This paper introduces a fundamental framework for paraplegia walking support via a wearable lower extremity exoskeleton robot. We propose a walking trajectory generation and a Virtual Admittance Control. Walking trajectory generation creates smooth and continuous time-varying trajectory via polynomial interpolation to calculate referential joint angles. Virtual Admittance control provides the characteristics of a virtual spring and damper in each joint, in a way to handle external forces acting on the exoskeleton throughout the entire walking period. In order to compare the proposed control scheme with a conventional position control scheme, we conducted bipedal walking experiments on 4 able-bodied subjects. As a result, we obtain relatively viable walking performance, in which less upper body effort is required to counterbalance.

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This paper introduces superiority of pinching force accuracy and band when our developed pinching force support system augments a human's pinching force, allowing direct contact of human fingers and fixing distribution ratio of the supporting force. A user in our exoskeleton support system adjusts his/her pinching force according to a task based on his/her tactile feedback information that is made available by a direct contact with a pinching object. In addition to the direct contact, the exoskeleton pushes a user's finger with a constant rate of supporting force for reduction of the affecting force on the human finger, and then the rest of the supporting force directly acts on the pinching object. In contrast, most of conventional gripping assistive robots interfere with haptic sense of a user finger and with stable and dexterous manipulation based on the tactile sense because they covers a user's fingers with their exoskeleton. Through some experiments, this paper reports that our exoskeleton achieves high precision and wide band of the pinching force, comparing with the human performance and with performance of different structure of the exoskeletons.

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In this study, the power assist wear for a lower limb, which looks like trousers, is developed. The power assist wear is constructed with layer-type pneumatic actuators, inelastic cloths, trousers, shoes, and air supply system based on pneumatic energy. This wear can generate an extension torque at knee and plantar flexion torque at ankle joint. This wear can be used to assist going up and down stairs. In this paper, the structure of assist wear and air supply system are described, and then the assist effect of this wear is confirmed from EMG.

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Pressure presentation technique was applied to a correction of writing motion. A wearable device that has two stimulation levers and that can be mounted on the human arm was developed. By driving each lever individually, it is possible to present information about the required motion. In the experiments, subjects carried out several writing motions following a presented model. As a result, efficacy of the developed device was confirmed.

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Many people of all ages have sustained cervical cord injury in traffic accidents, sport accidents, and so on. Specifically, there are a lot of people which suffered from C5 level cervical cord injury. They have lost the ability of lower limb and also can't exert extension force in elbow joint in daily living. Thus, many motions become difficult to perform in daily living. In the future, wearable assist motion robots are expected to be incorporated into daily living. In order to be wearable, the assist robot must not limit the user's range of motion while being carried or used, and must be suitable for a wide range of situations. In this study, we develop extension force support system which bases on operator's volition under the effect of external force by using wearable assist motion robot for upper limb. The effectiveness of the developed system is demonstrated experimentally.

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It is necessary for wearable robots to develop systems to prevent falling down and to maintain balance. We propose a landing control system for contacting obstacles while walking. This system is composed of two modules. The first module is real-time obstacle detection using ground force sensors. We measured ground reaction force while landing on an obstacle and the pattern of hitting was identified. The second one is a fast trajectory modulation of joint angle after hitting the obstacle. Using the land control, a user can land an obstacle with a stable posture and stop the motion in a short time. Finally we confirmed that the proposed method improves the balance after landing by the experiment.

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In this paper, we propose the upper limb power assistant device of using rubberless artificial muscle. This device is actuated by the rubberless artificial muscle. This device assist the operation of the human elbow flexion. We aims that this power assist device can assist the operation of elbow flexion the same trend with human. EMG signal of the elbow flexion operation is represented by a function of the elbow flexion joint angle. We make the input signal of the rubberless artificial muscle using this EMG signal. The power assist device is driven by this input signal. We experimented that the target assistance was performed. As a result, we confirmed that this power assist device can assist the operation of elbow flexion the same trend with human.

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One of the effective means as a method of supporting a worker is the remote visual information sharing method. In this work we focus on sharing of visual information between the expert person who is an expert of a task in a remote site and the assistant person who assists the task execution. The visual information of the remote site is captured by a head-mounted camera on the assistant person and is shared with the expert person. Normally the shared visual information is tightly linked between the expert person and the assistant person and the link can be the constraint between them and prevents efficient work execution. This paper explains the outline of the asynchronous visual information sharing system proposed in order to solve those problems and the camera motion compensation method for the proposed system. The effectiveness of the proposed compensation method has been confirmed by the conducted experiments.

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In recent years, many wearable motion support system have been developed in a variety of applications. We have developed the wearable walking support system to support the part of the joint moment of the human body estimated based on the human model on the sagittal plane. However, when we consider the support of any motion in daily life, it is desirable to estimate the joint moment in three-dimensional space. In this paper, to support system the motion in daily life, we extend the human model on the sagittal plane to the one in three-dimensional space, and explain a method for estimating the joint moment in three-dimensional space.

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In recent years, some walk-assistive robotic system has been studied and developed, for better human-care or reha- bilitation. Such robotic system should work as human's intension and should not disturb human's natural motion. When considering control of the robotic system, the human's motion estimation becomes very important for such reasons. This paper, thus, proposes an estimation method for human motion of daily living using inertia sensors In the paper, joint angle for hip and knee, and vertical distance is measured by for the motion estimation. Especially, the stepping motion detection is focused in the paper.

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KEIROKA technology to reduce workers fatigues have been proposed. Denmark is one of the best welfare countries. The investigations were conducted to obtain the impressions to "Smart Suit Lite for care givers" from the worker in Denmark. This report shows the results of interviews and questionnaires at hospital, research institute and welfare center. In this investigation, existence of care workers who has back pain in Denmark is confirmed. The needs of prevention to the back pain and KEIROKA technology are also found in Denmark care work field.

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A wearable robot to send independently a daily life is expected in order to reduce a physical burden of a care worker. Previous wearable devices have been constructed with a high stiffness material such as metal. In this study, an upper limb power assist wear consisted with light and flexible materials such as a rubber balloon is developed. This device supports a elbow and shoulder motion. Because this power assist wear is made of flexible material such as cloth and rubber, it is possible to wear it with the sense like clothes. Therefore, the load of this device to the user is a little. And the meal motion was supported with this power assist wear supporting the elbow and shoulder movement. In this paper, the structures of each actuator and the device are described, and then the effectiveness of this device is discussed experimentally.

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In recent years, for the purpose of a power assist and walk assistance of an elderly person, the person with a disability, rehabilitation support, various wearing type robots have been developed. Those robots almost form an external skeleton along a frame of the human body. Although the external skeleton mechanism has an advantage in that the robotic mechanism is supported by the external skeleton. On the other hand, adjustment mechanism is necessary, and the weight of the robot increases. In this study, we propose a light weight and flexible "Robotic Wear" using the skeletal system of the human body without having an external skeleton mechanism.

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In recent years, there is a demand to measure the actual state of bio-cells in the field of bio-medical science.As we know, there are severalmethods to observemechanical or viscoelastic characteristics of cellsthrough the microscopic visual observation. Therefore, we propose a method to measure the mechanical characteristics of bio-material, especially by using vibration of piezo driven micro tuning fork. In our device, there is a tiny needle adhered to the end of the tuning fork. We can vibrate this tuning fork at its resonance frequency and the precise mechanically driven platform can lift up the sample so that it can touch the vibration needle. Whit different contact conditions, small changes of the amplitude and the phase shift of the micro vibration can be measured. Thus we can get the mechanical characteristics of the sample and then estimate the health condition of bio-cells in term of the mechanical properties.

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Factory automation by the robot hand is expected to improve productivity and safety. In order to grasp the object there is a bias in the center of gravity, it is necessary to measure three axis load and torque. In this study, we aimed to develop a flexible contact sensor for four axis load measurement. The developed sensor is composed of elastic body and load measurement layer using pressure-sensitive conductive material. In this paper we describe relationship between load and voltage output .

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We proposed a layered capacitance 3D touch screen to detect the object (finger) at three dimensions (3D) range. In the proposed 3D touch screen, the plane-type capacitance sensors and the parallel-type capacitance sensors are layered. The plane-type capacitance sensor detects the object and position at non-contact (proximity range), and identifies the material on contact. The parallel-type capacitance sensor detects the indentation and precise position of the object on contact. In this paper, the 3D touch screen is set on the display and detects the object and position before and after contact. The proposed 3D touch screen may be the functional and useful interface.

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When we rub physical surface with pen or stylus, we can feel tactile sensation through it. The reproducing of such realistic tactile sensation is focused recently and some devices have been developed. On the other hand, many devices proposed only low frequency sensation, that frequency is considered as peak frequency of mechanoreceptor sensitivity. In this research, adding high frequency vibration to tactile sensation indication was proposed. To confirm high frequency vibration on surface acoustic wave (SAW) tactile display, its frequency response was measured. We conducted a psychological test to investigate the perceptual threshold that human can feel on SAW tactile display. We confirmed that human feel the high frequency vibration.

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Japan has the highest rate of increase with respect to the population of senior citizens. More products, facilities, and services that are accessible to a wider range of people, regardless of their physical qualities or disabilities, are becoming popular. In this study, we focused on visual impediment. Printing braille and tactile maps with clear and colorless ultraviolet curable ink is usually done by screen printing. However, it is pointed out that end result of printed material manufactured by this method is poor quality. Therefore, we developed new printer for braille and tactile map, that clear and colorless ultraviolet curable ink was jetted by nozzle quickly. Furthermore, monitoring evaluation was conducted by several people actually using the Braille manufactured by the new printer. From this monitoring evaluation, we obtained a good appraisal for the braille.

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People with visual impairment generally use raised line drawing kits to draw characters and figures. However, there are some disadvantages of these kits; the drawn line cannot be amended, etc. Therefore, new practicable writing material for the visually impaired should be developed. In this study, we developed improved writing material that overcomes the existing problem of raised line drawing kits. Moreover, to determine the internal diameter of pen tip, we investigated the relationship between the line height and line width of tactile symbols and the ease of shape identification. As the result of this experiment, it is found that it is easy to sense the drawn line when the line height is 2.0 mm and the line width is 3.0 mm. From this study, we obtained the information for determine the specification of internal diameter of pen tip (4.0 mm).

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This article proposes a bilateral control system in which position and force scales between master and slave systems change to improve operability. The proposed method is useful in the case that master and slave sizes are quite different from each other, for example, when a large construction machinery such an excavator is controlled by a small master system. In the proposed system, the position scale changes as a function of the applied force from environment to allow the operator to precisely control the system after the slave system contact the environment, and the force scale changes in inverse proportion to the position scale so that the mechanical impedance felt by the operator is as equal to that of environment as possible. The validity of the experimental system was confirmed by experiment.

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For humanoid robots which interact with objects in unstructured environments, tactile sensing is important. It helps the robot to evaluate surface properties of the objects it interacts with. Texture identification and discrimination is an ability of such kinds of robots. In this paper, the development of a bio-mimetic fingertip that has accelerometers and force sensors to detect micro-vibration and force modalities is introduced. Furthermore, the ability of the fingertip in discriminating materials using textures is investigated. An artificial intelligence based approach is proposed with four parameters as classifiers for the ANN. The classifiers are the mean, standard deviation, and energy of detailed and approximate values of discreet transformation of the convoluted signal of accelerometer sensor signals. The method shows promising results as it was able to discriminate seven materials, six fabrics and one metal surface with 55% accuracy.

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This paper proposes whole-body tactile sensing by a force sensor using soft material at contact areas. The previous method proposed by authors has used rigid materials at contact areas. In term of safe assurance, the material should have character to absorb a shock. Hence we use urethane sponge at contact areas and in the case of whole-body tactile sensing using the soft material, calculate the contact point. First, the relationship between external force and displacement of the urethane sponge is measured. Second, whole-body tactile sensing using soft material at contact areas is verified. Finally, this paper presents compensation for transformation of the soft material and verified its validity.

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A cricket has two cercus which covered with various sensory hairs. Using this cercus cricket can discriminate stimuli and perform a relevant action. The purpose of this study is to develop a new sensor system which can extract a useful information from simple data obtained by various filiform tactile sensors like cricket cercus. In this paper, prototype HIGEMOJYA sensor showed different response from each obstacle. Also, I estimated the HIGEMOJYA sensor response which has various filiform tactile sensors from simple data of same filiform tactile sensors.

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We have developed the TAKO-Pen, a pen-type pseudo-haptic interface using suction pressure stimulation on the skin. This paper presents a follow up report to support the results obtained in an earlier study. In this paper, we obtain an analysis on the finger pad deformation using the finite element method. The analysis was based on the grasping condition of the finger on the pen at which external force is applied. This analysis is important for developing the guidelines for controlling pressure distribution on the skin. We found that strain energy density appears to conform to the responses we had obtained in the psychophysical experiment.

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In our research group, we are developing a High-Speed High-Sensitivity Slip Sensor composed of a piece of pressure sensitive conductive rubber. It's useful for griping object in most suitable force. As the next step, We focus our research on how to deliver object on suitable timing. We propose a method to determine the suitable timing witch detects slip direction by a Netted-Structure circuit. This paper reports that we succeed in detecting the slip position and direction by the Netted-Structure.

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We propose a wearable electrotactile display, which is suitable for augmented reality applications, for a fingertip using a flexible substrate. Since the flexible electrode substrate fits and deforms along with a curvature surface of the fingertip, the user doesn't feel undesirable pressure sensation from the electrode substrate and perceives the shape of a real object when they touch it through the substrate. This indicates that the developed electrotactile display can naturally attach surface textures on a real object. The experimental result indicated that the users correctly recognized the difference in position between an edge of a real object and that of an electrotactile stimulus, i.e., they precisely recognized spatially distributed tactile information from both the real object and the electrotactile display.

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This paper reports experimental results on surgical grasping forceps with a vibration actuator that enhances a tactile perception ability. A passive sensory test has been conducted for human participants to confirm the efficacy of the device. Statistical significance has been observed when appropriate noise is applied. To investigate the effect of the noise intensity, a summing network of FitzHugh-Nagumo model neurons was built. The simulation results showed that a network with relatively large units improves the detection capability of the input signal.

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We propose vibrotactile analysis and vibrotactile synthesis by using sound analysis techniques. In this paper, we adapt those techniques to vibrotactile generation. We analyzed vibrotactile wave that was amplified by TECHTILE toolkit by recording a contact microphone. After recorded, we analyze a fundamental wave of vibrotactile wave and impulse resonance of contact, and we generated a synthesized vibrotactile sensation by convoluting impulse resonance data with that wave.

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This paper presents a novel ungrounded force feedback device which makes a user feel a sensation as if a pulling force is displayed by utilizing non-linear characteristics of human perception. The force feedback device is mainly composed of a spring-mass system and a voice coil motor (VCM). A weight, which connects to the VCM through the spring, hits against a wall periodically to generate a one-directional impulsive force. Then, a user grasping the device perceives the pulling force to the designed direction despite a real constant force is not displayed. The device is 140 x 41.5 x 41.5 mm3 with total mass of 230 g. A sensitivity of the pulling force perception were evaluated and presented in this paper.

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In previous study, we developed a net-structure proximity sensor with optical detection elements and showed applications such as robot hand and human interface. However, the optical sensor cannot use in blurry vision and cannot detect a transparent object. We propose a new net-structure proximity sensor with ultrasonic detection elements. The sensor can resolve above problems and is applicable new detecting methods that utilize the ultrasonic waves. In this paper, we discuss demands to construct the ultrasonic net-structure proximity sensor. Secondly, we propose a constitution of the ultrasonic net-structure proximity sensor that fulfills the functions with ultrasonic elements.

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This paper discusses haptic force rendering on a multi-finger electrostatic passive haptic feedback system using a force-direction sensor. The system consists of transparent electrode on an LCD monitor and multiple pads for user's multiple fingers. The system can render haptic feedback force using electrostatically induced friction. However, the previous trial suffered from the sticky-wall problem, which is commonly found in passive haptic systems. In this work, we developed a force-direction sensor that can be integrated into the pad with a diameter of 30 mm and responds to more than 0.2-N pushing force. A wall-rendering experiment shows that the force rendering using the force-direction sensor can reduce stickiness of the virtual wall.

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Physical therapists master manual examination techniques for testing impaired motor functions. We developed a wearable robotic dummy joint to simulate disordered joint resistances for supporting physical therapists to learn such techniques. We implemented 5 symptoms seen in knee joint diseases and strokes. The implemented models were validated based on the introspection of physical therapists, and some simulated resistances well matched with their experiences. The symptom models and dummy joint have been continuously undergoing improvement cycles.

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The database is often used in the development of the system. For example, it is used to record the user info about the book at the library. The database is very useful. But it is difficult to get enough effect only by recording the data simply. When the target data is searched on the whole database, search time gets longer with the increasing recorded data. In the result, the speed of processing will decline. In this study, we tested a database about deleting method, fragmentation and index to make response of database speedy.

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The use of robots for care and rehabilitation has been attracting attention within the declining birthrate and aging population. In our laboratory, we tried to maintain motor function of the elderly using small humanoid robot. Through this activity, we made sure that a robot has an effect promoting eagerness to do gymnastics. Therefore we developed a gymnastics support system including a robot presenting gymnastics, a motion sensor and user interface device. In this research, we propose a method for evaluation of gymnastics using three dimensional points and orientations obtained from a motion sensor. And we report a result of evaluation of gymnastics by university students and the elderly staying in a geriatric health service facility, using gymnastics support system.

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To support a person with upper limb disabilities to naturally communicate his/her intention on a bed, we propose a hands-free operation method which enables seamless access to both PC and external objects in the whole room. User's head motion is hands-freely measured by "air-pillow interface", conventionally developed by the authors, in order to control the PC cursor's position as well as a direction of a laser pointer on a pan-tilt actuator near the user's head. We have experimentally confirmed the validity of the proposed method and evaluated the operating performance by throughput values with regard to the pointing ability.

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This paper presents walking orthotic equipment that enables a person with mildly disabled limbs to use an ordinary toilet. The critical problem occurs as the narrow width of the toilet booth when a wheelchair user would like to use the ordinary toilet. 0n the other hand, if the wheelchair user can walk, this problem will be solved. In this case, the user has to realize the following motions: standing up from a wheelchair, walking to the toilet booth, and sitting down on the toilet seat. A pair of telescopic Lofstrand crutches assists the user when he is standing up and sitting down in short length state, and assists the user in a standing position when changed into long length state. Each crutch has a curve foot to realize continuous contact from the seating position to the half-standing position. A gas-spring with a brake attached to the crutch helps the telescopic motion of the crutch. It can be folded so as to carry easily with a wheelchair. Experimental results confirm the effectiveness of this equipment.

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There are people who can't transfer on their own and needs help for the move from a sitting posture to other sitting posture. However, many of them want to transfer without assistants. Therefore, we developed a robot that assists them to transfer on their own. In this investigation, we build the prototype which has new supporting system of the stand up motion with two rotation mechanisms and a slide mechanism. This prototype also has the structure, which adjusts the length of the holding part, composed by the divided upper and lower body. Based on experiments using the prototype, it is shown that the proposed supporting system of the standup motion achieves the comfortable transfer assist.

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A proper seating is very important for severe cerebral palsy patients, and has good influence on patients' physical bodies and mentalities. Deformity of spine causes gaps between a back of patient and a backrest of wheel chair. Generally, urethane cushions are used to fill up the gaps. However, this method cannot handle the dynamic change of posture of users. In the previous study, we developed a prototype of the i-Seating and we invent the seated posture adjustment method for the patient. However, in advance it is necessary to measure the back irregularity of user in this method. Therefore, we constructed a system which easing measuring the back irregularity with Kinect and we conducted seated posture adjustment experiment by using this system.

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We suggest a four-wheel type electric power-assistant personal mobility for care prevention. We have experimented for twenty healthy elderly people using this equipment. The purpose of this experimental is to evaluate the physical load of user by the oxygen uptake values while they are running a flat road course and an 8% slope course respectively. The new personal mobility is useful for transportation support of elderly people and contributes to maintaining and improving physical function.

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This paper proposes a simple sensor system development for supporting elderly people, and the constructible method of a senior-friendly community using it, and verifies these significance and reactions of people involved in this pilot program. We have developed the sensor system with excellent cost performance by using a low cost sensor and sharing the internet line and access fee among the elderly single population. These sensors unit are able to interact with weak radio wave. If the behavior of the elderly is not detected over a setup time, each sensor unit which is installed at the entrance of each room flashes LED of all sensor units to communicate with each other. These illuminations is converted to noticeable light, send a strongly information of the abnormal elderly state to neighbors and passers. At the same time, this system will notify by e-mail in real-time to support staff and officials. Major role of this system behave as a trigger to widely contact a network of community members.

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Generally, children develop their ability to move as they grow. However, handicapped children often can't move by themselves. We have developed some movement support equipment for handicapped children. In this paper, our attentions are concentrated on the height of the seat. The high seat plays a part in well communication with the people around the child. On the other hand, if the height of the seat is low, then the child can approach something interesting on the ground. In this investigation, we make a prototype of the movement support equipment with an elevating chair. The equipment has the mechanism that can change the height of the seat to obtain the well communication and to approach something interesting on the ground. The machine encourages the experience of the movement of handicapped children.

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The walking ability is very important in daily life. Lack of walking ability causes a decline in quality of life (QOL). The intelligently controllable walker (i-Walker) is a computer-aided walking support which recognizes environment and assists walking. In previous studies we has conducted several experiments and identified several problems. And we found that if there is mismatch between intent of user's operation and the control of i-Walker, it prevents smooth walking of users. To solve this problem, we developed a sensor walker (Pre-i-Walker4) and a prediction method by using support vector machine. Gait experiments were conducted by healthy users to evaluate the developed prediction model to predict stop, walk, turning left and right, and emergency.

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We have developed several types of intelligently controllable ankle foot orthoses (i-AFO) and tried some experiments in the previous study, and we discovered that the relationship between walking speed and the velocity of ankle plantar flexion are significantly correlated. We also discovered the relationship between walking speed and step length. There is a possibility for the automatic estimation of walking speed and automatic setting of control parameters by using these relationships. In this paper, we describe the theory of the automatic estimation of walking speed. We also describes about walking experiments to confirm automatic estimation. We also compare muscle tensions with different orthosis.

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Recently, wireless brain-reading headsets have been easily available to general consumers. Using such a device, we can detect the state of the brain more than 30 facial expressions and emotions, and consciousness of the person wearing the device. As a result, it is possible to control a motorized wheelchair depending on the detection of expression and consciousness of the occupant without using the wheelchair's joystick controller. In this work, we have developed a system that controls a motorized wheelchair depending on the detection of expression and consciousness of the occupant wearing the wireless brain-reading headset made by a neuroengineering company called Emotiv. This paper presents the overview of the developed system and the preliminary result of the system.

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Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy, so we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies side-by-side running and following style to carry oxygen cylinder by using handle shape interface which has 4 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation.

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In our current research, we have been developing a force assistance system for a standing motion which uses a part of a remaining strength of a patient in order not to reduce his muscular strength. For realizing this objective, it is important to measure the posture of the patient during standing motion. Therefore, this paper proposes a posture estimation scheme using LRF. Using our proposed scheme, our assistance system can calculate the load of each joint using the human linkage model which approximates the human body dynamically. The effectiveness of our proposed scheme is verified by the experiments using our prototype.

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Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy. So we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies guide and lead style to carry oxygen cylinder by using the handle of two tight and left type interfaces which has 2 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation, and then we show the effectiveness of our proposed feedback control system of force-velocity impedance control.

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HOT patients always need to carry portable oxygen cylinder when they go out. However the oxygen cylinder and its transport cart is heavy enough to become a burden for HOT patients. In this paper, we propose a new type of the oxygen cylinder conveyance robotic cart for HOT patients. Firstly, we describe the problems of Hyper-Tether type robotic cart, and then, we propose a new input device in order to solve the problem.

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Home Oxygen Therapy (HOT) patients who are suffering from Chronic Obstructive Pulmonary Disease always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders. However the oxygen cylinders seem to be heavy for carrying. So we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies compliance control to operate the cart itself easily by using handle shape interface which is usually attached to the popular carry cart, and then the robotic cart becomes to be able to follow the patients by carrying their portable oxygen cylinders. In this paper we describe the principle of robotic cart operation, hardware development, controller design, and their effectiveness.

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We describe a measurememt method of respiration and heartbeat by using Smart Rubber sensor, the rubber-based flexible tactile sensor sheet developed by us. This method is useful for recognizing person's conditions: sleeping soundly, sleeping lightly,lying down, sitting on a bed. and so on. Our goal is to watch over those who require nursing care. The proposed method measures respiration and heartbeat as follows. First, we measure body pressure using Smart Rubber sensor placed on a bed. Then, the method applies a frequency analysis to the time series data of body pressure. Finally, respiration and heartbeat are obtained by extracting suitable frequency band. In the oxperiments, respiration and heartbeat have been successfully measured.

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