A wide variety of applications featuring eye-gaze tracking systems are expected, such as in communication technology and welfare field. In this paper, we demonstrate a see-through-type wearable eye-gaze tracking system that has micro-fabricated transparent optical sensors for detecting line-of-sight (LOS) and a CCD camera for obtaining user's field of view (FOV). With the use of this system, we achieved the LOS detection accuracy of ±2.0 °, detected LOS under varying illumination and combined user's LOS and FOV for more practical applications.

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In this paper we demonstrate tactile display with large displacement MEMS actuator arrays. The actuator consists of piezoelectric actuators and hydraulic displacement amplification mechanism (HDAM) that encapsulates liquids in micro-chambers with two flexible polymer membranes. HDAM can amplify the displacement of MEMS actuator. We experimentally applied large displacement MEMS actuator arrays to a vibrational Braille code display. Tactile receptors are more sensitive, i.e. have smaller threshold to vibrational stimuli at frequencies from several tens to several hundreds of Hz. Therefore, the vibrational Braille code display we developed was more efficient than the static one. And, we investigated the artificial tactile feeling generated while the actuation pattern was controlled both temporally and spatially. The arrays could successfully display "rough" and "smooth" tactile feeling distinctly when the vibrational frequency of the individual actuator and switching time of lines of actuators were controlled.

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Singular Value Decomposition (SVD) plays an important role in analyzing human behavior. Human behavior can be represented using attitudes of human body parts. Unit quaternion is widely used to represent attitudes because of lacking singularity. In the previous study, unit quaternion was used to represent attitudes of human body parts. However, a constraint exists in the representation using unit quaternion, and it has significant effect on the feature extracted by SVD. The purpose of this paper is to establish a proper representation of attitudes of human body parts for behavior analysis using SVD. Behavior analysis results using unit quaternion were compared with the results using exponential map, and the contribution ratio of the first mode in using unit quaternion is too large to analyze human behaviors properly. Finally, we concluded the exponential map is suitable attitude representation.

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Segmentation of human's behavior plays an important role in behavior analysis. As a method based on Singular Spectrum Transformation (SST) can extract change-points in human's behavior caused not only by muscle forces but also by external forces, it has been proven that SST is an effective tool for behavior analysis. However, attitude representation appropriate for change point extraction has not been considered. In this paper, a method to extend SST which can be applied to detect change points of multi-dimensional time series is described. Because coefficients of AR models of the time series was compared with in extended SST, it is proven that attitude representation using unit quaternion is appropriate due to its linear kinematic equation. On the other hand, extended SST using Euler angles can not extract motion change points properly due to its nonlinear kinematic equation. Moreover, it is also proven that SST of individual elements of unit quaternion fails to extract motion change points and that extended SST of unit quaternion is an essential tool to extract motion change points appropriately.

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This paper proposes statistical approach for creating grasp taxonomy and analyzing process of grasping motion. We constructed a grasp posture database by conducting principal component analysis for joint angles of hand measured by optical motion capturing system. We can obtain grasp taxonomy by conducting clustering analysis for the distribution of principal component scores for the first and second principal component. We can also analyze the process of grasping motion by plotting corresponding grasp posture of each time step on the same two-dimensional space.

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To design consumer products and services based on real image of consumers, a new social system is needed to allow a designer and a maker to integrate and utilize a wide variety of data related to daily life. This paper describes a trial for developing a platform of open innovation for kids design products.

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To maintain or improve health-related functioning in elderly, it is necessary to develop strategies to promote their social participation. The purpose of this research is to suggest a new approach to understanding the relationship between one s happy feelings and everyday life events and visualize it as a network structure. We developed a happiness network and analyzed its structural differences. Moreover, we discussed a possibility of promoting social activity and participation by integrating healthrelated functioning from multiple individuals.

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Swallowing is one of the essential functions for drinking and eating. In this study, we are trying to make human swallowing model and to estimate human swallowing of food and drink from swallowing sounds. As a first step, we measured human swallowing sounds of four samples at both sides of laryngeal prominence with body-sound sensors consisting of stethoscopes, small microphones, amplifiers, an A/D converter and a PC. Then, we compared the swallowing sounds and confirmed that difference of swallowing caused by samples was measureable by the body-sound sensor.

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We present the FuwaFuwa sensor module, a round, hand-size, wireless device for measuring the shape deformations of soft objects such as cushions and plush toys. It can be embedded in typical soft objects in the household without complex installation procedures and without spoiling the softness of the object because it requires no physical connection. Six LEDs in the module emit IR light in six orthogonal directions, and six corresponding photosensors measure the reflected light energy. One can easily convert almost any soft object into a touch-input device that can detect both touch position and surface displacement by embedding multiple FuwaFuwa sensor modules in the object.

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We propose an operating method for bipedal robots by using two-fingered gestures on a multi-touch surface. We focus on finger gestures that people represent the human with moving fingers, such as walking, running, kicking and turning. These bipedal gestures are natural and intuitive enough for the end-users to control the humanoid robots. The system captures those finger gestures on a multi-touch display as the direct operation method. The capturing method is easy and simple, but robust enough for the entertainment applications. We show an example application with our proposed method, and demonstration at the international exhibition. We conclude with the results of observation and future implementation of our method.

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This paper discussed the input interface of aerial hand written characters using Kinect which is the sensor device for Xbox 360. The proposed recognition algorithm of hiragana is based on simplified glyph data composed of a stroke count and a series of writing direction. The effectiveness of our approach is demonstrated by some experiments.

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We produced SOKUIKI sensor applications with floor large screen display. A projector creates large screen image on floor and SOKUIKI sensors add touch function on it. Two mirrors are set up on both sides of screen display to make radar beams of a SOKUIKI sensor reflect inside. Detection accuracy of touch position on floor can be enhanced by this set up. We show three samples of floor applications: Giant puchi-puchi, Hockey game and Ghost hunter. Players can move fast and jump high on these applications. We also try to use a heart rate monitor to adjust exercise to match fitness level.

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Study of interactive support technology that can perform the task required advanced skills by presenting the operating instructions according to the situation, has been carried out. In order to realize this technology, we are developing a high-resolution video see-through display. If higher resolution image can be presented, the operator will be able to watch working objects in more detail. Thereby, the improvement of the working efficiency will be expected. In other words, in order to apply the manufacturing tasks, which required precision, it is necessary to the development of a device that can present higher-resolution image. Therefore, we have already developed a monocular high-resolution video see-through display, and confirmed the basic effectiveness. In this paper, the video see-through display that has been extended to the binocular system is introduced. In addition, the experimental results using the subjects are reported.

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This paper describes a method for tracking and identification of moving objects with horizontal laser range finders. As the proposed method tracks moving objects with frameworks of SJPDAFs (Sample-based Joint Probabilistic Data Association Filters), it is robust against occlusions or false segmentations. The proposed method can classify moving objects as a car, a group of pedestrians, and a false positive. In addition, it is applied to tracking of pedestrians who pass through doors.

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We conducted analysis of lifting task focusing on the trajectory of the center of pressure during precision grasp. A measurement device was developed for this purpose. The result of the lifting task experiments under different friction and weight condition show coordination between grip force and load force. The trajectories of the center of pressure during the task, on the other hand, were almost identical regardless of the experimental condition.

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Marker-less Motion Capture of people is a central issue in humanoid robotics for both motion learning using the mimetic scheme and activity recognition to work alongside humans. Mobile robots are expected to adapt to a wide range of situations in the future, which requires tracking algorithms to be as general as possible. Particle filter based motion capture has been used in the literature to track the motion of a subject in color images. However, the complexity of the problem, due to the high number of degrees of freedom, makes particle filters computationally expensive. This paper proposes to constrain several degrees of freedom using image processing techniques and inverse kinematics. The resulting algorithm was tested in real-time situation and achieved robust tracking of a person's upper body.

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Videos taken from a single camera are the most common media of human motions. In this paper, we present a method to reconstruct the 3D motion of a human figure from a single viewpoint video. We treat this problem as an optimization problem for finding joint angles of the human figure that fit each frame of a video. From the viewpoint of global optimization, the algorithm tracks each part of the body using probability field of each link and optical flow between the frames. We calculate image moments of the each link of the model's projection image and the frame, then optimize the joint angles through them. The experimental results show that we could estimate human motion from a image sequence.

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This paper proposes a method to compute inverse kinematics of a multi-body system at all given time-series instances and identify its geometric parameters at the same time. The geometric parameters are represented by the virtual generalized coordinates which are constant during all time sequences. The method solves the large-scale inverse kinematics to compute the all the generalized coordinates of all instances and the constant virtual coordinates. The inverse kinematics computation is accelerated by decomposed gradient computation based on recursive Newton-Euler formulation. The method was tested to identify the parameters of a 34-DOF human model using a motion capture system, and the results are to be shown.

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This paper proposes an application to estimate the subject-specific geometric and inertial parameters for musculoskeletal model with using time series of motion data. The geometric parameters are identified by solving an inverse kinematics problem with a lower DOF human model introducing virtual generalized coordinates which are constant all time sequences. Base parameters of the geometrically identified model are calculated by real-time identification method using the combination of the motion and force data. All inertial parameters of the subject are estimated based on the base parameters and inertial parameters given by human skin polygonal model. This application provides a convenient means for creating subject-specific musculoskeletal model. The method was tested to identify the parameters of the 155 DOF human musculoskeletal model using a motion capture data and the results are to be shown.

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We introduce an interactive interface for the custom design of metallophones. The shape of each plate must be determined in the design process so that the metallophone will produce the proper tone when struck with a mallet. Unfortunately, the relationship between plate shape and tone is complex, which makes it difficult to design plates with arbitrary shapes. Our system addresses this problem by running a concurrent numerical eigenanalysis during interactive geometry editing. It continuously presents a predicted tone to the user with both visual and audio feedback, thus making it possible to design a plate with any desired shape and tone. We developed this system to demonstrate the effectiveness of integrating real-time finite element method analysis into geometric editing to facilitate the design of custom-made musical instruments. An informal study demonstrated user without technical knowledge can design a complex metallophone using our system.

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In this paper, we propose the multi-point position measurement using a photo array and infrared LED which can be applied to three-dimensional user interface. In recent years, the digital terminal which manages and operates information is tended to multiply functions. Thus, the handleability of its interface decline relatively, and it is necessary to become skilled in operation. Accordingly, a touch panel which enables sensuous operation became widely used. These lead to the situation where user cannot make full use of function and the digital divide. Because an input and an output of a touch panel are seamless, the operation with the gesture input realizes a direct and intuitive interaction and improves the operability of digital terminal. An improvement in the handleability by an intuitive operation depended on the flexibility of the interface. Therefore, an improvement of the handleability is expected by expanding an input range from two-dimensions to three-dimensions.

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In this paper, we examined the availability of the touchless human interface using net structure proximity sensors. Recently, touchless human interface including kinect at Microsoft is studied actively. We were developing net structure proximity sensors with the feature High-speed response, touchless, and freely arrangement in the past. It is thought that an intuitive input is attained by using human interface of High-speed response proximity sensors. We considered the sensor output of the interface use using simulation, and examined that possibility distinction of gesture performed using sensor made as an experiment.

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In the paper, a new master-slave manipulation system is proposed. The system consists of the master system called telexistence FST and a dual-hand-arm robot. The master system measures the pose of a operator by Flexible Sensor Tube (FST) which consists of many bending joints and rotational joints. The weight of the system is light and its movable area is large. Thus, good operability is achieved. The 3D image captured with the cameras of the slave robot is sent to the Head Mount Display (HMD) of the master system. The structure of the slave robot is similar to the upper half of human bodies. It has two 7-axis arms and two multi-fingered hands. Each multi-fingered hand has 5 fingers and 10 axes. Pressure sensors and proximity sensors are set on the surfaces of the fingertips and the forearms. They improve the operability of the system. All joint actuators are controlled through EtherCAT network in realtime. The slave robot sits on an electric wheelchair, and it can move anywhere by pushing its lever. Finally, experimental results are shown, and the validity of the proposed algorithm is verified.

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One of the medical issues of our country is increase of the burden of doctors per capita by aging society and localization of the physician. Diagnosis and treatment support system is necessary to reduce the doctor's load. In this paper, we constructed trajectory measurement system of ultrasound probe scanning for analysis of procedure in echography. First, probe position and posture for acquiring the basic cross-sectional imaging, the demand specification of a measurement system was determined. The measurement system which acquires a probe tip position and angle by ARToolKit with stereo matching and acquires the form of an arm by Kinect sensor was built. It became possible to trace on a body surface and to measure a scan trajectory by ARToolKit, and possible to measure the changes of physician's arm shapes by Kinect. We succeeded in visualization of trajectory measurement for ultrasound probe scanning.

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This paper presents a microphone array design which can be used for capturing a sound selectivity and locally at 3-dimensional space. Capturing a sound by microphone array is achieved by method of Delay and Sum Beam Forming (DSBF). In this method, microphone arrangement have a large effect on the directivity. Using beamforming simulation, we have investigated on optimized arrangement of concentrically spherical microphone array which minimizes sidelobes, and improves the basic performance of beamforming. As a result, we have obtained a high directional quality arrangement consisted of truncated icosahedron and regular icosahedron.

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Recently, many researches have been studied about human following robots. Human following robot uses target human's position to follow target. However, robot loses target in robot's view, following is difficult. Especially, a corner causes this situation many times. This study aims to take target in robot's view again. Human moves logarithm function's trajectory at a corner. This method detects human's trajectory with time-series position of target. This method predicts target position. Robot moves to predicted position. In this paper, we have experiment to assess this effectivity. And, we achieved to predict human's position. As a result, robot can take target in robot's view again.

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This paper describes a method for 3D position measurement and identification of people by integrating ultrasonic sensors and Kinect sensors. Using ultrasonic transmitter tags with unique identifiers, ultrasonic sensor can measure 3D position and identify tagged people. But the sensor can't measure if there are not receivers in direction of ultrasonic waves from a transmitter. Kinect sensor can measure 3D positions of people and tracking them with OpenNI. But the sensor can't measure if occlusion occurs due to the overlapping people. The evaluation results show that the proposed method is more robust than methods using only ultrasonic sensor or only Kinect sensor.

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There are existing techniques to calculate online grasp planning. However, those methods do not consider the effects of gravity. Therefore, because of the unexpected load, there can be stable grips that cannot be performed. In this paper, we consider the distance between the center of gravity of the object as well as the average coordinates of the contact point in the index of the conventional method. As a result, we propose a method for grasping that is more stable. In addition, using OpenRAVE, to compare the proposed method with the conventional method. The results indicate that the average position of grasp when using the proposed method is closer to the center of gravity. In particular, if the object to be grasped is long or has a low priority gripping position close to its center of gravity, the results are remarkably improved.

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Environment and human recognition is necessary for service robots, such as guidance, communication, or guard. Therefore the technique is suggested that record the human positional information obtained by sensors as map information. By adding human posture information to this map information, robots will be able to offer service depending on human position and posture. Therefore, in this paper, by using Kinect sensor produced by Microsoft, we judge human sitting or standing posture that people take frequently. And we suggest unification method of two kinds of map information, 1) human trajectory, and 2) sitting or standing position.

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A service robot can provide the advanced service suitable for the person by not only recognizing people, but also identifying and classifying people. Therefore, in this study, a classification of people and identification function are realized by computing the amount of the features which expresses a form from people's size. I performed a multiple regression analysis from the measure of human body which can be presumed from KinectSDK to the "individual feature quantity" extracted from measure of human body data using principal component analysis. As a result, it was shown that the first main ingredients of individual feature quantity can be expressed by the contribution of 88.9%, and the second main ingredients can be expressed by the contribution of 76.1%.

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Recently, studies of living support in intelligent spaces are attracting much attention, such as informational support on a smart device with AR technology. Mobile camera localization is required to provide support information. However, localization with interest point detectors fails under textureless scenes. Moreover, drift is inevitable due to the localization. In this paper we propose a framework that revises errors accumulated in the mobile camera localization by exploiting human pose information obtained from our markerless motion capture system.

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This paper proposes small beacon devices named pebbles for a user to configure routing environment for autonomous robot navigation. Each pebble has infrared-based communication functionality to detect adjacent pebbles and share such adjacent information to construct a topological map for the environment. The robot can calculate the path to any location using the topological map and navigate by following pebbles' beacon signals. We discuss our proposed system from user interface aspect and show that it can be usable for non-expert home or office users. We also show the current implementation of the pebbles and the robot, and envision application services enabled by our proposed system.

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We have been developing a system, named Virtual Chameleon, that provides a human user with the artificial oculomotor ability to control their eyes independently. Virtual Chameleon consists of two independently controlled CCD cameras, a 3D tracking sensor system and a head-mounted display. The Virtual Chameleon control independently postures of two cameras to follow the sensors of the 3D tracking system smoothly. It is thought that those independent fields of view the user of Virtual Chameleon watched corresponding to pursuit movements on human eye movements, but it did not have functions of saccadic movements and compensatory movements. In this paper, we describe a fundamental examination to add functions to provide the user fields of view based on saccadic movements to Virtual Chameleon.

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High-speed vision systems, which provide high frame rate visual information in real time, are becoming widely used. Since the high-speed visual information is too fast for humans to recognize directly in real time, these systems are mainly used to control artificial systems such as robots. Contrary to this trend, we attempt to provide the high-speed visual information directly to humans so that they can respond to fast motional phenomena in real time. In this paper, we discuss the effect of an air hockey gaming system that displays predictive information of the puck trajectory by using a high-speed vision system. The results show that displaying the future trajectory of the puck significantly helps the assisted player. The results also suggested that humans optimize their strategy in utilizing the available predictive information depending on given tasks.

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Many varieties of props-based interfaces for 3D graphics have been proposed for development and interaction. While these novel systems solve the problem of providing input in 3Dimensions, they do not address the equally important problem of providing active feedback in three dimensions. With the robot puppet, we explore the possibilities of using servomotors as a means of augmenting a puppet-based input device with active sense/force feedback.

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Despite the pervasiveness of situation data such as incident report and situation report, we have the lack of a mothod for describing and analyzing situation data. In this research, the authors propose a new system for situational structure analysis by formulating situation analysis as a problem of graph structural analysis. The proposed system consistes of two basic functions: a function for graph-structuralizing and function for situation data-mining. The graph-structuralizing function allows users to create a semantic graph from free-description sentence on situation. The data-mining function allows users to conduct clustering and search similar situations. To prove the effectiveness of the developed system, we analyzed 818 child bicycle accident data.

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Laceration caused by collision of the ridge and the corner of a consumer product has not yet been clarified, although laceration occurs very frequently in daily life. This paper describes a system for analyzing the dynamic characteristic of skin in order to understand lacerate mechanism. The developed system consists of the impact tester which can give an impact to a skin, and the simulation system based on finite element method. This paper reports experiments using the developed system.

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Recently, unintentional injuries due to play equipment with air-inflated membrane structure occur frequently as this type of playground is becoming popular. Shock absorption performance of air filled play equipment is intricately changed by repetitive external impact. In this study, the authors developed a femur impact which is used for impact measurement in order to repetitive impact. A finite element model of the play equipment was also developed to conduct basic analysis od dynamics of the equipment.

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In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. To date, the authors' research group has been studying the locomotion mechanism and a control method for an electromagnet-type microrobot, which has a volume of 1 [cm^3]. The proposed microrobot has a feature of being able to turn with single electromagnet coil using the difference of the vibration characteristics of the legs. In this paper, we propose a wireless remote control method for the microrobot, using the future of the locomotion mechanism and control method. We report the experimental results and confirm the effectiveness of the wireless remote control method proposed in this paper.

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Some natural creatures have interesting functions generated by micro structures on their body surface. Structural color is one of them. In this study, we have tried to mimic it and use as mechanical applications. In this report, a rubber sheet having blazed grating has been developed. The sheet was realized by vacuum injection method. Because of softness of rubber, the sheet can be stretched. Then following the deformation, structural color is changed. We have confirmed the relation between extending rate of the sheet and appeared color experimentally. Additionally the rubber sheet has been mounted on a soft bending actuator, and color change following actuator motion has been observed. It indicates that the sheet has potential as a strain sensor.

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The various types of robots that can perform the victim search and rescue at disaster situations such as earthquakes have been developed. In order to discover disaster victims in a vast disaster area at an early stage, many rescue robots are carried to a disaster site, and it can be estimated that it is necessary to carry out investigation activities simultaneously and frequently. We proposed a small search robot that can run the irregular ground in the disaster area and go into the very small space such as gaps of the rubble. This robot also can produce in commercial quantity by employing a simple locomotion mechanism. This paper describes the design development of a small robot and the locomotion characteristics of this robot using a basic experiment.

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In order to investigate microscopic hardness and stiffness of a micropart in a special chamber, a micro surface measurement which relies on an instrumented indentation testing (IIT) micro-robot and a vision base navigation system is proposed. This micro surface measurement system is composed of the IIT micro-robot and its precise navigation system. The IIT robot incorporates with an electromagnetic driven micro-force generator, can be provided a precise controlled force up to 17 mN with 50 μN resolutions pass through the micro indenter. The displacement of the indenter head can be also measured by the linear valuable differential transformer (LVDT) on machine. Thus, this machine can generate and monitor the testing force and depth behavior of the indenter during whole dwell time. Since the overall size is small enough to implement on the piezo-driven micro robot. The robot with a micro indenter is capable to move precisely step by step with 1 μm per step on a metal plate. With the help of an image processing technique, the vision combination system with the local close up view and the overall global view can be identified the coordinate of small robot precisely over the working range In the experimental, the results have shown that the IIT robot can be given an indentation load-depth characteristic of an unhealthy human tooth at the specified point automatically.

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We have been developing optically driven nano-robot for measurement and manipulation of a single living cell. In this report, we have created a novel type of optically driven nano-robot for measuring biological proteins such as actin, myosin and so on. The new optically driven nano-robot is assembled two parallel beams extended from stiff base block with wall on each end. One of the beams can be bended to and fro by external laser. When target protens are clipped between two walls, the motion of the bended beam will be transferred by proteins to the other wall. By measuring movement of both walls, the nano-robot will identify mechanical characteristics of the proteins. This nano-robot becomes attractive device for cellular biological studies.

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This paper describes a path planning for Mobile Mapping System (MMS) considering with GPS availability. In a MMS survey, accuracy and efficiency are important factor. The accuracy depends on GNSS availability, which is affected by the road environment. Also, in some operations, MMS have to survey every road in an area. Because of these conditions, it is difficult for navigators to decide MMS's path in the surveys. Thus, we proposed a path planning for MMS considering with GNSS availability. The proposed method weights all links based on the number of visible GNSS and distance between nodes. The number of visible GNSS is calculated by aerial laser survey point cloud and GNSS almanac data. Since the number of visible GNSS changes, the weight of a link is recalculated hour by hour. In a field test, the proposed method improved the GNSS availability and we confirmed the effectiveness of the proposed method.

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As the practical uses of point cloud generated by the Mobile Mapping System (MMS) spread, modeled data are applied to many fields. However, the cost of modeling process increases with the size of data. So, in order to make the process efficient, we have proposed recognizing pole-like objects method. The proposed method recognizes pole-like objects focusing on local area of segments and using Support vector Machine (SVM). The method recognized pole-like objects robustly and its recognition accuracy is 91.4%. However, this method recognized walls as pole-like objects (miss recognition) and wasn't able to recognize tilt pole-like objects. Thus, we added two improvements to the method. One is tilt correcting in machine learning and recognition phase. The other is making local area search active. With these improvements, the total recognition accuracy became 97.4%.

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A devastating earthquake and tsunami damaged large area in the Pacific coast of Japan, Tohoku district on March 11th 2011. In such a huge disaster, it is important to collect recovery information at regular intervals for speedy recovery work and disaster prevention. For information collecting work, aerial photos and conventional survey have been used, but these methods cost much. Thus, we have developed Mobile Mapping System (MMS) as an efficient survey method to collect information when disaster occurs. To collect information about the environment of disaster area and to record recovery process, we conducted a survey of the Tohoku district in June and November, 2011. This paper provides methods for extracting road environment changes around roads, such as postseismic crustal movement and reconstruction, by comparing time series 3D point clouds acquired from these two surveys.

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For the realization of the 3D measurement such as MMS (Mobile Mapping System), the needs of high precision location information has been increasing. Therefore, by combining the United States GPS (Global Positioning System) , the Russian GLONASS(Global Navigation Satellite System), and the INS(Inertial Navigation System), it is possible to increase the number of satellites in reception. Moreover, it enables high precision and improvement of convenience. However, due to the effects of multipath, it is necessary to evaluate the reliability of the positioning solution obtained by the GPS and GLONASS combined positioning. In this paper, we propose an algorithm which automatically selects the reliable positioning solution.

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The purpose of this study is equipping small non-verbal communication units for education humanoid robot. "nikotto" In general electric motor, hydraulic cylinder and air cylinder and adapted to the actuator for humanoid. However, this robot has no large space and power. In addition, end-effector will have a lot of function.So we can't use there aduatars. Therefore we suggest that use a shape memory alloy (SMA) which has smooth movement and quietness, high power weight ratio. Moreover, we developed a facial expression devices and survey of impression for this devices. The result of survey is generally fine In conclusion, communication ability is progressing by those devices.

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In recent years, the necessity and importance of micro-robot has been growing in industrial areas, medical areas, and so on. In this study, we developed in-pipe micro traveling robot. The moving mechanism by expansion and contraction of the balloon pressure using friction with the vessel wall, which is peristaltic movement. Therefore, it is considered that the impact of blood flow is great. But experiments that are intended to be blood flow has not been done. In this study, experiments were performed using the current. In addition, is provided as a mechanism releasing the blood flow. Experiments to verify how much the flow rate is released in the mechanism were done. Or more we experimented and verified whether in-pipe traveling micro-robot can correspond to blood flow.

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In this paper, our purpose is the development of preceding vehicle recognition algorithm for leading vehicle of autonomous platooning system. Detecting preceding vehicle in the lane of the ego vehicle is important. So we have proposed a technology of robust obstacle detection from a long distance by multi sensor fusion of Laser Range Finder (LRF) and Millimeter Wave Radar (MMWR), and determination the lane, where the obstacle exists based on the digital map. In order to expand versatility of the system, we propose the method to detect preceding vehicle in the lane of the ego vehicle without a digital map.

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