We have proposed the concept of 'Virtual Active Touch' that implements virtual exploration with a cursor on a screen through a pointing-stick-type tactile interface called Vib-Touch. We have also proposed a new approach for representing surface shape induced by cutaneous sensation of friction. This paper enhances the previous surface shape display method in order to apply to arbitrary surface shapes. A proxy-based physical collision model was applied to calculate horizontal forces corresponding to contact reaction forces with virtual surface shapes.

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We have proposed a handheld haptic interface called Vib-Touch, which produces pseudo-haptic feedbacks induced by vibrotactile stimulations through a pointing-stick operated by a fingertip. Pseudo-haptic display methods have been developed for representing friction, inertia, and viscosity sensations. In this study, we proposed a potential application of Vib-Touch toward an intuitive GUI, which represents weight of information using the pseudo-haptic feedbacks. We developed an image viewer application, which interprets the favorite rating of photographs as weight of information with pseudo-haptic feedbacks.

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This paper introduces development of a camera sensor node for moving object tracking system with multiple cameras for intelligent space. In the first developed sensor node, human extraction based on background subtraction and color information and calculation of human position are implemented with FPGA. The camera sensor node is designed as considering that tracking results in each camera sensor node are shared via network communication for seamless tracking in wide area.

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This paper proposes a novel people tracking algorithm with a laser range scanner. Most of tracking systems with laser range scanners have the problems of occlusions and the harmful effects of noise. Generally, human tracking systems utilize particle filter to solve those problems. However, if there are several people in the measurement range of laser scanners, particles are distributed to only a certain human. In this paper, a particle filter including particle distribution control is proposed to track several people. Experimental results show that stable tracking of multiple people is achieved.

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This paper proposes the constant execution time multiple human detection system. The human detection from video sequence is important in a monitoring camera system and a robot vision. It is important not to change execution time in human detection system regardless number of persons. In this paper, the feature amount of an image was calculated by using Higher-Order Local Auto Correlation (HLAC) in video sequence. HLAC has position invariability and additivity. The proposed method can recognize a person and other invasion things. We verify the human detection rate and the execution time by the number of persons. We show the system do not change the execution time in multiple human detection.

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We propose an automatic object modeling framework composed of a network of cameras distributed in different places of the house. Our system can automatically construct multi-appearance object models by simply observing when humans move objects from one place to another as part of their daily activities. Our approach consists in placing vision nodes in places where objects are commonly located, i.e. table, desk, kitchen, etc. When an object is moved from one place to another and vice versa, the system automatically discovers the object and gradually acquires different appearances as more visual information of the object is presented. We propose an aspect selection algorithm that avoids collecting unnecessary appearances by selecting only the ones that contain relevant visual information.

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We have been developing methods of identifying moving objects and persons having an accelerometer of interest from a camera view. With our previous methods, it has been empirically pointed out that synchronously moving objects are often misidentified. In this paper, we first examine this pointing out through experiments of discriminating two synchronously walking persons, one of whom has the accelerometer and the other does not. Then we apply the coherence function to accomplishing the same discrimination problem. The experimental results show that the coherence function has higher discriminative ability than our previous methods, although it requires longer time to yield stable results.

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In Intelligent Space, it is able to understand context of human behaviors and support the users. Since a pointing action is one of the intuitive action that human use in a daily life, Intelligent Space should recognize the pointing action correctly in order to interact with human. However, there is an error between positions that human pointed and position that environment estimated. Therefore, application does not often work correctly. In this paper, we propose a system that informs where user pointed with a projector. We have improved the accuracy of points by using the kalman filter.

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This paper describes a sensing system for human tracking and object detection in everyday environment. The system is designed to be one of components of an informationally structured room where an aged or disabled resident lives under the support of care worker and/or robot. Human tracking and detection of small everyday objects are performed to help care work by simple and low cost hardware without serious invasion of resident's privacy.

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The purpose of this study is to develop an intelligent autonomous door which can provide appropriate operations. In order to estimate the path of pedestrian, we observe the position, orientation, and velocity of human, using laser scanners. In this paper, we predict the behavior of pedestrians from the extracted features, and give the appropriate door operation timing.

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The Intelligent Space consists of many information-processing technologies, and recognizes human's behavior by using sensors. It is required to communicate through mobile phone with the Intelligent Space when people control some devices in the Intelligent Space using by mobile phone's application. In this paper, an application is proposed that is able to communicate with the Intelligent Space using visible light with color information. The early experimental results reveal that the usage of visible light in the Intelligent Space is effective to communicate.

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This paper describes a method for localization of a mobile wireless LAN client such as a smart mobile phone, based on simplified measurement in a multistory building. The method uses the strength of received signal from wireless LAN access points. The method needs lots of data of the received signal strength at various positions in the building. The paper focuses on an estimation system for localization based on a simplified measurement of the signal strength and the measurement position in the building. We examine changes of the conditions of the signal strength based on the interval for request of the received signal strength to the wireless LAN client. Then, a simplified measurement of the signal strength using a motion sensor is proposed. Experimental results show the feasibility of the proposed method.

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Lip-reading is to recognize what someone is saying from motion of lip. Since lip-reading is able to recognize one's words without voice, it is robust against noisy environment. To achieve accurate recognition results, accurate shape of lip contour should be detected. In this paper, a new algorithm to detect accurate contour of lip is proposed. Since, Sampled Active Contour Model(S-ACM) reacts only with edge information, the discontinuous edge of lip causes shape errors. The proposed algorithm generates accurate shape of lip, even though there is discontinuity in the edge, by combining color and brightness information with conventional S-ACM. In addition, the proposed algorithm is able to cope with misdetection of lip contour by using gradient information of points on the contour.

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These days, home appliances in our living environment are becoming full of functions. On the other hand, the increase of their functions makes their operation complicated. Therefore, an intelligent room which recognizes gestures and support operators is required in various places in recent years. In this paper, we propose a method to recognize mouth motion from images. The proposed method uses template matching and recognizes mouth motion for indicating a target object in an intelligent room. DP matching is applied to similarity measure obtained by template matching. Several experiments are performed to demonstrate the effectiveness of the proposed method.

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Developing autonomous mobile robots that can coexist with human in populated environments is still considered a big challenge. To address this problem we propose a novel scheme to assist mobile robots by providing localization information externally. This scheme combines the autonomous navigation and target tracking research fields to arrive at a structured assistance system for autonomous mobile robots. In the proposed scheme, the environment is sensed using a laser range finder and camera based sensor unit. Using Rao-Blackwellized particle filter technique, the robots that need assistance are continuously tracked. In contrast with conventional laser range finder based tracking systems, the placement of sensor is changed to a level above average human height and the mobile robots are modified by attaching a cylindrical pole. The experiments show the validity of the proposed scheme for simultaneous localization assistance for multiple mobile robots. Two mobile robots were simultaneously navigated in given trajectories using assistance data, successfully.

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Two-dimensional waveguide power transmission (2DWPT) can potentially provide a safe and wireless means of electricity transfer. Our goal is to develop a 2DWPT system in which the power is transferred only to special receiver devices and not to other objects. For this purpose a new high-quality-factor (high-Q) receiver coupler is designed while the Q factors of other general objects are reduced by a thick insulator layer on the sheet. This Q's contrast enables selective power transmission to the receiver coupler. In this paper we report on the experiment result of simultaneous power transmission to multiple receivers. In the case where eight 50-Ω loaded couplers operate on a 90 cm × 60 cm large waveguide sheet simultaneously, the overall microwave transmission efficiency achieved 87.7% at a maximum.

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The paper describes development of shoulder joint support equipment for the athlete to learn proper movement of his shoulder in such sports and games as baseball and tennis. A simple 4DoF model of the scapula, which can change position relative to the human body, is proposed. The scapula is attached to the human body via four or more muscles. The proposed model has a link between the scapula and the human body, and four sliding actuators. The motion of the scapula is analyzed, the position and posture of the scapula are obtained, and actuators' output force is analyzed.

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This paper describes the proposed front wheel unit for wheel chair using functional electrical stimulation driven by the lower limbs. EMG measurement result indicates that hamstring and quadriceps should be stimulated for FES cycling motion. Moreover, new type front wheel unit was designed for safety and practical use. In future, the method developed in this study will have to be checked widely by experiments.

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When evaluating the level of impairment of stroke patients, the clinical scores, i.e. the Fugl-Meyer physical performance scale and/or the Brunn-Strom Stage based on a joint range of motion, pain, balance, were used to assess the residual sensory and motor functions. In the case of the motor control system, such as the motor cortex and a higher center, there were still unclear parts and could not achieve quantitative analysis, since the motor functions could not describe as some SI units. The purpose of this study was to develop the 3 degree-of-freedom wearable master-slave system to evaluate the motor control system from the view point of the somatosensory afferent feedback loops to enhance cerebral and spinal plasticities.

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In this paper, we develop a walking support machine controlled by servo brakes. This machine has a treadmill and a patient support part. The treadmill has an endless belt controlled by a powder brake. The patient support part has a constant force spring and a powder brake. The constant force spring is used in order to provide with partial body weight support. The powder brake, which can control the torque, is used as the device to prevent patient's falling. When a patient normally uses this support machine, the machine provides the patient with partial body weight support. After the machine detected the patient's fall, the machine prevents the fall by applying the impedance control to the powder brakes. The usefulness of this machine is experimentally examined.

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In this research, we developed a musculoskeletal model of lower limb to realize pinpointed muscle force control in lower limb. The model has 7 links, 14 degrees of freedom and 88 modeled muscles of lower limb with both legs. All muscles are modeled as massless wire model. We validated the model by comparing estimated muscle force change rate from the model to the electromyographic (EMG) change rate. The results show the validating of our musculoskeletal model.

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In this paper we describe the rehabilitation system which used music for the people with disabilities. A patient can compose a piece of music by sorting the short-melody blocks in our system. The blocks are corresponding to a few pieces of the music and the good old music. Existing rehabilitation materials are almost simple and dull. But the patients feel a sense of accomplishment to use the materials in our system, because he/she can use the system like a game and a robot react to his/her operation. We are developing the system using the sound-cell in which Sano devised a combination rule of the music.

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Rehabilitation exercises which maintain a patient's interest and quantitative evaluation of rehabilitation are required. To solve these problems, we have development of measuring equipment for upper limb motor function rehabilitation using optical sensor. This system consists of an optical sensor device, a personal computer and calculator program for upper limb position. When users move the optical sensor, the motion measuring equipment calculates position. We measured the optical sensor position and migration length during a sanding task and wiping. The accuracy of the optical sensor trajectories was similar in all actual measured value. These results can be use for the development of rehabilitation training programs and evaluation methods.

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In recent years, various kind of diseases leads to increase of elderly people's amputation. Appropriate prosthetic prescription and walking rehabilitation are required to improve their ADL. It is important to understand skill of walking with the prosthesis for this purpose. The present study focuses on walking on stairs with the prosthetic leg as an example of higher ADL. We suppose that it is important to improve easiness of walking on stairs. This study, therefore, aims to development of the prosthesis leg with smooth gait in stairs. As the first step, effect of the inertia property on easiness of stair ascent was investigated by conducting experiments with an expert user of the prosthesis. In addition, gaits with the various inertia properties were investigated. As a result, it was found that easiness of walking was changed widely by inertia property of the prosthesis.

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We have been developing a new aid vehicle, "Tread-Walk 2(TW-2)", which supports walking for elderly. TW-2 is controlled by the natural walking movement. But the user felt a sense of discomfort when the user started and stopped walking. This problem is caused by inaccurate estimation of the user's anteroposterior force. The estimation of the user's anteroposterior force is greatly related to inaccurate estimation of the vertical component of ground reaction force, which is approximated by the square waveform in the stance phase. This paper describes the new method to approximate the waveforms of the vertical forces as the isosceles trapezoidal waves depending on the walk phase and the gait cycle. By comparing the estimated anteroposterior force using the new method with the measured value using the force plate, the waveform pattern of the estimated force was found to be similar to that of the measured force.

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The final aim of our research is to develop an evaluation system of function of rotator cuff quantitatively using the three dimensional force display robot. The rotator cuff is made up of four inner muscles that act to stabilize the shoulder. Because of inner muscles, it is difficult to perform function evaluation of rotator cuff directly. In this paper we perform three fundamental experiments to develop new evaluation methods of function of rotator cuff. In the evaluation methods isotonic force is measured in various positions of upper limb by using the force sensor of the robot, and muscular activity is measured by surface electromyography. The differences between the healthy shoulder and the affected shoulder were found by the new evaluation methods. As the results of experiments, the availability of the proposed methods is shown.

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This paper presents an ambulation training robot equipped with mechanical safety devices. The safety device consists of only mechanical components without actuators, controllers and batteries. First, the design concept of the ambulation training robot is explained. Second, the mechanism of the safety device is explained. Third, the ambulation training robot equipped with mechanical safety devices is developed. Finally, the usefulness of the developed safety device is experimentally examined in the ambulation training robot.

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We developed the method that restricts working area for omni-directional walking rehabilitation machine. This method is easy to recognize by surrounding people and easy to change area form too. This method restricts working area by belt partitions, and detects belt partitions by distance measuring sensor from walking machine side. We developed hard&software to verify this method, and confirmed to work correctly by operation test.

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Functional electrical stimulation (FES) is a medical technology that uses electrical currents to activate nerves innervating extremities affected by paralysis resulting from spinal cord injury (SCI), head injury, stroke and other neurological disorders. FES is used to restore function in people with disabilities. In many case, the electrical currents stimulate nerves through surface electrodes pasted on skins near the nerves. It is reported that strong nonlinearity exists in transfer characteristics of FES system from electrical stimulations to joint angles. This paper proposes a new identification method for a nonlinear FES model from electrical stimulations to joint angles.

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Recently, the number of elderly people is expected to increase because of aging society. They will become difficult to activities of daily life (ADL) because of physical handicaps by sickness and injury, etc. So, handicapped people need training for rehabilitation to recover their ability to use upper limbs. In rehabilitation training, the patient and the occupational therapist (O.T.) train together. The O.T. support motions that give a constant load to patient's limbs and moves their limbs, slowly repeating the flexion and extension. The device can often substitute for the O.T.'s motion in rehabilitation. Therefore, we developed an upper limb rehabilitation support system using a pneumatic cylinder. We report the characteristics and the rehabilitation support functions of the system.

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In this study, we have designed and built a device to measure and train human dynamical balancing capability based on a balancing vehicle with parallel two wheels. Employing this device, we verified a generalization of training effects. In the experiment, we set the following three training tasks that have angular difference between the directions of the rider and the device wheels: Task A, 0 degrees; Task B, 45 degrees; and Task C, 90 degrees. We examined how the training effects in task A influenced Task B or Task C. The results show that the training effects in Task A positively affect Task B, and have almost no influence on Task C. Namely, the results suggest that generalization of the training effects decreases as orthogonalization of the first task and the following task increases.

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In this research, we develop two kinds of therapy training equipments for hemiplegic upper limbs in stroke patients. Training method of repetitive and voluntary motion is effective to recover motor function of paralyzed upper limbs. One of the training equipments is able to evoke stretch reflex by magnetic force on extension and flexion training of upper limbs. While, by use of the other equipment extension and flexion training with up and down motion can be made. We add the function of electrical stimulation with threshold level to the training equipments in order to make voluntary motion of hemiplegic upper limbs. In this way, we study on the system that enables effective facilitation training.

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Now, there is demand of rehabilitation devices in various scenes in response to the influence of an aging society. The patient and elderly people who caused paralysis by apoplexy or underwent the joint operation will cause the contracture by a continuance bedridden state. Contracture is range-of-joint-motion restrictions, and it is caused by the fixation of a joint or not moving. It is important to move a joint moderately to prevent a contracture. Generally Continuous Passive Motion therapy (CPM) is performed as a training treatment for preventing contracture. As for this, a physiotherapist crooks and extends a joint slowly continuously and passively, and the studies of CPM device which acts for physiotherapist are developing now. Then, in this study, the purpose is the development of the ankle joint contracture prevention device using a pneumatic cylinder which a patient can train to use it immediately after the operation.

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In order to make an appropriate rehabilitation for hemiplegic upper limb in stroke patients, development of the inspection apparatus which can evaluate a symptom quantitatively is required. In the inspection of muscle stiffness and strength in elbow, the target elbow should be moved quickly. In this research, we apply the CPM apparatus built-in safeguard to the inspection. Then, we propose an evaluation method in consideration of the inertia force due to the acceleration of the upper limb.

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Human perceives three-dimensional space by integrating the visual information obtained from both eyes. However, due to the parietal lobe damage after stroke etc, the abnormal perception of the binocular vision is caused. In the present study, we make a system for the inspection of altered perception in binocular vision. And we verify the feasibility of the system through comparative inspections among the binocular visions of altered perception and normal perception.

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Functional Electrical Stimulation (FES) is communally applied for functional restoration of human paralyzed limbs. An efficient use of this technique requires a good knowledge of the musculoskeletal system behavior, presented as a model. Several physiological models of muscle have been proposed and used. However, there is only a very few works focusing on the relevant comparison between them. In addition, these comparisons are not based on any experimental results. In this work, we are focusing on an experimental-based comparison between the very used Hill model with a dynamical model, which combines microscopic and macroscopic properties of muscle. This comparison is based on the accuracy of each model to predict a real dynamical behavior of human quadriceps-knee, obtained from spinal cord injured subject under FES. The results highlight a similarity in the qualitative behavior of two models. However, they show a better accuracy of the dynamical model.

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We proposed a novel bio robotic application which has almost the same dynamics as that of the neuromuscular control system to understand biological systems. This bio robot consists of culture neuronal network and muscle-powered actuator to mimic living creatures. Through the computer, culture neural activities are transported to muscle-powered actuator as electrical signals, and muscle activities are fed back to culture neurons as motion capture images. Living neurons were cultured on multielectrode array to measure neural signals. Living muscle tissues were engineered from muscle cells as driving source of the actuator. A SU-8 microgripper, which was fabricated as a structure of muscle-powered actuator, was assembled with a living muscle tissue. We successfully controlled the muscle-powered SU-8 microgripper with electrical stimulation mimicked neural signals. Moreover, we could construct real time motion feedback system of muscle-powered actuator with optical flow.

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We have been developing a robotic split-belt treadmill with different belt velocities and visual biofeedback of stance phase for the stroke patients to improve the symmetricity of their gait balance. In this paper, simulated stroke patients evaluated the effect of biofeedback of stance phase on the stance phase balance. As a result, the stance phase balance between affected and unaffected legs' stance phase was symmetrized by using visual biofeedback system.

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Proprioception should be necessary for the trunk balance and skillful movement. However, proprioception deteriorates due to aging and low back pain. Mechanism of low back pain has not been elucidated clearly. The final aim of our research is to elucidate the mechanism of low back pain by developing a new vibration device. This paper presents a new variable vibration device to elucidate the mechanism of low back pain. In order to verify the availability of the new vibration device, the effect of vibratory stimuli with the frequency of 60 Hz on the body sway is investigated by eight healthy people. The results of the healthy people are as follows; (i)When paraspinal muscle is stimulated by vibration, the environmental area surrounding the locus of the center of gravity decreases, which means the body sway becomes better. (ii) In the case of gastrocnemius muscle, the environmental area increases, which means the body sway becomes worse. From these results the availability of the new vibration device was verified.

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We have developed a knee joint robot as educational tool for students becoming physical therapist or occupational therapist. The knee joint robot has two degrees-of-freedom for both rotational movement and flexion/extension movement. The robot can simulate not only knee joint movement of healthy person but also some problems of a knee joint, such as contracture, rigidity, spasticity and so on. This paper presents knee joint models of healthy and disables persons. The effectiveness has been verified experimentally.

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This paper proposes an arm weight active bearing system for hemiplegic arm rehabilitation. The motion system, sensing system and control system about the device are discussed in this paper. The performance of the device is shown by some experiments.

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We aimed to construct an ideal speech production substitute for patients with phonation disorder and developed the artificial larynx by using piezo-ceramic sounder as a sound source. In this research, we investigated the control method using the electromyographic (EMG) signal of human neck muscle. In our previous research, we developed a control system with EMG signal of sternohyoid muscle for an artificial larynx and a speech valve. In this paper, we miniaturize the control system to the portable size by using of a one-chip microcomputer and the battery. Furthermore, the control of the speech valve with this system is reported.

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We propose new rehabilitation RT devices, PARTY (Perception-Assisting Robotics TechnologY) that enable the paralyzed to get a perception-bypass communication path via a non-paralyzed-part body. Previously, to identify the sense of position and recognize joint angle, our device synchronizes non-paralyzed-side with the action of paralyzed-side. However, tests on ankle joint for six normal subjects indicate active search is more effective than passive synchronization to improve the adjusting capability of joint angle. Then, we applied this new method for patient, and saw hemiplegia able to adjust paralyzed-side to target-angle with accuracy of normal subject.

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An essential tremor (ET) is the oscillations of a part of body. The ET patients have difficulty performing daily lives. We have been developing exoskeltal robot for tremor patients to suppress tremor. In this paper, we focus on signal processing method to extract voluntary movement signal from sEMG of ET patients in which voluntary movement signal and tremor signal are mixed. We proposed a method to extract Average Rectified Value (ARV) of sEMG among a periodic time of tremor signal. As evaluation, we compared ARV, Short-Time Fourier Transform (STFT), and Low-Pass Filter (LPF) about 2 types of misrecognition of Time Delay Neural Network (TDNN). Those are misrecognition occurred during action and non-action. Through this evaluation, it was confirmed that proposed method can decline both 2 types of misrecognition rate compared to STFT and LPF.

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The more than half of the cerebrovascular disorder holds the trouble of the paralysis of one side of the body as a sequelae. It is said that the operation training of the cane in that in the working person side paralysis disease is more difficult than that of non-dominant hand side paralysis disease though various training is done as rehabilitation of the paralysis of one side of the body disease. The difficulty of the operation of paralytic disease in the dominant hand and a cane is that there is a risk of causing depression in the maintenance phase. In this study, we aimed at developing a training system of paralytic disease in the dominant hand wand operation. Developing system requirements specifications, analysis of pressure fluctuations can stick to the ends of the affected limb paralysis during the operation staff of the dominant disease, staff can be guided towards the optimum operating condition of the paralytic disease handedness, be mentioned that two. For the future development of systems that meet the requirements, proceed Analysis of the pressure fluctuations in the sole of the foot and the distal end of the affected staff using the partial pressure measurement in the laboratory sole.

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A powered glove is under development for spinal cord injury patients. The glove system is composed of three parts, a glove part to be worn by the user, a controller and a sensor to detect user's command. The glove part is basically made of leather therefore it is quite soft, light and comfortable to wear. An original sensor that detects user's intentional chewing is applied to this glove system as an interface. User can open and close his/her fingers through command signal given by gentle chewing action. Finger exercises based on user's intention has been demonstrated in evaluation tests. The detail of the glove system prototyped and its test results are reported.

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We proposed a new biofeedback system for rehabilitation of hemiplegia, which restrain patients from learning incorrect movements by perceiving the difference between non-paralyzed-side and paralyzed-side. In this paper, we verified the changes of brain activity using fMRI during the re-motor-learning by proposed system.

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The measurement of ground reaction forces (GRF) and zero moment points (ZMP) is important in gait analysis. We have developed a wearable ground reaction force sensor device to measure GRF and ZMP by using very thin (about 0.2mm) flexible tactile sensors. In this paper, first, we design the lighter sensor device by using the finite element method, in order to make the sensor device lighter. Second, we develop the lighter sensor device. Finally, we experimentally examine the usefulness of the developed sensor device.

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The lift assistance system is aimed at daily life of persons who are challenged with their legs. The system needs to satisfy the following requirements; riding easily, carrying easily. The innovative technology to satisfy the requirements is roll-extending mechanism, a machine element. This paper shows a test production of an innovative compact lift assistance system with the roll-extending mechanism. Two examinations are carried out. One is about comfort level by person who rides on the lift system. Several mock-ups with respect to seat size and reached height are arranged. The persons evaluate their feeling by riding on the mock-ups. The other is about mechanical stability of the lift system. It is evaluated with level of falling over force by lateral force against the gravity force. It was found that the comfort level much relies on the mechanical stability in most situations. But, the comfort level had exponentially decreased for the mechanical stability in case of taller mock-ups.

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Occurrence of bedsore is a serious problem in a nursing field. The purpose of this study is to develop a turning over support device in bed for preventing a bed sore. In order to support a turning over, the device worn on a human in a bed must has a light weight and flexibility. The actuator to drive such device is also required to have a light weight and flexibility. The developed device is constructed with McKibben and twist type pneumatic rubber muscles, which have above requirements. In this paper, the structure of the developed device is described, and then the experiment to verify the device is discussed. From the results, this device is effective to support a turning over since EMG with the device is decreased compared with EMG without one.

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