Studies on illusion of force sensation have been performed to clarify force sensation mechanism. Although various illusions of force sensation have been reported, many of them are concerned with feeling position change of human body, which is called as a rubber hand illusion caused by interaction between tactile and visual information. In contrast, this study is focused on the illusion of feeling position change in the human body without the visual information. The experimental conditions are examined to investigate under what conditions the most illusion can be obtained. This study also examined illusion of distance change between actual and feeling position.

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It is difficult to obtain stable motion arm movement only using a feedback controller because this method must use high gain feedback to achieve accurate motion in early stage of learning. Therefore, motion learning mechanism of human being's arm is explained by both feed-forward controller using internal-error learning method and visco-elasticity adaptation mechanism. This study applies this assumption to both muscle potential and its frequency characteristics show possible verification of visco-elasticity adaptation mechanism.

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This research aims to use muscle stiffness as an alternative method to surface EMG in measuring subtle muscle movements. These measurements can be used as an input interface to devices like prosthetic limbs. In this paper, stiffness of the forearm muscle during gripping motion is measured using a piezoelectric haptic sensor. As a comparison the same test was performed using surface EMG. Results regarding the correlations of each method to gripping force are presented.

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A robot with a large number of degree of freedoms (DOFs) may have the flexibility to cope with disturbances and irregular factors exist in a real environment. In this paper, we propose a control method for such a robot where the prediction using k-nearest neighbors from past experiences (stored instances) of a similar situation is used to determine the control signal. We apply our method to the control task of a robot with complicated structure, driven by several elastic actuators. Experimental results show that the control of a robot with a large number of DOFs can be achieved by the proposed method.

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In this research, we study on posture control of a rotating link system with a torque unit under frictional condition. The torque unit is a module which consists of a motor and a reaction wheel. First, we consider the effect of viscous friction to the posture control of a manipulator with a free joint. Second, we investigate the effect of modifications in physical parameters to the posture control. Then, we propose a control scheme applying the viscous resistance to achieve unloading of the torque unit. As a case study, we deal with a subject of the posture control of a floating robot applying the viscous resistance of water.

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Liquid in container slops around by change of acceleration, so robot can't transfer liquid container as the rigid box. We suggest control method to transfer liquid container with liquid slop inhibit. Control inputs are horizontal and angular accelerations of container. We had proposed a method of trajectory generation to inhibit liquid slop, and had obtained the good result. But, a wave arose even if it used this method when a container was moved more quickly. In order to inhibit this wave, we proposed a new method which combined RH control and Trajectory Generation for control Wave. We verified the efficacy of control by simulating with MPS method that was used incompressible fluid analysis.

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PID control is widely used to control mechanical systems. But, PID control has a limit of accuracy due to the influence of nonlinear force: gravity, friction and so on. In contrast, digital acceleration control (DAC) has robustness for the nonlinear effects. Therefore, a combined control system of PID and DAC (PID-DAC) has been proposed in previous studies. However, control performance of this system deteriorates when PID-DAC is applied to control an object with high acceleration. In this paper, we propose two novel nonlinear compensators which are based on digital acceleration control technique. The validity of the proposed methods is confirmed by simulations and experiments.

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In our previous research, we proposed periodic input control which can control the energy of a system by modulating the amplitude or phase of periodic input. In this paper, we show the periodic input control system whose energy is controlled by periodic input control is a self-excited vibration system such as van der Pol equation, and propose a synchronization control of periodic input control systems by using forced and mutual entrainment. Efficiency of our method is validated in simulations.

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This paper suggests a method of detecting an orientation and relative position of home vehicle such as an auto-wheel chair, based on a connected lines between the ceiling board. The USB camera equipped on the auto-wheelchair was faced upward to take a ceiling image. The ceiling image was transrated to the binay image using a threshold which was changed by the surrounding brightness. Next, the labeling procedure was applied to the binary image and small areas were eliminated to detect the ceiling lines. Forward and side directional lines were utilized for an orientation and relative position of an auto-wheel chair. In the test operation, the auto-wheel chair could be driven, based on the odometry of the ceiling cross lines.

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This paper suggests an interface based on gazing input without user's body restrictions. The special feature points such as user's iris, inner and outer corner of the eye were detected by varying a threshold in the finalization procedure. Gazing horizontal directions were estimated by the relative position of a cornea with respect to the inner and outer corner of an eye. On the other hand, gazing vertical directions were derived by the locational relation among the three special feature points, namely, inner and outer corner of the eye, and iris. The suggested system was applied to the operations of the page turning machine. It was confirmed that the system could recognize the user's states of both reading a book and operating the equipment.

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This paper suggests a new method of recognizing a facial orientation based on tracking a pair of nostrils. Due to the fact that nostril shape is stable compared with other facial parts such as eyes or mouth, the nostril image was treated as a feature point and it was taken in real-time for image processing via an USB camera. When a man faced to up and downward, the darkness areas of both nostrils were increased and decreased, respectively. On the other hand, the difference between both nostril areas could be caused in cases where the face was turn to the left or right directions. The obtained characteristics were utilized for recognition of a facial orientation. Furthermore, the variable threshold in the binarization procedure was applied to enhance the recognition system against the changes in the environmental brightness.

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There is a tendency that the elderly persons decline in feeding and swallowing. It is known that the oral training such as a facial exercise has an effect to facilitate a smoothness swallowing motion. This paper describes a perspective on measurement and evaluation of face movements in the oral training practices, based on the Electromyography (EMG). Here, the zygomaticus major and minor muscles, and orbicularis oris muscle were focused for an evaluation. As a result of APDF analysis, it could be confirmed that the motion of puffing the cheeks had an effect to enhance the activity of the orbicularis oris muscle.

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This article treats with estimation and quantification of "grasping-easiness". We focused on the distribution of grasping pressure on the object and robustness of holding state of the object against external torque. We investigated the deviation of holding posture angle of the cylinder object with various diameters and tried to evaluate grasping-easiness quantitatively.

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The present paper describes the development of a laser pointer with stabilizing mechanism that aiming to suppress user's tremor effect. This paper discusses the recognition scheme of user's intentional motion to estimate essential desired motion related to user's intention from onboard sensors' information. In experiment, it was seen that measured acceleration profiles had different characteristics in-between "Stationary" phase and "Moving" phase. By applying a machine learning scheme (Random Forests), a recognition scheme was proposed. The proposed scheme successfully categorized the current state into three-groups, "stationary", "right / left-ward" and "up / down-ward" with high accuracy.

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In this paper, we have developed adherent device with micro slanted-hairs. we have shown characteristics of micro slanted-hairs made with soft material by experiments. Using soft material, we have discovered that some micro slanted-hairs have the opposite characteristic of friction to conventional one. In addition, we have proposed a soft climbing robot applying this adherent device. This robot adheres on wall with adhesion of material, and moves by action of micro slanted-hairs. We have designed and made an actuator that expands and shrinks by air pressure, and then we have developed a climbing robot by equipping the adherent device with the actuator. This robot is controlled by air pressure. This robot is tested on a horizontal plane and a vertical plane. These experiments have shown the robot and the adherent device work successfully.

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In this paper, we propose a jumping robot by an active pantograph with a rubber as an energy storage. The proposed robot has the repeated jumping capability to jump on the desk repeatedly. The proposed robot is based on the mechanism which consists of a rubber which has high energy storage capacity per unit mass, only one motor and some generic mechatronics elements. We show that the robot with the weight of 0.127[kg] can reach up to the height of 1.3[m] by jumping twice.

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This study proposes a new flexible robot driven by HS(Hydraulic Skeleton) mechanism. The HS crawler is composed of multiple fluid-bags. In our former system, the output force and speed is not high enough because of low durability of the fluid-bags. This report describes new reinforced bags and new HS crawler. Moving speed of New HS crawler is 39mm/s whereas 4mm/s with the former type.

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This paper presents the modeling of flexible cable. Recently, the application of automatic industrial robots in line production gives advantages in high speed and high precision of operation. However, the deformable objects such as flexible cable are done manually by human. There are problems to automate the operation of the flexible cable. Firstly, it has the unique deformation in every parts of the cable. Secondly, the tip of flexible cable draws different orbit compared to the motion of rigid body. In this paper, the mathematical model of flexible cable based on Voigt Model is explained. Next, the method of parameters identification is described. Finally, the comparison between the actual deformation and simulation were carried out for the verification of the proposed method.

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Recently, research and development in robotics of rehabilitation and power assist have focused on pneumatically driven robots, because of their low cost, light weight, and simple systems. Because there is a failure characteristic in the pneumatic actuators, it is possible to build a safe and flexible drive. As drive mechanism of pneumatically driven robots, we take particular note of Mckibben-type pneumatic actuator. We developed a low-pressure, low-volume pneumatic actuator in previous studies. However, generative force of this pneumatic actuator is small, if you use equipment such as rehabilitation assistance. To solve this problem, we develop originally membrane-type pneumatic actuators. We reveal the characteristics of a pneumatic actuator from experiment. We construct a model of the relationship between pressure and force on the results.

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The purpose of this study is development of the flow control valve which is small in size, lightweight and can control air flow continuously. In this repot, we decided the optimum design of the orifice arrangement and orifice diameter for this valve to achieve continuous flow control. And we designed new flow control valve prototype that the orifices were arranged from the center at 0.2-mm intervals. We have measured flow rate characteristics, hysteresis characteristics and observed vibrational acceleration. We conclude that the orifice pattern arranged from the center at 0.2-mm intervals with φ0.4-mm orifices is most suitable for continuous flow control.

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Recently, the need of mobile compressors with portability, silence and high efficiency are strongly required for pneumatic actuators, while conventional pressure sources generated by air compressors are large, heavy, noisy, and low-efficient. This paper proposes a new mobile pressure control system using reversible chemical reactions. This report shows its basic mechanism and basic experiments using the first prototype, which show a big possibility of this new idea. This device consists of a PEM fuel cell and a current controller is able to change the internal pressure with electric current. In addition, we have developed a pressure control method by electrical current.

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Recently, there has been increasing researches on robots equipped with holding mechanism which has shape adaptability. Link-less mechanism that uses some McKibben muscles is nominated for one of power robots which have shape adaptability. Clarifying the mechanical characteristics on the non-axial direction will be necessary for the realization of these power soft mechanisms. In this research, I have analyzed the non-axial characteristics of McKibben muscles. Artificial muscles that have been analyzed are the construction and extension motions. By non-liner finite element method (FEM) analysis the displacement of bending, the transformation to the diameter direction and torsion has been achieved. Moreover, the changes of the stiffness have been derived by the calculation. I have made the artificial contracting type muscle and the artificial extension type muscle of the size same as an analysis model, and conducted the evaluation experiment. The validity of the analysis results has been confirmed by the comparison with the experiment result, and I have shown the non-axial characteristics of McKibben muscles.

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This paper presents a direct teaching method using the characteristic of the pneumatic artificial muscle(PAM) for Musculoskeletal robot arm. The posture of the robot is determined by the lengths of PAMs. In order to replay motions, it is needed to replay the length of PAMs. The way of getting the length is measuring or estimating. However, mounting length sensors is space consuming. Additionaly, estimating length is needed to use intrinsic parameters of PAMs which are difficult to measure. In order to avoid these problems, the proposed method calculates internal pressures of PAMs, which equalizes lengths of PAMs in the replaying phase and the lengths in the teaching phase. The proposed method can also apply moving robots because it isn't involved the state of robots. We conducted teaching experiments using a real musculoskeletal robot arm.

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We are developing the Rubberless artificial muscle to improve problems by the deterioration of the rubber tube of the rubber artificial muscle. The Rubberless artificial muscle can be driven by low pressure than rubber artificial muscle. However, Rubberless artificial muscle's contraction characteristic is highly nonlinear and it has large hysteresis characteristics. Hence, it is difficult to control the artificial muscle manipulator. This paper describes about mechanical equilibrium model of Rubberless artificial muscle and angle control of Rubberless artificial muscle manipulator. As a result, the delay with the targeted value occurred, but an almost good result was provided. Therefore, I confirmed possibility of the application to mechatronics of Rubberless artificial muscle.

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In this paper, we describe 3-way unconstrained vibrational pneumatic poppet valves. Wearable robots need many pneumatic valves to drive McKibben actuators. Thus, it is important to miniaturize these valves. We develop unconstrained vibrational pneumatic poppet valves with PZT drivers. We need supply and exhaust valves to drive one MaKibben actuators. In this paper, two valves were integrated for one actuator. Experiment showed that our 3-way valves could supply enough flow rates. We check the flow rate for various cases of the exhaust valve. Additionally, we check the influence between the supply base and exhaust case by sandwiching the tube between two valves.

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In this paper a fast and stable motion controller for a robot with a flexible arm using IDCS control scheme is proposed. The IDCS controller scheme, corresponds to a numerical computation of the inverse dynamics of the systems, allows stable high performance control even when the system model is inaccuracy. We applied IDCS with the controller adequate for suppressing vibration: Dual Model Matching(DMM) to the lift table and consider the reference tracking of IDCS with reduction of the vibration of the flexible arm.

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For a robot working in human living space, accomplishing a task in human contact (i.e., in the condition that a human contact force acts on a body) is one of required skills. The paper focuses on external-force adaptation generated naturally from redundant degrees of freedom inherent in a system. It is shown in experiments using a six-joint robot arm that thanks to the kinematic redundancy the robot adapts to a contact force acting on the robot body while maintaining the specified endpoint orientation without any force sensors.

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This study proposes a novel method to change the stiffness of a mechanical link system according to the given magnetic field. We propose a variable stiffness link with magneto-rheological (MR) fluid, which can be controlled by the current of an electrical coil. Possible applications of this new device include sports training, physiotherapy and motor rehabilitation. Compared to a weight lifting system, which requires manual changing of weights, this new device allows the users to change the load easily and continuously with better power consumption. The advantages of the developed link are verified by several experiments to evaluate its basic characteristics as well as in an application to upper limb orthosis.

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A new technique to make a precise position control of air-cylinder using an electric motor to rotate a piston is proposed. By rotating a piston, the friction of cylinder and piston becomes small, and a stick-slip motion is decreased. A motor is controlled to produce a minimum but enough rotation according to an axial trip of piston, where the rotation is activated a bit earlier than a valve opening. With these proposed techniques, an experimental device achieves 0.02[mm] step motion. A power consumption of the motor is relatively small, which is about 2% of cylinder output.

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In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. Consequently, a tendon-driven balloon actuator has been developed for a robot hand in such environments. This study evaluated stroke control characteristics of a balloon actuator using a predictive functional control (PFC) system. Predictive functional control, a model based on predictive control (MPC) schemes, predicts the future outputs of the actual plant over the prediction horizon and computes the control effort over the control horizon at every sampling instance. In this paper, performances of PFC control with disturbance observer of 1-link finger using pneumatic balloon actuator are reported.

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We propose a novel pneumatic actuator for applying to inspection robots in narrow spaces. This actuator is 25 mm in maximum diameter and has unlimited stroke length and high speed motion by converting expansive power of pressurized tube to rolling motion. The maximum generating force of it is more than 20 N at 500 kPa pressure and the maximum linear motion velocity is more than 9 m/s. In this paper, we established a dynamic model of this actuator and simulated the generating force to applied pressure. Furthermore, we carried out the measurement experiment of the generating force in order to verify the validity of the dynamic model and optimize the actuator.

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We have proposed an active hose to explore the narrow and complex space. The hose has the following two characteristics. One is that top of the hose grows by air pressure from within, and the grown part of the hose becomes hard and guide hose. The other is that the diameter of the hose can be changed according to the number of tube units. In this paper, the method that enables the hose to bend is described using heat shrinkable tube newly. This mechanism is confirmed by experiments.

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Robots have been used widely in the industrial area by the development of actuators and sensors. Recently, the robots are applied cooperative works with humans as like life support robots, and entertainment robots. In these areas, the essential safety for humans is needed. The purpose of this research is the development of a pneumatic manipulator for realizing of essential safety by using extremely lightweight of links and actuators. This manipulator is configured with a lightweight link, a bag shape actuator, and variable viscosity elements. All parts are made by lightweight materials. In this paper, the structure about these three composition elements of the extremely lightweight pneumatic manipulator is described.

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Robustness and force sensitivity are often difficult to achieve using conventional gear train mechanism. Usage of a Series Elastic Actuator (SEA) is a common method to resolve the problem, but it should be said that SEA gives only partial solution to the problem. We have developed fully backdrivable hydraulic actuator called Electro-Hydrostatic Actuator (EHA) to resolve this problem. However, it lacked the energy storage capability that are present in Series Elastic Actuators. In this paper, we propose a hydraulic component to store mechanical energy to realize energy storage capability and enhance efficiency and speed of the actuator in dynamic motion. We call this device a "Differential Accumulator." The mechanical design and evaluation of the prototype are presented.

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In recent years, introduction of autonomous mobile robots which support humans in environments close to our life is expected. Examples are shopping support robots and porter robots carrying the luggage while accompanying the person. To utilize these robots, real time movement directive to the robots is important. In this paper, we propose a mobile robot system which performs the actions by recognizing the number of fingers. The robot recognizes the number of fingers from images obtained with a stereo camera system. Also, as one of the actions, the mobile robot tracks human who is attaching the mark. We verified the validity of the system by using a wheel mobile robot in indoor environment.

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This paper proposes a robot which can pour liquid from bottle. The robot consists of a 7-axis robot arm and 4-axis robot hand, a high-speed vision, and the robot is controlled based on visual information at the rate of 500Hz. The robot system has the abilities to pour liquid smoothly and exactly, is independent of target. A system designer can easily adjust for target by setting several specified parameters. In this paper, first, vision processing to get liquid surface information. Secondly, pour motion design for pour exactly is proposed. This motion plan consists of 3 step which are extracted from human motion. Finally, the data of experiments are shown and the effectiveness of the propose method is verified.

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This paper describes about a robot system for finding and using character strings in daily environment. The system is mainly composed of a method that finds character candidates by taking particular note of closed contour in an image. In the case of low resolution images, some disadvantageous condition occurs, for instance, only a part of actual contour may be able to be found or two closed edges are merged between two characters. To cope with such difficulties, a camera system with gaze adjustment function is used. Character strings can be found by using these functions. Applications to daily assistance are also introduced.

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We assume an entrance as an untidy room, and have been developing an autonomous entrance arranging robot that can tidy up the shoes. The robot gets under a shoe by cooperative motion of the belt and tires, moves the shoe to an appropriate place, and put it down. We propose an entrance arrangement system consisting of the robot, a camera, and a computer, which are connected via a network. This paper describes the mechanism of the proposed robot, how to recognize the robot and shoes, path planning and preliminary experiments of carrying various kinds of shoes.

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An Acrobot which is simple model of gymnast on a horizontal bar is a typical example of underactuated systems and is a two-link manipulator with unactuated joint at the root. This study discusses new swing-up controller of the Acrobot based on behavior of a horizontal bar gymnast. Proposed controller focuses to an equivalent center of mass of the Acrobot and the gymnast. For obtaining trajectory equations of behavior of the gymnast, video data of performance of the gymnast is analyzed. And a partial linearization controller using analyzing results is proposed for swing-up control of the Acrobot. Finally an effectiveness of proposed controller is shown by numerical simulation using MATLAB/Simulink.

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In this paper, a swing-up controller for Pendubot which is a typical example of nonlinear underactuated system is proposed. The proposed method consists in three steps, Step 1: to swing up the first link, Step 2: to swing up the second link while keeping the first link at up-position, and Step 3: to stabilize the two links around the unstable equilibrium state. As a controller of Step 1, a partial linearization method to swing up the first link is proposed. In Step 2, the method combining an energy control method and the partial linearization method is proposed for swing up the second link. And LQR controller to stabilize both links is used as the controller of Step 3. Numerical simulation results are given to show an effectiveness of the proposed method.

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This study addresses the attitude angle estimation and the vibration control problems for a daruma mobile robot in order to guarantee the safety and reliability as the service robot. The daruma type mobile robot means the two wheeled inverted pendulum type mobile robot with self-righting mechanism. In the moving on the slope and the bump of road, the incline and falling down are the subject specific to the daruma type mobile robot. The method of the attitude angle estimation with the fusion of an accelerometer and a gyroscope by adopting the state observer is proposed in this paper. The theoretical and experimental results indicated the effectiveness of the proposed method for the attitude angle vibration control of the daruma type mobile robot.

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A torque cancelling system (TCS) which considers not only the motion torque for objects but also the dynamics of a robotic architecture itself, is developed and equipped on a walking robot. The required torque for the system is computed by the parallel solution scheme which is developed based upon the finite element method. The scheme can compute the dynamics of complex mechanisms constituted with closed-loop mechanism and/or flexible links, and can also compute the moments generated at whichever locations in the mechanism. Experiments on the walking robot with a TCS showed a clear effect on stabilizing the mechanical sway in the walking motion.

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The Assembly-Disassembly Algorithm (ADA) is known for its computational efficiency. We propose a way of extending ADA to further improve the efficiency. This is achieved via symbolic-numeric hybrid modeling. We prepare the symbolic equations of motion of specific subchains using the Lagrange formulation. The equations are then integrated into the numerical computation procedures of ADA. Finally, we compare the computation time of our hybrid modeling approach with that of ADA.

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The purpose of this study is to achieve opening and closing operations to various lids of containers by robot arm. This paper aims to find an adequate method to achieve opening operation to a lid of Japanese tea caddy by robot arm. We describe a comparative evaluation of two methods of opening the lid: by just pulling up the lid and by screwing the lid. We evaluated opening ease of the lid by comparison of the maximum pulling up forces for opening and the product values of average pulling up force and time during opening the lid. We found that the force caused by the decrease of the internal pressure of the container gives most influence to the force for opening the lid. In addition, we clarified that the lid can be opened with smaller force because screwing for opening the lid suppresses decrease of the internal pressure. We examined these facts through theoretical analysis and experiment.

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To realize a safety autonomous navigation of a mobile robot, it is necessary to detect obstacles in sweeping region of the robot. A tabletop type robot with rotational walking mechanism as a human interface has been developed. We newly developed the algorithms for the obstacle detection and the table edge detection using PSDs for the robot.

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This paper describes method of the connection which are realized by changing autonomous control to remote control. The wheelchair and robot have individually driven wheels. The robot has two manipulator arms with hand mechanisms. These hand mechanisms have touch sensors, and they are able to detect contact with an object. The operator of the robot steers the robot for the rear of the wheelchair in connecting motion. After that, the robot is moved by autonomous control, advance and rotation of the robot are repeated and vehicles are connected. We ascertain the effectiveness of this method by the experiments.

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In this study, we propose a new model for non-verbal behaviors for communicative presentation by a humanoid robot. We focus on two types of approaches to help present content to an audience, nonverbal behaviors toward the audience and toward the screen, and assume the humanoid robot as the medium for this presentation. We tested the hypothesis that both types of nonverbal behaviors are effective toward ensuring better understanding of the content. A total of 139 participants observed a presentation by a humanoid robot and then completed a questionnaire. They also evaluated general impressions of the robot based on a psychological scale. We found that both approaches are related to higher scores regarding the audience's understanding of the presentation, with higher psychological evaluations given in relation to Utility and Voice. Finally, we discuss the universality of the proposed model for use with other humanoid robots.

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Volcano exploration rover needs to be able to explore at the place which man cannot come into for a long period of time. For that purpose, various technical subjects, such as electric power management, communication, and waterproofing, must be solved. In this research, Volcano exploration rover Micro6 was developed. It can carry out operation in a long period and remoteness. The drive mechanism which enables a stable driving of volcanic irregular place was designed. In order to supply electric source by itself, the rover carried the solar panel. In the developed system, perform the experiment.

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In recent years, mechanism design becomes more complicated to achieve higher mechanical function and efficiency. It is necessary to create appropriate configuration and geometry at upstream design stage to satisfy design specifications at detail design stage. In our study, a design system is developed for generating gear trains under design constraints on specified area. The design specifications are input position, output position, input torque, output torque, rotation direction, total weight and so on. Spur gear trains are generated by using random method combined with local optimization based on CGM. The objective function evaluates weight, efficiency, life of generated gear train. For several examples, the optimum gear train is generated successfully. The effectiveness of the optimum design system is reported.

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In this paper, we propose to apply two-degree-of-freedom optimal servo system to active electromagnetic levitation conveyance system. This experimental system is constructed by moving active electromagnetic levitation system by attached to mobile stage. Horizontal position of levitated object is estimated by an observer by measuring two hall voltages and current. Anti-sway and conveyance control is realized by the optimal servo system and integral compensation. The validity of the proposed method is confirmed by experiment and simulation.

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