle allows Muscle Suit to be lightweight, small enough, and reliable for practical use. In this paper, we have developed Muscle Suit for factory laborers and also examined the effects of the Muscle Suit on lifting and holding load tasks.

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This paper introduces an exoskeleton assistive system for an upper limb of a person who has trouble in motor capability of his/her upper limb due to a stroke, a muscular dystrophy, a brachial plexus injury, and so on. This assistive system is developed to especially support eating motion of a patient who cannot lift his/her upper limb weight due to his/her muscle weakness. The assistive system could be used not only for an assistive system to use his/her upper limb for activities of daily living(ADL) but also for a rehabilitation system to reduce manual loads of physical therapists. The system assists three kinds of motions; angles of shoulder joints, and angle of an elbow joint and then three DC motors drive each joint through wires. A position of a patient hand is controlled by a foot controller that measures six motions of a patient's foot: plantar flexion/dorsiflexion, inversion/eversion, adduction/abduction. A patient who has paralysis on his/her hand can take a simple task in ADL by controlling his/her foot. Through experiments, we confirm that the assistive system helps a wearer eating by moving a paralyzed arm from a dish or a bottle to his/her mouth.

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Android robots that have a human-like appearance have been developed recently. The purpose of android robots is to realize realistic communication between human and robot by implementation of human-like behaviors. This paper shows remote class support system with android robot that we developed. The system can express facial expressions, call student's name and make eye contact with a student by tele-operation. We carried out the field trial experiment at an elementary school to verify the effectiveness of this system by comparing to the case of using only a speaker. As a result, we confirm the positive effects and possibility of this system in educational applications. We believe that this system also can be applied to other remote communication systems like a remote diagnosis.

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A human interface using a robot face is proposed in this paper. The robot face was designed using simple mechanisms in order to achieve a low cost system. In this paper, the experiments on human facial expressions are conducted in order to investigate human emotion, and the simplified robot face was designed using the experimental results on human emotion.

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We focused on the physical customization of robots, and we developed a customizable communication robot "WEAR(Waseda Extendable ARchitecture)" which is installed the self-body-assertion (SBA) system which can accept / reject its user's customization. In this paper, we carried out an experiment which we let users navigate the robot to verify the effect of the easy understandable SBA. As the result, we confirmed the easy understandable SBA increased user's "friendship" and "activity".

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This paper proposes a transition model of topics for a human-robot communication. In general, a robot should have scenarios on topics based on a current state and a personal preference. The topics used in the communication include the information on seasons, voice and the surrounding environments on the person and robot. In order to realize the flexible communication with a person, we propose a Boltzmann selection for the transition of topics used in the conversation. Moreover, the robot learns the personal preference by human response and human state. Topics are changed with the learning of a suitable personal preference. Next, we conduct experiments of communication between a person and the robot.

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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. To tackle this problem, a wearable miniature humanoid robot has been introduced as the telecommunicator. The robot includes 4-dof dual arms and a 3-dof head with a stereo camera system. In this paper, its concept, design and a developed prototype model are described. Motions of the prototype are calibrated using dedicated fixtures. Experiments show the prototype follows motions of the operator.

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This paper describes influence of oral directions for motion modification in perception-assist with a power-assist robot. The robot system consists of 3DOF active stereo camera system and 4DOF upper limb exoskeleton robot, and assists user's motion using EMG signals. The robot system also automatically modifies the assisting motion based on the information of the user's interaction to the environment. Before the assisting motion is modified by the robot, the hand position is informed to the user or the user is warned by sound.

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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 bending and extending finger motions are difficult, that prevents someone from performing daily activities. Therefore developing a device to realize an independent daily life of people with disabilities and to reduce the burden caretaker is expected. To perform daily activities with wearing this device lightweight, flexible and wearability is useful. So, there are many studies about support devices. In this study, a wearable power assist glove to support bending and extending finger is developed. This device consists of sheet-like curved type pneumatic rubber muscle. In this paper, the structure and characteristic of this device is described. Additionally, the effectiveness of this device is experimentally evaluated.

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This paper describes the development of a socks-shaped fluid powered actuator, which creates flexure motion of ankles in order to prevent thrombosis and drop-foot. This actuator is composed of two internal ballooning devices, one to provide dorsal flexion and the other, to provide planter flexion, which being light weighted and simply weared. Furthermore, since the structure does not have a fixed rotation axis, it adapts to the motion of the ankle, which has a rotation axis non-perpendicular to the saggital plane. The dorsal and planter flexion motions of an ankle using this actuator were measured through myogenic potential, showing the effectiveness of the actuator regarding support of ankle motion.

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Human hand dexterity is limited by upper limb tremor. The tremor occurs even among healthy people, called physiological tremor. It becomes a problem when people do a difficult task which requires high positioning accuracy on their hand manipulation. For instance, surgical operation, assembling or fabricating components, shooting with camera, and so on. In this paper, we propose a concept of tremor suppressing device that can be worn on the wrist and apply external force with active control, and present a experimental result as a feasibility study.

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This paper describes the assist force control of semi-active assist system "Smart Suit" for horse trainer. We developed a soft and flexible power assist device named "Smart Suit" for reducing horse trainers' physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. The assist force is basically gained by the elastic force of rubber belt, and it is controlled by turning the length of the rubber belt by using DC motor. In order to gain the suitable assist force for periodical horse trainers' motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP) which is the dynamic stable point.

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A method of giving intelligence to control robots by human navigations is one of appropriate solution to respond to a lot of unforeseeable situations, and making movement of complicated robots in contact condition with surroundings is not easy. In this research, a bilateral wearable device using stiffness adjustable muscle actuator modules is developed in order to control robots, feel external force of robots and teach that contact on surroundings. For an experiment it was realized maneuvering a musculo-skeletal humanoid, it could feedback humanoid's external force to manipulator and its force feedback by bilateral control leads manipulator to do safety contact motion.

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In this paper we clarify the factor of the scenario that the English conversation robot should have and factor of the impression after it talks. The factor analysis and text Mining are used for the analysis. The data structure to be analyzed is clarified by classifying the targeted text data into the group of the one which the content is near, and showing the word used in the feature in the attribute such as another of the classified group and character ages statistically.

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Recently, it has become common for new words to be created and be used in conjunction with well known words to give new meanings on the Internet. While it is possible to guess the meaning of the words from the context, it is quite difficult to explain the meaning. In this research, using data from search engines, we focus on the frequency of the occurrence of words to find the correlation with some given ambiguous word. The results show that with our proposed approach it is possible to extract relationship between given keyword and closely related words as a means towards defining the meaning of the keyword.

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In this study, the loudspeaker to communicate naturally with partner robots is presented. The head of human is considered to be an omnidirectional loudspeaker and a regular dodecahedron is assumed to be an approximation solid of the head. Two prototypes of the omnidirectional loudspeaker with twelve dynamic loudspeakers embedded in the faces of regular dodecahedron and the controller of sound pressure were developed. The measurement system of the 3-dimensional sound field made by the omnidirectional loudspeaker and the method to reproduce man's voice were also proposed.

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