In this paper, in order to improve energy efficiency and ride quality of a Walking Assist Machine using Crutches (WAMC), relationships among motion parameters, energy efficiency and ride quality of WAMC have been theoretically and experimentally investigated. On the basis of the results, foot-driving mechanism without any additional actuators has been proposed. Results of dynamic simulations show that the reduction effect of energy consumption and improvement of ride-quality of WAMC can be achieved by introducing this mechanism. Design parameters of the foot-driving mechanism have been determined by the simulation results. A prototype of WAMC with foot-driving mechanism has been designed and fabricated, and its energy consumption and ride quality have been experimentally investigated. The results show that the WAMC with the proposed foot-driving mechanism reduces energy consumption by 43% with improved ride quality.

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Bed sore is cellular necrosis due to congestion, shear force or moisture. Thus, in this study, we propose a new type of mat system not to occur bed sore for handicapped people who use a wheelchair. This system uses a pneumatic mat to prevent congestion that is stanched blood flow. That is to say, the device has cloth actuators which are constructed with sponge, a glue film and a cloth. Therefore, the stiffness of each actuator can be controlled by inner pressure, so the contact pressure contribution can be changed by making use of pumps and valves. In this paper, we measured pressure distribution, shear force and moisture by using the proposed system. As the result, the effectiveness of proposed system is verified through some experimental results.

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Lately, the Japanese medical costs have been increasing due to the aging of population. Self-medication is one of the best solutions, but it is too difficult for an elderly recipient to keep his/her health condition well. Accordingly, we proposed an intelligent medicine case (iMec) to assist in monitoring the condition from anywhere. However, we didn't consider pharmacist's business and recipient's usability; we developed a new intelligent medicine case (iMec G2) based on the comments of pharmacists and recipients. The new medicine case has a cartridge to stock medicines for a week, multiple cameras and lights to detect the medicines with high accuracy, and a touch display in the front surface to check the information about medication.

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We considered about advanced community model using the information transmission welfare supporting system for lonely elderly person and aging society. In this paper, we propose the method for construction and the it's model details. We also report a plan of collaboration and coordination among the Kanagawa Prefectural Government.

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This study aims to define a novel evaluation method of the settings of a road racer. To make an evaluation criteria of the setting of saddle height, the authors focused on lower muscular activities during cycling exercise and have thought an estimation method using surface electromyography and statistical processing. In our previous work, the experimental result indicated a small difference between the system output and the subjective aspect of an expert cyclist. Then, this paper reconsider the data processing method with reconstructing the experimental device. A symmetrical boundary condition is adopted in the process of First Fourier Transformation of electromyography. As the result, the effect of muscular fatigue clearly appeared in frequency analysis, so that the saddle height continuously dropped. This paper describe the technical materials and discusses the experimental results.

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In this study, we propose a measurement system for technical evaluation of a bicycle pedaling which has the following features. (1) The rotational state of the bicycle crank and pedal are measured using wireless multiaxis acceleration and angular velocity sensor. (2) The bicycle pedaling action is analyzed using motion-capture technology. (3) The electromyogram (EMG) of the lower-limb muscles are measured, and the muscle load condition which is related to the bicycle pedaling action is analyzed.

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Recently, the research to measure the optical characteristic of the biological tissue by nondestructive is paid to attention. In the biological sample, the intrinsic birefringence that originates in an intramolecular atomic arrangement, and the birefringence cased by the photoelasticity because of the transformation of the living body cell tissue are observed. In this study, a birefringence optical microscope to observe such a biological sample is developed. In addition, this paper describes about birefringence image obtained by actually measuring.

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According to the advanced aging society, talking care of the person whose physical functions are declared has become more important issue. Many types of assist devices are developed to keep their Q.O.L. in their independent day-life. It is important to reflect user's intention to the device and we focused on a brain wave which is expected as a means of communication of user's intention. An EEG is used among the brain waves and we aimed at using it to apply for a brain machine interface (BMI) system. In this study, we measured an EEG during a hand/foot motion and developed an ON/OFF control of the mechanical device based on the brain concentration.

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The total number of physically handicapped person is about 3.48 million in our country. In the meanwhile, the ratio of the crippled one is about 50% and most of them suffer from arthrogryposis. Many types of mechanical devices are developed to support physical function of human, but most of them are driven with a simple device like a mechanical switch. It is indispensable to reflect use's intention on the device in order to make it behave as a part of body. In this study we focused on an EMG and a MMG signal as a means of communication of human intention and proposed a control system combining these bio signals. The validity of the proposed system is confirmed through some experiments.

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Three RT components for research and developments in prosthetic and orthotic fields are briefly introduced in this technical report. There are various types of prosthetic or orthotic devices available today, however only limited part of them can be controlled electrically. We are trying to apply robotic research findings in such prosthetic and orthotic device developments. This report introduces three RT components for (1) a myoelectric human-machine interface, (2) an electric-powered prosthetic-hand and (3) an acceleration-tilt sensor.

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This paper presents motor imagery classification using Bayesian logistic regression and its application to sensor-based wheelchair control. First, to classify four kinds of motor imageries (that corresponds to four actions:go left, right, straight and stop in wheelchair control) in electroencephalogram (EEG) signals, we provide a new practical approach combining common spatial pattern (CSP), Bayesian logistic regression and automatic relevance determination (ARD). In addition, a well-balanced control scheme for considering both the EEG classification result (from the proposed practical approach) and obstacle information (from a two-dimensional laser scan sensor) is applied to wheelchair direction control. The experimental results demonstrate the utility of our approach.

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We are working on component based developments of assistive devices and rehabilitation training tools. In these developments, middleware technology for robotics---RT middleware---is used. This paper introduces RT components for a myoelectric signal measuring and a myoelectric bio-feedback training system. By utilizing these components and other components developed by others, we are able to implement appropriate training system for each user.

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In this study, we focus on a rehabilitation of human wrist joint whose motion is indispensable in our day life, such as changing clothes etc. A pneumatic parallel manipulator is introduced as a wrist rehabilitation device whose compliant property works as safe function. In generally, rehabilitation is implemented by setting a payload between joint torque and joint angle/angular velocity. We propose a rehabilitation strategy based on not a joint torque but a upper limb's muscle force by detecting it with EMG sensor, which allow us to train a muscle intensively. The mean value of frequency of EMG is also used as an index of fatigue. We propose a real-time fatigue evaluation method during wrist rehabilitation. The validity of the proposed system is confirmed through some experiments.

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The motor cortex activation during real walking, virtual walking, and walking observation was examined by means of fNIRS (functional Near-InfraRed Spectroscopy). During virtual walking, subjects were shown moving scenes of a virtual visual environment and imagined as if they were actually walking from the first-person perspective. During walking observation, subjects were instructed to imagine that they were walking with the same pace to a person in a video being (third-person perspective). Four subjects participated in the experiment. The oxy-Hb in motor area during both virtual walking and walking observation were higher than that during real walking on the average. The possibility to quicken walking rehabilitation by imaginary walking was indicated. There was no significant difference between the oxy-Hb during virtual walking and that during walking observation. The importance of stimulus diversity in mental imagery of walking was suggested.

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In the master-slave system, operators controls the master device based on visual information and sensory feedback. This suggests that the position sensors at the slave side are not always necessary. However, position signals are required to estimate the acting force to the slave using an observer which realize the force sensorless control. In this paper, we focused on the biological signals of the operator to estimate the slave side's condition which can be used to estimate the external force. For the early stage of the research, we investigate biological signals just before the contact motion with 1-Dof master-slave system. We measured EMG signals and gripping force of operators when pushing objects. We verified that predictive signals can be used for estimation of touching the objects.

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In present study, we developed a tactile speed patterns presentation device that is capable of perform the tactile speed perception and discrimination experiments. It can serve to determining the underlying central neural mechanisms that contribute to tactile speed perception and discrimination. The device consists of two dots stimulus discs, one stepping motor, one motor controller and one computer. We used energy from the stepping motor to rotate the dots stimulus discs to present the different tactile speeds. The information related to rotating speed and time will be recorded with the computer. Then, five healthy subjects were asked to conduct a tactile speed estimation experiment using present device. The results indicated that the subjects underestimate the perceived tactile speed compare to the standard speed.

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This study aims to control a mioelectric hand motion using neural signal. Consequently, we consider to establish a method estimated finger joint angle from biosignal. We have previously proposed a finger joint angle estimation method based on surface Electromyography (EMG) signal and a linear model. This method is based on the histogram of signals, it may have applicability to not only surface EMG signals but also neural signals. Therefore, this paper carried out finger joint angle estimation experiment using both surface EMG signals and needle EMG signals that are similar to neural signals. Here, we report on the difference of estimation results using both signals.

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In present study, we developed a pointing movement experimental device with visual feedback control function that is capable of perform the cognitive psychological procedure relate to own hand movements. It can serve to determining the human characteristics of pointing movement with or without visual feedback restriction. The main part of present device consists of a touch monitor, one set of light control glass, a relay switch electric circuit and computer. The subjects can do the pointing movement on the touch monitor and the visual feedback restriction will carry out with a combination of light control glass and relay switch. Finally, we performed a vision restricted pointing movement task with lateral ocular. The results suggest that although the visual feedback was restricted, the pointing movement depend on the index difficulty of targets.

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This paper presents the design and analysis of one-time-use leaping mechanism for sensor node relocation, resulting in larger coverage and higher connectivity in sensor networks. There is always a challenge on how to design a controllable locomotion mechanism for the relocation issue in order to operate in an autonomous, robust, and dependable way in adverse environmental conditions. What is the most important aspect from the practical point of view is to develop a simple yet efficient locomotion actuator not requiring power consumptions. For this purpose, we propose a new leaping actuator that utilizes the ground reaction force generated when releasing multiple pre-compressed springs mounted underneath the sensor node. We are in the preliminary stage of developing a prototype system. In this paper, we investigate through simulations the technical features of the specification that give the leaping height and torque required for activating the proposed mechanism.

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This paper addresses the task-oriented group generation problem for performing cooperative tasks by robot swarms. In detail, given task conditions such as the number of robot required, how can a swarm of heterogeneous robots create individual groups corresponding to desired tasks through consensus? As the solution approach, we propose a decentralized task-oriented group generation strategy, which is composed of group consensus and self-adjustment algorithms. The group consensus algorithm enables robots to select a leader robot and generate each group based on the leader. Through the self-adjustment algorithm, to meet assigned task conditions, the leader attempts to recruit more members or any robots are dismissed against the group. By doing this, robots can organize their group according to the task conditions. Extensive simulations are performed to verify that the proposed algorithms effect a computational efficient and adjustable self-organization.

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This paper presents a locally communicative interaction approach for mobile robot swarms towards building sensor networks. The decentralized approach is composed of neighbor selection and neighbor updating algorithms. First, the neighbor selection algorithm enables robots to select individual neighbor robots with higher connectivity and reaching agreement on mutual neighbors, resulting in building a swarm network. Secondly, the neighbor updating algorithm allows the robots to maintain their network despite its topological changes by the movement of a neighbor robot. Specifically, the proposed algorithms provide robust capability of the swarm network regardless of loss of several robots. We discuss in details the features of the algorithms, including self-organization, self-adaptation, and robustness. Through the simulations, the proposed algorithms are verified to be effective for the habitat and/or environmental monitoring by robotic sensor networks.

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As the number of solitary elders increases, such partners for them are highly desired. We aim to provide an interface be a dialogue partner and enrich user's life by directing them to new services and functions. In this presentation, we introduce the doctor's question by guiding dialogue as the one of services. This interface asks some question, "Could you sleep well?", "How is your condition?" as the flow of conversations. Then it gets answer of user's personal consciousness. Based on this concept, we constructed the dialogue interface system and achieved 10 dialogues on average at an experiment over 20 examinees.

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In this report, we describe the composition and the experiment example of the walking monitoring system using the acceleration sensor and GPS information on the portable terminal that assumes the application to the healthcare. The experimental results show that our system can observe a temporal variation at the walking cycle and a right-left balance. A long-term, continuous measurement of walking outside the room can be possible in this system. The application of rehabilitation and preventive approach can be expected.

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In this paper, a control method for multi-user teleoperators is proposed. Since the proposed control law is based on wave-variables, it guarantees stability of the system against arbitrary length of constant timedelay. In addition, an algorithm to compensate for the initial position error among the arms is proposed. The proposed method is an extension of the wave-integral-error compensation and the energy balance monitor, which was previously proposed by the authors and compensates for the position drift caused by time-varying delay without violating passivity condition of the system. Experimental system, which can connect multiple haptic devices and virtual environments, is developed and the effectiveness of the proposed control laws is confirmed by an experiment.

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This paper shows evaluation results of the touch screen interface for mobile robot remote operation. Joystick function, button function, and route indication function are developed with an environmental map in the Cell & Hollow method. Features and efficiency are confirmed according to the experimental results in which a mobile robot is remotely operated using the touch screen interface with the developed function to pass through the slalom course or the crank course.

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In this paper, we discuss on a robot system using cloud computing. Cloud computing helps our knowledge tasks and it is changing our information environment in a rapid pace. Nowadays, many applications such as mailer, scheduler, calculator and map application are executed in server computer. To get the convenience of cloud computing, we just prepare a web browser. We discuss how to apply the cloud computing to robot system, and we designed a system according to the guideline. For using it, we develop master-slave robot system and autonomous robot system. We evaluate the system through experiment.

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Serial servo motors which are controlled by serial commands need a main computer to operate. If serial servo motors operate without using the main computer, more complicated motion can be realized. In this paper, we have developed the serial servo motor with a network which shares information among interconnected servo motors. The developed network serial servo motor does not need the main computer. Then, we have designed the CPU board of the developed motor. Moreover, the effectiveness of the developed network serial servo motor is demonstrated by an experiment on master-slave motor control.

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There is a study to realize networking, consumption electricity monitor, and control, by a power supply tap device for the existing household appliance. It called a smart tap, and consumption electricity monitor and/or control are possible without buying a new household appliance. However, most smart taps realized only monitor of the consumption electricity and an automatic power supply OFF function in the nonuse. In this paper, we have developed the smart tap, called the Intelligent Power Tap, that can remote monitor and control electricity consumption using network and control technology. Power supply ON/OFF at the time of going out and high energy management can be realized for an existing household appliance by this.

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This paper presents RFID based neighboring objects positioning system using geometrical relations. For the purpose, a direction and distance sensing RFID system is developed. While a robot moves, the robot senses the direction to a target transponder using the difference of received signal strengths from a dual directional antenna and the distance between neighboring transponders, and the robot and the transponders. Then the transponders' positions can be estimated using the distances, bearings to the target, and moving intervals of the robot based on minimum mean squared error algorithm. The experiment results using an in-house simulator based on the distance and direction sensing data in real environment using the developed RFID system show that the positions of the transponders can be successfully estimated.

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In rescue robot research, wireless LANs have been commonly used as the communication system for its cost-effectiveness and high data rate. However, it is known that receive signal strength of wireless LAN using omnidirectional antenna degrades in the case there is a difference in height between the sender and the receiver such as in the stairs. To resolve this problem, we study basic performance of mobile robot communication using electronically steerable directional antenna called "ESPAR antenna". The experimental results show that using an ESPAR antenna improves received power strength in the communication especially for outdoor environments.

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This paper describes about a development of variable directional antenna for mobile robot. Radio communication is one of the most important technologies for remote control robot. It not only restricts the activity of remote control robot but also discourages an operator of the robot. Even if one robot has great hardware and software, it can move tens of meters only. We developed a novel directional antenna for mobile robot, which can change the directivity, and compare it with usual whip antenna using the simulation and integrated robot.

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Pseudolites are one of the most promising technologies for indoor localization because they can directly use off-the-shelf GPS/GNSS receivers with minor change of their firmware. However, pseudolites have some fundamental issues such as near-far, multipath, and synchronization problems. Many of these issues derive from using more than one transmitter and trilateration. In this paper, we propose a novel indoor positioning method using a movable receiver antenna and a single pseudolite. In this method, the position is determined by using the Doppler shift produced by a moving antenna. We conducted an experiment by testing different conditions of the moving antenna. The results show that our method has the potential to achieve the positioning with decimeter level accuracy.

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When the robot works at home or office, it is important that the robot recognize own position. We always expect that the function of the location identification should be offered with small size and low cost hardware. In this research, we adopt the ZigBee location identification system to acquire the indoor location information. It works on the assumption that the mobile objects with the blind node can identify the positions of reference nodes. This paper shows practical problem and propose improvement of location system in living space.

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Inside a building, location-aware systems are required as alternative technologies to GPS for location-based applications, such as navigation services and robot controls. To solve this problem, the authors studied construction and maintenance method of buildings in which location information is liberally available to users throughout life-cycle of the buildings. This paper describes a new location-aware system based on RFID tags distributed in reinforced concrete slabs. This system is developed for buildings with bare concrete slabs such as manufacturing facilities and warehouses. To examine accuracy of location estimation, we implemented the system in about 200 m^2 of floor space in a multipurpose laboratory. As a result, the location estimation error was approximately 50mm on average. We also developed an inventory management system for a robot which automatically collects data such as IDs and current locations of materials and equipments.

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We develop an object tracking system for a robot working in an everyday environment. The system estimates the position of object. Passive RFID tags are attached to the objects for the object recognition. The system is composed of static sensors embedded in the environment and mobile robots with sensors. This system is implemented through integration of the data obtained by the static sensors and the data obtained by sensors on the mobile robots by using SIR particle filter. In the experiment, the system successfully tracked twenty objects, some of which are being carried by a person.

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Human behavior recognition is one of the most important approaches in ubiquitous society. With the development of information technology and network technology, we can get various data from environments. However, it is very difficult to extract the required information from the huge data in real time. Almost previous method is based on off-line statistic approaches for modeling human behaviors. In this paper, we discuss on-line learning methods for human behavior recognition using sensor network. First of all, we apply a spiking neural network as a learning architecture based on the time series of measured data. Furthermore, we propose hierarchical learning structure using spiking neural network. Finally, we discuss the effectiveness of the proposed method through experimental results in a living room.

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Nurse call system has been used as a communication device between residents and care workers in nursing homes. In this paper, we regarded the nurse call system as a sensor network measuring the care workers and residents conditions, and measured all nurse calls for 8 months in 15 nursing homes. Then, we confirmed the characteristics of nurse calls according to the time of day. After that, we proposed workload estimation of care workers, unusual state estimation of residents and sleep estimation of residents based on nurse calls. Finally, we discussed about application of the proposed methods to the service process in order to reduce the workload of care workers.

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Recently, solitary death of elderly people becomes an important problem by the super aged society. The demand of monitoring system for their living is rising, as seniors living alone are increasing. Besides, recent advanced robot technology is expected to help those people. In this paper, we introduced an elderly people monitoring robot system to a facility and investigated its possibility.

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This paper presents a method to predict occupants' individual thermal comfort using sensor networks. A part of values are chosen from the sensor networks and are associated with the value which needs to be predicted. We utilize a dynamically changing neural network to associate the values for predicting a human's thermal comfort. We place a number of sensors and subjects in an indoor environment, and conduct an experiment where the sensor readings and the thermal sensation of the subjects are associated. Finally, the experimental results are shown, where unspecified sensors are chosen properly and used for predicting the desired value.

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The mobility support system (MSS) is operated in conjunction with the existing railway system in order to expand the mobile area of personal mobility. The IR system is a part of, among the functions of the MSS, the system for providing location information about the environment. This report discusses its configuration and the results of experimental verification of its performance.

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In this paper, we propose a method to recognize the outgo of house for senior citizen monitoring system. When a resident goes out from home, the entrance door will be opened after standing in front of it for a while. To detect these actions, we developed ubiquitous sensors using IR (Infrared) sensor and door sensor. These sensor data is analyzed in chronological order to determine if a resident has outgo of home. We also developed senior citizen monitoring system using the ubiquitous sensors. Experiments were conducted in households and we confirmed that the proposed system could detect fell down and outgo of residents correctly.

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There are various problems in managing RT service in Kukanchi. We construct the environment that manages RT service with a focus on expandability. And we design the method of operation in RT service. As a result, users can use service safely in complex system like Kukanchi. And developers of the system need not consider the whole of system when developers extend the system. Herewith, it becomes easy to extend service management system.

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In this paper, we propose the construction of management of robot resource in Kukanchi (Interactive Human-space design and intelligence). As a past problem, robot resource management system did not decide the serving robot when there are multiple robots having same function in the same space at the same time. To solve the problem, we define robot function profile and method for selecting. And we made a new robot resource management system by using these designs. Herewith, it becomes possible to manage the resource of robots and to select a working robot.

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The activity of the service robots is expected now. Space type robot that provides service by the dispersive arrangement of the robot technology functional element in the space is researched. In the present research, the system that autonomous moves to use a decentralized actuator and sensor is constructed. As one of the problems in that, there is the problem that it becomes an uncontrollability when wireless communication are intercepted. In this paper, when the wireless communication between the sensor and PC is intercepted or it recovery, it proposes the method for stably controlling the movement object. In addition, the operation is confirmed by the experiment. and the effectiveness of the method is shown.

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Recently, the development costs for robot software is becoming bigger and bigger. Especially, the robots which works with humans in the home and office environment are expected to have various functions according to its user's demand. Therefore, RT (Robotics Technology) Middleware developed by AIST offers the methods to develop desired robot system by combining RT Components. However, various kinds of RT Components are obviously necessary. In this paper, we have developed home appliances control application and Web RT Component. Moreover, Development of control system for home appliances and robot network by using RT middleware is introduced.

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RECS (Robot Environment Compromise System) concept proposes changing environment for easily achieving robot tasks, where the changes should be minimum and unobtrusive to the coexisting human. According to this concept, adding artificial marks to objects makes it easier to recognize the environment in home robot tasks. It is preferable that marks are invisible for human. We propose the mark which is made of retro-reflective sheet covered by colored infrared pass filter. This mark is set on the same colored tableware, making the mark invisible. When irradiated by infrared light from the robot, this mark is retro-reflectively conspicuous, which is captured by a CCD camera having sensitivity in infrared frequency range. Note that infrared light is also invisible for human. We named it "protective coloration mark". This mark is added to edge of the tableware for the task of cleaning the table. If the radius of tableware is known in advance, the location and pose of tableware based on camera coordinate system can be calculated. During this robot task, coexisting human does not aware of it at all.

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In this paper, we propose Energy-conservation Social Networking Service (ESNS). To realize ESNS, we developed Intelligent Tap, which measures the power consumption of electrical appliances plugged in. With ESNS a user could monitor the power consumption of his/her possessing appliances by graph and could post opinions or comments about energy savings with the graphs as the evidence. The user of ESNS also could set up communities with other users who have same appliances. In this way, ESNS stimulates users' willingness to do energy conservation. To verify the effects of ESNS, we conducted experiments with subjects. As the results, we confirmed that the number of conversations and the willingness of energy conservation were increased through the use of Intelligent Tap.

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The purpose of this research is to construct a system that can navigate arm robot adopting Kukanchi (Interactive Human-Space Design and Intelligence). This system gets ID and place of objects on work area form database that lumps information of objects in the intelligent space. The database is built up by sensors that implanted in several places. And then, this system generates disposition map of work area and operation for object manipulation. As a result, this map and operation make it possible to avoid obstacles when the arm grips the object. This paper reports about configuration and evaluation of the system.

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Major approach to computer vision is based on only image features database, however it is difficult to apply this to service robot in real scene, due to issues that there are too much object in the scene, and it has too much observation condition. We propose dispersive and sharable recognition system which helps robots to recognize complex real scene. In this paper, we deal with event description system based on mutual supplement recognition using context and active selection of description target and level of abstractness. As parts of proposed system, we confirm the validity.

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This paper proposes a cooperative visual object tracking by multi-robot system, where robust cognitive sharing is essential between the robots. Although robots expresse the interested object by using various information in image recognition field, if there are some similar object, robots can not discern the difference. To solve this problem, robot should share the relation between the landmarks and the object. In this paper, we propose a method to generate landmark autonomously to indetify the interested object. Experimental result shows promising result for the effective multi-robot cognitive sharing.

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