We propose a haptic scanner that records vibrotactile and pressure stimulations as audio signals. Most of exiting the haptic sensors sense physical properties of real objects. However, haptic sensation is an integration of a considerable amount of sensory information and therefore, these methods require complex algorithms for converting properties to haptic stimulations. To simplify recreating haptic stimulations, we use recorded vibration sounds as the vibrotactile stimulations. Additionally, we sense contact forces by observing the amplitude modulations caused by change of resistance. Audio signals are preferable for record, edit and share. Especially, our proposed method can use haptic information as general stereo audio signal. Therefore, users can introduce haptic information to a variety of existing media and design new haptic media easily.

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Flexible and highly-sensitive capacitive sensors that are capable of detecting pressure distribution on curved surfaces are on demand these days. Using solid dielectric material could deteriorate the sensors flexibility, while using air as the dielectric might compromise the sensors sensitivity. We propose a distributed capacitive sensor encapsulated in liquid that has high permittivity constant, namely, DI water and glycerin, as the dielectric. This design can increase the sensitivity while maintaining the flexibility of the sensors. The proposed sensor was micro-fabricated and proven to maintain its flexibility while being deformed. The sensitivity enhancement of the device is to be demonstrated by comparing some characteristics of the devices; between that with and without liquid encapsulated. The experiment results showed that the devices with liquids encapsulated were more sensitive when higher pressure is applied, and amplification ratios of the devices with DI water and glycerin increased ±7 and ±3.5 times respectively, as compared to the device without the liquid encapsulated.

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In this paper, we show a tactile sensitivity threshold to a high frequency Amplitude-Modulated (AM) vibration which depends on its carrier frequency. In a previous study, Lamore et al. showed the similar threshold curve which insisted that the Pacinian corpuscle was responsible for the perception. However, our results insist that the Meissner's corpuscle can be responsible for perceptual characteristic of the high-frequency AM vibration. We show our psychophysical experimental results and discuss a characteristic model.

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We propose a new proximity and tactile sensing method using capacitance measurement. The proposed sensor consists of the three electrodes (X_1, X_2, Y). The capacitance between X electrode (X_1 or X_2) and Y electrode is measured by switching between X_1 and X_2. In the experiment, detection of the object on contact and proximity, and identification of two kinds of materials on contact were demonstrated. This technique may be applicable to proximity and tactile sensor for robot and touch screen.

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In this paper, a new multifunctional contact sensor based on PVDF films is proposed for material recognition. The proposed sensor consists of a pair of PVDF films with the urethan sheet. The capacitance and the ultrasonic propagation time are simultaneously measured by a pair of PVDF films. In addition, the voltages induced on the PVDF film by the vibration and temperature change are also measured due to the piezoelectric and pyroelectric effects. When the proposed sensor contacts the object, the electrical properties and pressure are measured from capacitance and propagation time. In addition, the information of the object such as the vibration and temperature is obtained by the measured voltages. In this experiment, the fundamental properties of the proposed sensor,electrical property, pressure, vibration, and temperature - were measured, and the usefulness of the proposed sensor was discussed.

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In this paper, We describe our research aiming to automatically detect damaged sections of sidewalk using SOKUIKI sensor mounted on a mobile robot. We consider the problem of sidewalk survey and purpose of our research to solve that. First, we consider sensing method using a mobile robot equiped with UTM-30LX, which can get three demention value. Next we consider identification method of damaged data competing all data within a certain range with some reference planes. They are made by three points of grid data that are extracted to random in the range of conditions. Finaly, we verificate these devised mothods to apply five patterns of sidewalk. In the result, all of them can be identificated damaged sections that are similer to result of the goal, so we think that devised methods are varid to detect damaged sections of sidewalk.

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We study on characteristics of the SOKUIKI sensor capable of detecting multi-echo. This sensor can measure two or more distances for the single direction, and can acquire much information compared with the conventional sensor. We investigated what kind of measurement result is actually obtained under the following experiment's environment. 1. Measurement of the environment where it is raining. 2. Measurement of the object through a shutter. 3. Measurement inside a room where the smoke is filled.

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The video surveillance system is used in a various fields, such as crime prevention, manufacturing industry etc. Conventional video surveillance system can detect abnormal motion from only TV. However, it is difficult to detect abnormal motion from only image automatically by computer. Therefore, we propose a monitoring system using image and depth data from Microsoft's Kinect sensor. We adopted higher order local autocorrelation (HLAC) features and cubic higher order local autocorrelation (CHLAC) features for detecting abnormal motion from image and depth data.

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This paper describes a three-dimensional environment recognition method for 3-D mobile robot that can walk up and down stairs. The recognition method using conical scanning distance measurement can measure environment shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follows the conical generating line. 3) The extraction of the planar feature quantity. In this report, the experimental device was built using the TOF range imaging sensor. We applied this method, and recognition experiments that boundary between the stairs and the wall were carried out.

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Actual sensors embedded in a multi-axis accelerometer are not aligned with the package directions in general. With former methods, it is difficult to measure the actual sensor directions. This study proposes a new examination method to measure the actual sensor directions and sensitivities. The method uses a new examination system with parallel link exciter mechanism. This report discusses the effect of machining accuracy of the sensor base is described with simulation and experimental results.

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In this paper, we propose a stereo vision system for observing continuously a quickly moving object. The system consists of two high-speed gaze controllers by rotational mirrors, and capture stereo images while gaze controllers track the object. Temporally continuous 3D shapes of the object are reconstructed from the stereo images, and the system measures high-speed motion and deformation of the object. We discuss settings of the system considering characteristics of the gaze controller by rotational mirrors. The experimental results show that the system can capture stereo images tracking a quickly and irregularly moving object, and can reconstruct temporally continuous high-resolution 3D shapes of the object.

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In this paper, we develop a net-structured proximity sensor which detects azimuth angle and elevation angle to an adjacent object without contact. The information is available for various robots to avoid an approach obstacle or to follow with human behavior. First, we propose detection principle of azimuth angle and detection principle of elevation angle. Detection of azimuth angle is realized by arranging two one-dimension net-structured proximity sensor in orthogonalized axes. Detection of elevation angle is realized by arranging two one-dimension net-structured proximity sensor in double-decker ring. Then, we show availability of detection principles by the experiments with the sensor which is constructed based on proposing principles.

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Lateral inhibition mechanism in human vision and tactile has effect on the edge enhancement. This mechanism is the structuring of a network so that neurons inhibit some of their neighbors. An analog circuit emulated this neuron network achieve the High-speed response. In this paper, we propose an edge detection method for an infrared proximity array with the lateral inhibition. In our approach, we first apply the photocurrent distribution obtained from that sensor to the lateral inhibition model. We then detect edge points from an edge enhancement: lateral inhibition output using zero-cross detection. Simulation and Experiments of our algorithms using that sensor are performed and favorable results are obtained.

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Resent researches show a wide application possibility of our product which produces tactile stimulation from a distance by utilizing airborne ultrasound, named as "airborne ultrasound tactile display." In this paper, a portable device of the tactile display is introduced. It is expected that more people can use it easily for wider variety of applications. The size of the device is 19x19x5 cm^3. 285 ultrasound transducers are used. In order to estimate the output force of the device, a simple model is developed and the output force is estimated to be 14 mN.

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Previously, "tele-touch" was proposed. In this concept, tactile sensation during rubbing physical surface can be reproduced in remote site. To indicate tactile sensation in the remote site, previously developed surface acoustic wave tactile display can be utilized. A dummy finger to acquire the tactile sensation of the physical surface was also proposed. Reproduced sensation did not coincide with the tactile sensation of physical surface by tele-touch system. To solve this problem, transfer function difference between real finger and dummy finger is considered. Improved tele-touch system is proposed. According to the proposition, identification of transfer function rubbing physical surface is needed. Many sample surface with periodic structure were applied to identify them. Identification of transfer functions was applied to tele-touch.

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Previously active type surface acoustic wave (SAW) tactile display has been proposed. SAW tactile display using glass substrate has been developed. SAW excitation by pulse wave has been also proposed. SAW can be excited by low-frequency pulse wave. Applying the SAW excitation by pulse wave to the SAW tactile display using glass substrate, the size of the display can be expanded. This paper describes tactile display using SAW excited by pulse wave. Vibration of the surface of tactile display and observation result of velocity change in rubbing motion are also reported.

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This paper proposes observation planning algorithm for running in living space. In living spaces, layout of the environments will be change by human. Therefore, robots need abilities to sense and avoid the environment changes. Sensors for mobile robots have limitation, these are measuring time, field of view, measurement error, and so on. Therefore, robots need to move the sensors to measure sweeping region. In this paper, planning algorithm for path and measuring are proposed. The proposed algorithm optimizes path and sensing direction of the robot for safety and fast navigation in living environments. The paper describes problem settings for measuring planning in living environments and planning algorithms to solve the problem.

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The authors aim at finding and modeling unknown objects in human life environment using robot technologies. In this paper, the authors proposed a method of unknown object segmentation using manipulation. Partial Observation Markov Decision Process (POMDP) is used for the planning. POMDP requires states for the estimation of the unknown objects. However, it is hard to define the states of the unknown objects. Therefore, the authors used primitive shape (e.g., quadrangular prism, ball) as the states. Use of primitive shape allows the estimation of unknown objects by using POMDP. We show a simulation result of the unknown object finding.

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The authors aim at developing a tele-operated mobile manipulation that can autonomously take an unknown target object specified by an operator. The robot needs to identify the target object in the cluttered environment on the basis of the human input. We propose a method for the identification of the target objects using robot not only vision but also motion. In this paper, we propose one of the most simplest designation way from human to the robot and a framework to understand motions of the object which is come out during the robot motion, such as whether the object separated vertically or horizontally, and failure for the robot motion like a falling of a stacked object.

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The present method of measuring posture has recourse to observer's vision. The aim of this paper is measuring posture quantitatively and mechanically based on three-dimensional measurement using stereo cameras in order to apply to chiropractic. The image of the neck and the scapulary was taken from both the right side and the left side by stereo cameras. The lateralization between the neck and the scapulary was measured based on Direct Linear Transformation. Measurement not due to observer's vision was become to be possible because the most convex point was measuring points. The result of conventional method and the proposed method was compared and the effectiveness of the proposed method was confirmed.

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The aim of our study is to realize the useful method to revise GIS in high-frequent with stereo cameras. This paper describes a basic study that measures the size of a building with stereo measurement. Concretely, experimental results show the possibility to measure targets indoors and outdoors. The portable stereo camera on board the captive balloon measures the size of a distant building. Progress of this study can provide 3D coordinates for updating of maps. And, this study is necessary to offer the useful information for the groundwork for reconstruction from the disaster.

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A novel 3D localization technique is described. The proposed technique conducts a distance measurement between an ultrasound transmitter and a receiver using a method called the Extended Phase Accordance Method, and estimates a 3D position of a moving target by integrating a camera image of optical markers. One advantageous point of this technique is that we can design and implement a compact 3D positioning system, which alleviates a deployment problem. Experiments prove that it can identify 3D positions of a target less than 2 mm root mean square errors.

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In this paper, we propose a method for measuring distance independent of reflectance, shape and attitude by optical reflective sensors. This method uses two sensor layers: one layer has the sensor elements mounted in straight direction and the other has in tilt direction. The two sensor layer outputs have difference due to optical path length. By calculating the proportion of two sensor outputs, we can reject effect of reflectance, shape and attitude of object. We apply to multistage ring sensor for evaluate the availability of this method. Then, we examine distance measuring property of sensor for different object by experiments.

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