Our goal is to create a robot which can communicate with people for a long time. We developed the customizable communication robot "WEAR(Waseda Extendable ARchitecture)" which is installed the system which can reject of user's customization in random order. In this paper, we carried out an experiment to verify the users' impression for frequency of rejection. As the results, we confirmed that the more frequency, the less "Affinity" users feel at the robot. But some rejection makes users feel "Autonomy" at the robot.

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I designed and developed 24 degrees of freedom remote controller for humanoid robot. The operation was enabled by using four 6-axis force sensors and method of inverse kinematics. The basic function is to enable a remote control for humanoid robots with large degrees of freedom in real time. As a result, I succeeded in controlling the both hands both feet at the same time.

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Recently, various kinds of home robots have been developed and are getting common in our lives. However, most of the users of home robots do not have the knowledge of hardware and robotics, so they should not be compelled to do any troublesome procedures and manipulation. In this paper, we introduce an intuitive interface for simple and direct manipulation of home robots, focusing on how to interact with robots when use them. In particular, our system adopts pen-stroke gesture as an input command on computer screen. We designed and implemented several types of gestural commands representing corresponding tasks, and then conducted some usability experiments.

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Interactive support technology is able to assist a worker to do a task by presenting the appropriate working procedure according to the situation through a head mounted display (HMD) etc. It aims that an unskilled worker will be able to do a task that requires advanced skill, and to improve the worker's skill by using this technology. Plate bending work by line heating is chosen as an industrial application of the interactive support technology. This paper reports the instruction method of a burner position, posture and movement speed, and experimental results of line heating work.

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Chameleons locate the prey with large and independent saccades of the highly mobile eyes. Human cannot control both eyes independently, and cannot perceive independent view fields for both eyes. But we assumed that the human becomes able to perceive the images for both eyes and control visual axes with the appropriate support. In this paper, we describe a comprehensive system to provide two independent view fields to both eyes of human, using two CCD cameras independently controlled and a head-mounted display. Each camera was set to track the movement of the finger so that view fields can take any arbitrary direction. Most of subjects became able to control and understand two different view fields independently after some practice.

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In this paper, we propose a new noise suppression method for telexistence robots that preserves binaural cues. Auditory system of telexistence robot is required to provide the user with adequate binaural cues for sound localization so that the user can feel as if he/she were in a distant place. However, auditory system of robot suffers from internal noise such as motor vibration and ambient noise. Signal processing for internal noise suppression may lead fatal damage on the binaural cues. The proposed method utilizes adaptive noise canceller in the lower band to suppress internal noise preserving binaural cues, and delay-and sum beamformer in the higher band to suppress ambient noise in the distant place. The proposed method is implemented in a robot head system with 8 microphones. The evaluation experiments show that the proposed method suppresses internal noise by 6dB and ambient noise by 7dB, and preserves binaural cues sufficient for sound localization.

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In this paper we propose a novel display system that consists of a high-speed vision and high-speed projector. And this system can control a view of the projected image by controlling the original image acquired from high-speed vision. The projection image is generated based on the affine transformation estimated from present and desired positions of feature points on the camera image. By repeating these processes, a desired view of the projected image can be achieved on any deformable screen.

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The exhibition to a high tip of a finger the space resolution becomes important in a tactile display in the conventional investigation. However, we must touch the tactile display that we can cover at a time at a tip of a finger in a bigger area practically very small. This paper proposes sense of touch exhibition to the palm for sense of touch stimulation of the big size area that cannot cover only at the area of a tip of finger and think about a finger-tip in the pin display and a difference of the shape communication of the palm.

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Detection of the line-of-sight (LOS) has various applications, such as communication technology and welfare field. To realize such applications, there is strong demand for an LOS detection system that does not restrict users' activities and inflicts no mental stress. In this paper, we propose a novel wearable pupil position detection system, featuring minimum disturbance to users, both physically and mentally, via the use of dye-sensitized photovoltaic devices. These devices are transparent and generate voltage according to the incident light intensity. Arraying the devices on eyeglasses, this system detects the difference in the reflection light from the pupil and the white of the eye and hence determines the position of the pupil.

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We are aiming at developing a portable haptic device that presents the feeling of hardness to bare fingers, as a part of research on Ultra-realistic Communications System. In this paper, we made a prototype of the portable haptic device. By using the device, users can grasp, move and rotate imaginary objects rendered by a three dimensional display. The device can display not only soft objects but also hard ones. We conducted experiments to evaluate the developed haptic device. The result shows that our device can display the hardness and size of virtual objects to people.

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We present a method for easily guiding the navigation of a humanoid robot through complex terrain. A user specifies an overall path by drawing into a scene (via an augmented reality system) while the robot is walking. In this way the user can guide the planning of safe footstep locations, ensuring that the robot reaches its goal in the desired fashion. Results are demonstrated on the robot HRP-2 navigating on and around various obstacles.

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This paper describes a construction of dynamic model specialized for the shape of large artery, in order to develop a surgical simulator of aortic replacement operation. Recently visualization techniques of human internal organ from various medical images make tremendous progress. However, it is difficult to apply these techniques to construct the virtual organ model of surgical simulator, because of the necessity of feelings. This study aims to automatic construction both visual and dynamic model from 3DCT images.

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We have developed a skill reproduction system using the AR (augmented reality) Toolkit and GUI interface developed by OpenGL. The system is designed to support echography as an example. This needs only an USB camera and two markers for the body surface and the probe are necessary to memorize and transfer three-dimensional position of the probe. We have also designed a graphical user interface including echgram, patient scene and CG to navigate probe position. As the result of evaluation experiments, guided probe position was satisfied to reproduce the echogram for diagnosis. The system is also thought to be possible to apply for training of medical skills or traditional writing.

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In this paper, we proposed a new method to plan the motion of an encountered-type haptic device for rendering several switches on a control panel in virtual space. We introduced the virtual surface coordinates to the motion planning so that the device moves along the virtual control panel in order to avoid unintended collision with the user. We also improved weight function used in the motion planning to reduce the duty of the device motion. The proposed method was verified by numerical simulation.

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We propose a new touchpanel which can present haptic information with Electro-Tactile Display. There is electrode array in surface of the panel. When we touch the panel with our finger, haptic sensation is presented by the voltage which applied to the electrodes. The location of the finger is obtained by monitoring resistance value between the electrodes. This display can provide not only the sense of vibration but also the sense of pressure without large mechanical architecture. To verify the effectivity of this method, we conduct three experiments. The results of the experiments show that the proposed tactile display can generate haptic cue for manipulation of touchpanel interface.

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For a thoracic aorta surgery, it is impossible to make completely a surgical plan. The surgeons have to estimate a shape of aneurism and/or its internal organization configuration, so that they highly hope for the technique that enables to correctly display the shape of patient's thoracic aorta. This study aims to make an algorism that automatically generates a graphical model of aortic aneurysm from three dimensional CT images. In this paper we extracted inner wall of aortic aneurysm from a patient's CT images by using a region growing method, and discussed how to extract outer wall of aortic aneurysm.

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This paper addresses Mixed-Reality environment which is constructed for interaction between autonomous robots and the users. We have been developing Mixed-Reality environment for the autonomous robot system. The internal statuses of the robots are projected to the real environment. It enables the users to understand the behavior of the robot system intuitively. We added a function of specifying 3D position in the environment, and constructed an interaction system in which users share 3D positional information with the robots. An interactive navigation experiment of a humanoid robot is shown as an example of the application.

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Recently, researchers investigating human machine interfaces (HMI) have been trying to create easier to use interfaces by taking advantage of the communication and manipulation skills natural to human beings. HMIs with a direct sensing feature can be developed for a wide range of applications. However, because of the inherent limitation posed by input devices such as the mouse, keyboard and touch-sensitive panels, it is not possible to utilize the abundant forms of natural human expressions. In this paper, an effective non-contact technique for the measurement of the human hand motion with application to HMI has been reported. We propose a method for detecting the motion f a subject's hand with respect to a given measurement electrode by measuring the current generated due to the change in the capacitance between a subject's hand and the measurement electrode. This method effectively describes the behavior of the waveform of the induced current.

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We developed a power assistance apparatus attached to the upper limb, using differential gears for nursing care, or workers who often lift loads up and down. Two motors behind the shoulder of the equipped person provide motive power to drive shoulder and elbow joints, and the differential gear makes it possible to divide the power between them effectively. Shoulder-joint link mechanism was taken into account the Five degrees of freedom of shoulder blade motion. In order to assist the motion of three degrees of freedom with motors, the actuator for shoulder abduction motion was added. By means of three actuators, this apparatus can be supported the behaviors in daily life; meal, face washing, and makeup, and so on. To grasp the behavior of the arms of the equipped person, pressure sensors were attached under the upper and lower arms. Furthermore, the experiment that the apparatus supported the equipped person's three-dimensional motions included in the behaviors which described above was carried out. As a result, the arms of the equipped person could be moved at will, and supported the behaviors in daily life.

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Several rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness with such systems has been reported for the aged people or post-stroke patients. Almost all systems have utilized motor or other actuators. Actuator-based (active type) robots have great advantage for rehabilitative activities, for example assistive forces and so on, but on the view point of safety, we have a room to consider brake-based (passive type) rehabilitation systems. However, the effects and roles of active / passive force feedback for human senses, motions, rehabilitative effects and safety have not been clarified yet. In this study, we have developed an active / passive switchable rehabilitation system for upper limbs (Hybrid-PLEMO), and discussed its effect effectiveness. In this paper, we describe the specification of the Hybrid-PLEMO. Additionally, we discuss the effect of oscillatory stimulation with active / passive force feedback for facilitation techniques.

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Recently, the number of elders who need care have increased and consequently the overload of caretakers has increased. Therefore, development of assist device is desired from caretakers. We designed an assist device that mimics upper limbs using rubber artificial muscle to help caretakers take up and take down patients or elders. This device is controlled by weak forces of caretakers' hands and driven with pneumatic artificial rubber muscle to be safe when people strike the arm of the device. In this paper, we describe characteristics of pneumatic artificial rubber muscle, controller design, simulation for controlling the two link-arm, and experiment for motion of the link-arm.

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This paper describes the basic concept of our multimodal sensor control system for 3-Degree-of-Freedom transradial prosthesis. The target of developing the innovative controller is to reduce the mental effort of planning and operating multiple joints in the conventional multifunctional myoelectric controller. An accelerometer is installed in the socket and the angles of the gravitational force are computed to drive the pronation/spination joint and the flexion/extension joint of the prosthesis. A threshold ON/OFF control using the posture information is implemented with the triggering of a co-contraction EMG signal. Through an experiment, we confirmed that this controller is capable of reducing substitute shoulder movements and error EMG firing in the signal source forearm muscles for pick-and-place tasks, when compared to the task conducted with conventional locked-wrist prosthesis.

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Rehabilitation for upper limb is important for stroked patients and the aged people with motor disorder. In recent years, the rehabilitation system using robot and virtual reality is expected to quantify the effect of rehabilitative training. Robot system can enhance the motivation of an operator by creating new training methods on robot system. Furusho Laboratory of Osaka University has been developing many 3-D rehabilitation systems with high safety by using virtual reality technologies. On the other hand, the rehabilitation focusing on the neuro-science is more effective. Dr. Miyai (Morinomiya Hospital) has established observation system of the brain activities during treadmill exercises for healthy adults. In this paper, we describe about the development of evaluation system of motor function for upper limbs using 3-D rehabilitation Robot "EMUL" and brain function imaging method "NIRS". This makes the evaluation system more quantitative. This work is joint research between Osaka University and Morinomiya Hospital.

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Transtibial amputees have lost their ankle-foot complexes and gastrocnemius muscles, which also affect the knee joint as well as the ankle. We optimized the engagement time and spring stiffness such that a transtibial amputee musculoskeletal model can track the biological knee and hip joint torque profiles. Moreover, we have developed the prosthetic device for transtibial amputees, which is composed of a knee flexor and a powered ankle-foot prosthesis. The knee flexor works equivalently to biological gastrocnemius muscles. Pilot Trial was conducted on a bi-lateral transtibial amputee. In the trial, we measured his energy expenditure for his self-selected walking speed with our device and conventional ankle-prosthesis. The result shows reduction in his cost of transport.

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In this paper, we introduce a wearable assistive robot "Wearable Lower Extremity Assist System" that was developed for the purpose of assisting people to conduct various kinds of daily activities. To control this system, we don't use biological signals such as EMG signals because it is difficult to measure them exactly. Instead, we control this system with a model based control algorithm. In the algorithm, assistive torque for the user's knee or hip joint is calcurated based on a human body model. In this paper, we intend to support the user's daily activities such as walking, standing up and sitting down motions, going up or down stairs and so on. We first describe the Wearable Lower Extremity Assist System that was developed for supporting the user's motions of the knee and the hip joints. In addition, we validate the effectiveness of the system by conducting experiments with several subjects.

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Walking assistance is necessary for elderly and persons who work long hours or do a heavy activity. In order to comply with social requests, a walking assistance apparatus used a spatial parallel link mechanism have been developed. In spite of the apparatus do not have to be fixed on person's legs, the apparatus can assist whole legs of a person including his/her soles. The apparatus equipped a control unit and lithium-ion batteries, and could drive over one hour period. To stabilize the equipped parson's posture for horizontal direction, leaf springs were attached to prevent over-adduction of hip joint. The muscle fatigue while walking with wearing the apparatus for one hour was evaluated by mean power frequency (MPF) using electromyography. As a result, The MPF from the data without wearing the apparatus was decreased, however, the MPF from the data wearing the apparatus was not decreased. Therefore, the effectiveness of the apparatus could be confirmed.

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In this study, we try to develop device to support elderly people's standing up motion, which is one of necessary and frequent movement in our daily life. Developed assist device consist of pneumatic rubber artificial muscle. It is make easy to attach and remove in daily life and to improve equip and body-friendly. In this paper, we measure basic characteristics of the device, and after that consider the effectiveness of the device when a single paralytic used it. From the result, we discuss the effectiveness and practicality of the device.

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This paper proposes a seating position adjustment assistance system for our developing robotic walker. Our assistance walker focuses on domestic use for aged person who needs nursing in their daily life. From questionnaires of nursing specialists, an adjustment operation of the accurate position for seating is usually difficult for elderly people and this operation has high risk of falling down. Thus, we develop the assistance system which can assist the aged users to adjust the seating position safety. For maximizing a rehabilitation performance, we design that the patient walks to the target chair by himself and the assistance system specializes only a seating position adjustment assistance before sitting down. The performance of our proposed system is verified by experiments using our prototype.

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Ankle-Foot Orthoses (AFOs) are orthotic devices supporting movements of ankles of disables people for example hemiplegia, polio, peroneal nerve palsy, guillain-barre, etc. In our research, we developed a passive controllable AFO (Intelligent-AFO) which can control its ankle's torque by using a compact Magneto-Rheological fluid brake (MRB). The brake in which the Magneto-Rheological fluid is used as a working field has a simple structure and rapid response. In this paper, we describe an application of the I-AFO for a guillain-barre patient and the result of the experiment. In addition, we describe a newly developed AFO which has lower weight than previous.

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The aim of this research is to develop a human gait measurement and evaluation system which gives a quantitative and effective evaluation index of a human lower limb movement. It will be utilized to support a medical examination and a rehabilitation of patients with limb movement disorder. In this paper, we will develop a prototype of a human gait measurement system based on gyro sensors and acceleration sensors attached to a human body, and try to extract walking features from measured data of quasi hemiplegic gait in comparison with normal gait.

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In this study, we propose a leg-robot with a Compact MR Fluid Clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, we especially focus on ankle clonus, which is one of the abnormal movement usually occurred in ankle joints of brain-injured patients. We suggest new method to demonstrate haptics of the ankle clonus with this system. We also confirmed its effectiveness for learning of the test skill by using this system.

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Advanced countries including Japan are facing aging society and problem of nursing care of elderly is becoming perceptible. Keeping independence of elderly is important from both reduction of nursing load and enhancement of quality of life point of view. Locomotion is often a burden of independence due to reduction of leg force from age and injury. Wearable robots are expected to serve such elderly by supporting their movements. In this paper, we propose a design methodology of power assist device for lower limb, specifically knee joint. A class of hydraulic actuation was applied to provide large torque and backdrivability simultaneously. Optical motion capture and inverse kinematics / dynamics were used to decide the specification of the actuator. Specification evaluation and backdrivability estimation was performed by combining mathematical model of the actuator and actual components' performance data. Preliminary mechanical design of the actuator is also presented.

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In recent years, accidents of fracture with elderly people increase because of tendency to fall by a little step in a house. As one of this cause, it is considered that a center of gravity position with foot parts of elderly people is changed. Therefore, in order to solve this problem, we propose a new type of insole by making use of SCSRA.

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The purpose of this study is to develop a walking assist machine for the elderly and the handicapped people. The walking assist machine consists of a linkage mechanism in order to achieve weight saving and cost cutting. In this study, the IEMG signals were measured to examine whether the walking assist machine assists the iliopsoas muscle, the semimembranosus muscle and the tibialis anterior muscle during walking. The muscle activity was calculated by using IEMG signal. The effectiveness of the walking assist machine is verified by the evaluation results of the muscle activity. As a result, this walking assist machine is useful for the elderly and the handicapped people.

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Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids (Magnetorheological Fluid or MR Fluid). Because of rapid response of these fluids, such a machine has good responsibility and controllability. In this paper, we describe basic concept and characteristics of Isokinetic Exercise system using MR fluid brake and its experimental result. In particular, High-speed (900[deg/s] at an elbow joint) control was realized with this system.

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A prototype of omnidirectional equipment for the rehabilitation of the handicapped infant has been developed in our research group. A new operation interface for the equipment, which is used by operators in the standing position, was proposed. Proposed interface yields omnidirectinal motion and usual wheel robot motion both without any switching device.

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Mobile experience of infant stage is said to important for one to encourage development of cognitive faculty. We made the omnidirectional vehicle so that handicapped children are able to move around their environment independently. In this study, we improved drive mechanism by using suspension architecture with arms, in order to increase driving performance.

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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 dorsiflexion muscle force along with aging. Walking plays an important role in their independent day life, which require walking support equipment in the practical use. In this study, we aim at developing a wearable walking support shoes for a purpose of fall prevention of elderly people and to support walking rehabilitation training. A commercial product of Ankle Foot Orthosis is introduced and newly developed wire type pneumatic actuator is equipped on to support dorsiflexion motion during swing period at walking motion actively. In generally, these 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. Improvement of the devices towar embedding into a shoes is mainly reported here.

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The forearm casterwalker, a kind of walking aid, is usually exploited for life support and walking rehabilitation in the hospital or nursing home or other place. It is stand on the wheels and casters. Therefore the falling accident caused by the movement in the direction not anticipated often happens. The falling accident is very serious problem for the person of advanced years. To solve this problem, we developed the new forearm casterwalker, named "I-Walker". I-Walker is applied the passive system and has the line-trace and fall-prevention function. It is composed of the marketed forearm casterwalker and web camera and two magneto-rheological fluid brakes.

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This report describes a Center of Gravity (COG) point estimation system attachable to a stand-up motion support robot and COG point measurement accuracy. There are other COG estimation systems. But it isn't easy to attach to a mobility robot. Then, we propose a COG point estimation system attachable to a mobility robot to support stand-up motion adjusting to various use condition. We did an experiment of the COG point measurement accuracy of the system when a user was standing-up. The result shows COG point measurement accuracy is average of 19.7 [mm] accuracy, but it is also necessary to predict curvature of the spine during standing-up because there were scopes over required specifications.

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There exist handicapped who need assistance with transfer, for example, from a wheelchair to a bed. They want to transfer without helper, whenever they need. Many of transfer assist tools are not the equipment that help self transfer of handicapped, but the equipment for the reduction of helper's load. In previous works, we have proposed a self transfer assist robot that the handicapped can transfer to a desired position without helper and a mechanism for mobile function of the robot. In this paper, we study an autonomous locomotion scheme of self transfer robot using vision sensor and solid marker for effective use of the robot.

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This report describes the delivery system proposal of self-transfer support equipment suitable for ability. Paramount Bed Co., Ltd. developed the support machine for getting out of bed cooperating with high-low moving of electric bed. Because a user can't know which level ability the machine matches for, it hasn't become popular. Then, we propose a delivery system proposal of self-transfer support equipment suitable for ability. The first step, we study about effect for self-transfer support equipment from the result of experiment about joint burden. On the other hand, we establish bases of using support robots, experiment and support robots fitting to a user.

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This study aims at the development of the robotic stretcher for SMA patient. The feature of the stretcher is the mobile function in institution by the operation of the finger motion of the patient. We have developed the device and algorithm for intuitive operation, and implemented them to the small prototype robot for feasibility tests.

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In this paper, we propose a new type of mat to prevent bed sores for disadvantaged people. With respect to the system, the mat is constructed with 16 actuators. Further, each actuator has a sponge that is coated with a cloth and an airtight sheet. Moreover, when air is charged into the actuator, the stiffness of the actuator can be controlled. By using these actuators, we clear the effectiveness of the mat.

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A walking assistance machine using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this machine to develop its appearance simple and its size compact. This machine is controlled with a hybrid-control system both torque and angle at ankle and knee joints. In this system, the torsion spring constant of the flexible shaft is taken into account to the control power and the rotating angle of the motor. To expand the area of where an equipped parson can walk with the machine, a self-contained system which controlled with SH-4 microcomputer and actuators which consisted of motors and gears were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson can freely walk both in and out of doors.

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In recent years, there are many elderly persons and lower limb disabled people and most of them need a stick and a wheelchair in order to support walking or transportation in their daily lives. The stick has a disadvantage of the large load in the upper limb although the stick is quite common and widely used. In this study, we aim to develop an assistive tool to support walking for them by a robotic assisted stick. We propose a novel actuator for walking stick with a force retention mechanism by integrating MR (Magneto-rheological) fluid and spring (MR Spring). MR fluid is a functional fluid, and its rheological characteristics change according to the applied magnetic field.

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Escalator is an effective mass transportation method, but regular wheelchairs cannot use it because of its instability on uneven step. The parallel link wheelchair we proposed is able to improve the stability by changing its shape. The manipulative mechanism is added to this wheelchair in order to control the shape. Three operators controlled the stability successfully on various step heights. The operation lever angle is 73.2 deg and the maximum required operation force is 60N. This control mechanism also avoids the interference between the foot plate and the advanced escalator step.

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This reseach develop the wheelchair having the automatic a step climbing function. Therefore this article analyzes the physical movement of the wheelchair user and inspects the movement of human body suitable for wheelie motion. From the analysis result, we suggest slide mechanism.We think that the slide mechanism has effect of the movement of the center of gravity and the action-reaction forces. We rig up the slide mechanism to the experimental machine of the 1/2 wheelchair model, and we perform the experiment of a step climbing by rear wheel and inspect the effect of the slide. From the above-mentioned result, this is to certify that to be of benefit slide mechanism.

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Steps on roads are the big problem for wheelchair travelling. The mechanical improvements of caster structure for surmounting these steps seem to be effective. This paper describes about the successful results of step surmounting experiments with three caster support mechanisms. The swing type caster has a link between a yoke and a wheel axle. This link raises the load by swing motion. The lever type caster has a lever with a caster wheel and an auxiliary wheel. The leverage effect raises the load. The link type caster has a toggle link mechanism which enlarges the lifting force to the load.

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This paper describes search and conveyance technique by a partner dog robot that uses a marker. We install a marker to a small object, and we assume it a target. The marker is used as the handle which a robot catches. The partner dog robot detects these markers by image processing and transports it. In this technique transportation becomes possible regardless of the shape of small articles. We confirmed that the detection of the target by the technique was possible by an experiment.

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