Making a diameter of needle small is effective for reducing the pain of patients. However, thinning a needle leads to easy buckling in the puncturing process, because the aspect ratio of needle becomes high. We propose the method for avoiding buckling of thin needle by setting a guide around it. This guide can limit the lateral displacement of needle, making the stress lower than material fracture stress. Using FEM software (COMSOL Multiphysics) the displacement and stress of needle after buckling was simulated. This simulation took into account large deformation and contact model. The simulation results show that 1) the deformation of needle is stopped after contact, 2) the initial gap between guide and needle is smaller, the stress is lower, and 3) the maximum stress can be set lower than material fracture stress.

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We have developed a flapping robot with active feathering wings by using a "scissors swing motor (SSM)". In the present study, we investigate how the feathering motion, which changes the angle of attack of the wing, affects the lift by means of motion capture experiment. Infrared reflective makers were placed on the wing frames, and their 3D-coordinates were tracked. The weight change of the robot was monitored simultaneously with a load cell, and we measured the lift force produced by flapping motion. The results show that deformation of wing surface during the flapping motion deteriorates the lift, and the feathering motion effectively suppresses the deformation of the wing.

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In this paper, we propose an artificial suction tongue inspired by the biological tongue of a chameleon. The artificial tongue easily sticks to a target surface. When the artificial tongue is impulsively pulled back, large grasping force is passively generated because of suction. Experimental results using the shooting manipulation system like chameleons (Shootica) with the suction tongue demonstrate that the system can quickly grasp and pull back far away target objects made of a different material and with different stiffness and surface curvatures. The results also indicate that although the prototype artificial suction tongue is lightweight, it has a large grasping force, even without an actuator.

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We developed a sensorless angle detection system for our original flapping robot equipped with a "scissors swing motor (SSM)". SSM comprises a pair of voice coil motors (VCM) of hard disk drive (HDD), and it enables us to control the amplitude and frequency of the flapping motion arbitrarily. The back electromotive force (back-emf) of VCM is measured from the current and voltage of the VCM to detect the swing angle. The waveform of the detected swing angle successfully reproduced the expected trajectory of VCM arm's angle instructed by the input signal. Suppression of high frequency noise of current sensor is effective to improve the accuracy. Removing the drift component of the back-emf signal is essential to accurately estimate the swing angle. The developed sensorless angle detection system helps miniaturization and weight reduction of flapping robots with SSM.

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Recently, the use of a bio-inspired oscillating elastic fin has been proposed as an alternative propulsion mechanism in water. It is thought that the new mechanism will improve efficiency and safety, relative to the screw propeller. The optimum elasticity of the fin is not constant and changes based on swimming speed and task. However, it is very difficult to exchange fins of different stiffness while moving. We have developed a propulsion mechanism using a variable stiffness fin with torsional rectangular elastic plates. A hardened steel band SK, which has a low temperature dependence and high durability, was used for the elastic plate of the variable stiffness fin. The stiffness of the fin was changed by the torsional angle of two rectangular elastic plates. We discussed the behavior of the fin and the propulsion characteristics in a uniform flow of water.

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Recently, the use of a bio-inspired oscillating elastic fin has been proposed as an alternative propulsion mechanism in water. It is thought that the new mechanism will improve efficiency and safety, relative to the screw propeller. The optimum elasticity of the fin is not constant and changes based on swimming speed and task. However, it is very difficult to exchange fins of different stiffness while moving. We have developed a propulsion mechanism using a variable stiffness fin with torsional rectangular elastic plates. In this study, we developed a model boat with the variable stiffness fin and evaluated the effectiveness of variable stiffness to provide basic data for the development of boats and autonomous underwater vehicles. As a first step of this study, we designed and built a model boat, and drove it on water pool. We discussed propulsion characteristics of the model boat.

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This paper presents approximate path tracking control method of all joints of a snake robot and its verification by simulations. We use a wheeled snake robot which has passive wheels and active joints. The robot can switch the wheels which touch the ground and the lifting wheels by lifting up some parts of its body. The model of the robot becomes kinematically redundant system if it lifts up some wheels. We design a controller for approximate path tracking by using the kinematic redundancy and the selection of the lifting parts. Simulation results show that the proposed controller is effective for decreasing the path tracking error.

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We propose the carbohydrate ingestion system of a self-sustainable robot. Based on the hardware requirements of this robot-, 1) Eating capability independent of postures, 2) Crushing food to obtain Carbohydrate, 3) Capable for continuous working. To meet them, propose system consist of 3 mechanisms: 1) Primary crusher, 2) Food holder, 3) Secondary crusher. Measuring energy consumption, we confirmed that positive energy balances when Carbohydrate response is ideal. These result show this system can be useful for the self-sustainable robot in this research.

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Birds and insects achieve various maneuvers such as hovering, snap turn, vertical takeoff and landing by using vortices around wings. Above all, a butterfly suits to apply robotics because of lower flapping frequency and fewer degrees of freedom compared with other creatures. In this study, to develop a flapping robot with such maneuvers, we clarify the attitude control mechanism by visualizing the flow field around the wings in the space captured by 3D high-speed camera system. The result showed that a butterfly controlled the turn direction by changing differential pressure distribution on the wings. In addition, the differential pressure was generated on the whole wing in the case of roll angle rotation or on the wing tip in the case of pitch angle rotation.

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A humanoid robot has been studied for several decades but few studies have been conducted to use a humanoid robot in the water. In order to extend application area of a humanoid robot, we aim to develop a swimming humanoid robot and realize free swimming by the robot. In this study, we remodeled the upper body of a swimming humanoid robot, which has been developed by authors, to fit free swimming test and the robot performed the crawl stroke in the swimming pool. In the experiment, the standard crawl stroke was tested at several stroke cycles. The swimming movement was filmed and rolling angular velocity was measured by a gyro sensor. From the experiment, the robot could perform the crawl stroke at 2.4 s cycles and went forward at about 0.25 m/s speed. The roll angle displacement during the crawl stroke was calculated about ±55 degrees and it is almost coincident with the result of actual swimmers.

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This paper describes the development of the ant boarding type mobile robot. When the ant (Cataglyphis fortis) is changed their leg length when it is traveling for foraging, it search a nest before or past true position of nest. Thus, the ant is known as which counts a number of steps. This method is invasive and has an impact to ant. In this study, we develop a robot which driven by ant. The robot has rotation controlled sphere for keeping position of ant. An ant on the sphere is tracked by camera, the sphere is controlled by image processing. And, travel distance of ant reflect to driving wheels. As the result, the robot is controlled by ant.

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In this report, we rethink the mechanical section of rehabilitation equipment, and develop a new compact and lightweight model. In Japan, one of the major causes of death is vascular disease (stroke). If the patient stroke movement disorders such as hands and feet paralyzed prone, the limbs were allowed to stand, would be joint contracture. We develop a hydraulic rehabilitation equipment using a bellows for the purpose of preventing finger contractures.

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In this report, We propose beneficial water pressure drive manipulator for fetus surgery and MRI image-guided endoscopic surgery. This manipulator is flexible against external force not to injure a fetus and consists of non-metal material. We developed and demonstrated the grasping mechanism and the bending mechanism of this manipulator operated by water pressure drive linear actuator.

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Cancer is the most cause of death in Japan, and patients suffering with and who die of cancer are increasing every year, while the number of pathologists is almost constant. In this paper, an automatic cancer detection method that combines multiple features to support pathologists is presented. We use three features, Higher-order Local Auto- Correlation (HLAC) feature, wavelet feature, delaunay feature. At first, features are calculated from gastric lymph node image. Then we combine features, and distinguish cancer and non-cancer area using Support Vector Machine (SVM). HLAC, wavelet and delaunay feature is shape, frequency, and nuclear-position geometrical characteristics respectively. Combination of all three features is the best accuracy rate, and its sensitivity and specificity are 94.6% and 84.9% respectively. Accuracy rate that combines more two features is better than only one feature.

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Among various medical problems facing us in today's Japan are rapidly aging society, localization of medical doctors, concentrated visits of patients to large hospitals, etc. Development of diagnostic support systems is considered a current pressing solution to help reduce loads on medical doctors. On the other hand, actual diagnosis is used various patient positions such as supine posture and lying posture. So, in this paper, we purpose the development of the ultrasound diagnosis support robot system to be able to diagnose by various patient position. It is needed to workings high accuracy, high-speed and workings by extending to the large range to some degree. We have designed 10 DOF (degrees of freedom) redundant manipulators for ultrasound diagnostic and treatment support. Also we assumed material of robot is used Aluminum or Carbon Fiber Reinforced Plastics Matrix-composite, and we compared robot used CFRP with robot used Aluminum in total weight and max stress. Then, the adjustable link system that is used fuzzy inference has been constructed and its availability has been verified. And the model of 5-DOF manipulator has been simulated with the system. Then, pneumatic cylinder and electrical actuator control experiment has been conducted to verify the effectiveness of the system.

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This study aims at developing an autonomous risk detection system to improve the safety of robotic surgery. Conventional robotic laparoscopic surgery is conducted using a master-slave robotic system, which relies on communication stability between the master and slave sites. Communication delay or errors may lead to unwanted motions of the slave manipulators, thus autonomous risk detection methods robust to communication problems are desired. Hence, we propose to estimate the mechanical properties of the organs being manipulated by the slave manipulators using force sensors in order to detect the risk of organ damage. To validate this concept, we developed a system to autonomously detect the perforation risk of a membrane-like object by demonstration-based learning. We performed experiments to evaluate the developed system, and the results showed that the developed system successfully detected the risk of perforation.

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In laparoscopic surgery, retracting large and heavy internal organs is often required. Therefore many retractors that can be inserted through a trocar into the abdominal cavity are developed. This paper uses granular jamming mechanism to develop a retractor having a large surface to safely handle bulky internal organs. First, a sack attached at the front tip of the retractor is shrunk so that it can be inserted through a trocar. Then, granular objects sent into the sack by air flow inflate it. Finally, by vacuuming the air, the sack can be hardened from jamming effect of the granular objects, so that it can be used as a retractor. To remove the retractor from the abdominal cavity, granular objects are vented out by air flow, which shrinks the retractor head. The performance of the retractor is shown based on experimental data.

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In this study, we propose a method to estimate the posture of the ankle prosthesis based on X-ray images of two different viewpoints. To improve the estimate accuracy, we use the multiple X-ray images. After we generate a image database from the three-dimensional CAD model of the ankle prosthesis using original simulator, we calculate the candidate pose from each X-ray image by pattern matching. Estimation is performed with high accuracy by integrating these candidate pose.

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In minimally invasive therapy, catheter is used. However, it's not easy to manipulate the catheter, and more practice effect is desired. There are some difficulties for the beginner to learn the skills of inserting the catheter. For solving this problem, in this paper, we propose the training system of catheter manipulation. This manipulation training is based on expert's manipulation of catheter. With this system, subjects can compare his manipulation to expert's one. 8 Subjects trained catheter manipulation with this system, and 6 subjects improves their catheter manipulation for linear motion, and 7 improves rotation of catheter.

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In the development of rehabilitation robots it is important to gradually conduct clinical studies for safety and effectiveness in order to integrate human assistive robots into society. We have conducted the clinical study to explore the safety and effectiveness of robot suit HAL which supports and/or improves the physical ability of persons with a disability. In this paper, we introduce our clinical protocol and latest results on the exploratory clinical study with stroke patients.

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Swallow is one of the crucial function for human living, though the mechanism has not been elucidated so far. These days, Cine MRI and X ray video have been developed and they supply the fundamental information to analyze it. In this paper, the analysis results by Cine MRI and X ray video are shown. And it is necessary to verify the information that Cine MRI and X ray video supply from mechanical point of view. Therefore, the prototype of swallowing robot that is made to verify them is presented.

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We have developed the ultrasound probe scan mechanism to assist ultrasound diagnosis using pneumatic actuators. However, due to the nonlinearity of the position in the actuators, there is a limitation in the position accuracy of the probe using the mechanism. Thus, we propose to use the PID control method for more effective analysis and set parameters to control the mechanism. We have experimented the position control of the probe by introducing gain switching PID control on the phantom and human body. From results, by introducing gain switching PID control, we were able to improve the accuracy of the position and angle until 1.45mm and 0.84deg, respectively.

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We are developing laparoscopy training system, by adding a video synthesize functions on the conventional training box. The video of the expert's motion is shown on the monitor and is overwrapped onto the user's own view. the user can trace the expert's motion with one's forceps to learn ideal procedures. Our proposed method was evaluated in terms of learning effectiveness.

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In this research, we developed a novel ankle-foot assist device for rehabilitation. This device uses a Stewart Platform Mechanism (SPM) to measure and assist the movements of a human ankle joint in six Degrees Of Freedoms (DOFs). The SPM adapts to the displacement of the rotation axis of a human ankle joint during the movement of a human foot. In our previous work, we have proposed methods of posture measuring and controlling the movement of a human foot. In this study, we propose method of a force control of the device. The force can be controlled by changing the pneumatic pressures in two chambers of each cylinder without using any force sensors. The force control method is tested in experiments for one cylinder and for the developed 6 DOFs assist device. These results suggest that the developed 6 DOFs assist device could be used during ankle-foot rehabilitation without force sensor.

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In this paper, we report an approach to measure mechanomyogram (MMG) using a MEMS pressure sensor. The sensor consisted of an open cavity and a micro piezo-resistive cantilever, which was placed at the cavity's opening. The sensor was attached on a subject's forearm to measure the emitted MMG when the subject was exerting forces with his/her arm. In the prototype sensor, the cavity had footprint radius of 5.5 mm and the height of 3 mm. The gap between the cantilever and the surrounding walls was downscaled to 2 μm to enable the sensor to measure low frequency sound pressure with high sensitivity. In experiments, we used an electromyogram recorder, a low frequency microphone and an electronic stethoscope, and based on the results taken with these conventional devices to evaluate our proposed sensor. The experimental results showed that the sensor was able to measure MMG with the maximum S/N ratio of 50.

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In order to realize self-rehabilitation at home by user oneself for early recovery to improve QOL, this paper discusses the development of a spatial rehabilitation mechanism for ankle joint which can adapt to fluctuation of rotational axis of human joint while preventing exertion of unnecessary shearing force. Kinetostatic analysis of the mechanism was performed to achieve large-enough range of motion to establish practical rehabilitation treatment, and to evaluate amplitude of the residual shearing force caused by friction on cylindrical joints and the gravity. Compensation of the shearing force was achieved by adding passive coil springs on certain joints. Optimum spring constant and initial offset of each spring were determined based on the slope and offset of a line, fitted to the ideal force distribution obtained from the theoretical analysis. By adding springs on two cylindrical and one revolute joints, the shearing force was reduced by 80%.

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In this study, we developed upper-limbs rehabilitation training system which synchronized visual and tactile stimuli. The trajectory of the finger corresponding to the sound of the fixed rhythm was measured. The patient imagined the motion of the paralyzed finger. CG image of the paralyzed finger motion was shown and tactile sense was shown when the finger contacted the floor.

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There has been an increase in the demand for rehabilitation from the circumstance of an aging society. In the future, in order to achieve sufficient rehabilitation, spread of rehabilitation robot is required. Thus, a variety of upper limb rehabilitation system is being researched and developed. We propose a compact support system for upper limb rehabilitation that can carry out rehabilitation easily at low cost. Arm less Mobile Robot is used in the proposed system. Formerly, by testing a prototype of Arm less Mobile Robot, it was confirmed that resistance training is possible on two-dimensional plane. However, it was necessary to improve the operation feeling. So, the new Arm less Mobile Robot which improves the operation feeling was manufactured. The effectiveness of the new Arm less Mobile Robot was verified by subjective evaluation. Furthermore, the trajectory training function required for reaching training was created, and the operation check was performed.

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The level walking of the passive walker that is realized only by a waist assist is high transfer efficiency very much. However, it is necessary to be beyond a potential barrier easily for the autonomy level walking. And, how to walk walking robot is very similar to a person's. Before, we studied the walking assist device based on human-assisted passive walking. In this paper, we introduce walking assist device harmonized with human and demonstrate an effect that the walking assist device gives to human walking.

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This paper describes a control system for variable stiffness joint (VSJ) to follow human dynamic arm motion. In VSJ, two different kinds of silicone rubber cushions are used to adjust joint stiffness by controlling the pressure in the cushions. In this study, we tried to estimate human joint stiffness during its motion based on electromyography signals in real-time. The estimated stiffness and the joint angle are inputted into a control system for VSJ to follow human joint motion reflecting its stiffness. We confirm the effectiveness of this control system through several experiments.

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We developed a new exoskeleton robot control system based on upper-lower limb synergies. The system is implemented with a sensorized cane, wearable sensors and single leg version of Robot Suit HAL. By using the cane we capture the arm motion, while the cane is still supportive for balance and perception of the environment. The system provides additional channels for motion intention estimation through voluntary motion, and enables utilizing the coupling between upper and lower limbs. We tested the system with a healthy subject walking on treadmill, and then showed that it is possible to control an exoskeleton robot with the proposed method. The achievement contributes to the technology for cognitively assisted locomotion, which helps the locomotion of physically challenged people.

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In the field of physiotherapy for children, physical therapists (PT) assist children to recover the motor function or to adapt to the use of artificial limbs controlled by Electromyography. However, children easily give up training which is simple task or with using artificial limbs because it becomes boring. Also, PT are required to perform many operations on the biofeedback system. It is also important for children to feel excited about therapeutic activities and to cooperative play with others and the system should be easily handled by the PT. In this research, we propose a building block like biofeedback toys called "bioToys". This system enables the use of physiological signals in input blocks and generates various outputs. These biofeedback systems are designed to manipulate blocks by simply arranging and rearranging. We show that the developed system is capable to control toys and to record muscle activities in real time.

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Brain machine interface (BMI) has recently shown that it can be used to assist disable people in navigating a robotic wheelchair by using their mental intentions. BMI based navigation is a very challenging task that requires continuous mental focus from the user. In this paper we present a novel adaptive method for BMI based robotic wheelchair navigation. Based on user intentions and environment context, the robot adaptively changes between direct and autonomous navigation. This facilitates navigation, reduces mental focus and improves BMI accuracy.

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We have developed a walking assistance device for neuro-rehabilitation of hemiplegic patients. In clinical trials, the users including MD and PT requested as follows: 1) Low cost, 2) Adjustable for various users, 3) Easy to bend at the toe (because of the sole of orthosis was made of hard plastic), 4) Can grasp the sole pressure without fail (inner sole type pressure sensor was apt to keep on pressing). To address these problems, we developed novel type of the walking device, i.e. it is attached under the user's shoes directly. This device equips four pressure sensors to obtain user's walking phase and evaluate user's gait posture precisely. The soleplate of this device under the toe was exchanged to the flexible rubber plate, therefore the user enabled to kick by his/her toe at the end of stance phase. By using this device we confirmed that it could be improved the feasibility of walking assistance from the result of measured pressure sensor data.

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This paper proposes a new perception empathy wearable device. Therapist and patient wear the same biofeedback device to share paralyzed-side foot contact of the patient on the back. It allows the therapist to detect abnormal contact state by patient at the early stage, then leading to enable patient to gradually acquire the training way with appropriate body motion. Preliminary testing confirms that the proposed design allows a therapist to attach the perception-empathy wearable device to a hemiparetic patient within 90 sec, which indicates clinical acceptability.

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Along with the aging society, people who need rehabilitation will increase. There is the possibility that people's muscle power and an athletic ability are likely to decline remarkably without sufficient training. Therefore, we developed stiffness adjustable tendon-driven training device for safe and continuous training at home. In this paper, we describe our tendon-driven training device and some experimental results.

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We have been developing an information-gathering system using mobile robots and wireless sensor networks(WSNs) in underground space in post-disaster environments. In our system, mobile robots carry wireless sensor nodes(SN) and deploy them into the environment. This paper describes a method for measuring communication quality for wireless teleoperations in wireless sensor networks. In a wireless teleoperation and WSNs deployment, a wireless communication quality measurement is very important. We developed a convenient communication quality measurement method. A teleoperation interfaces including the measurement function using the proposed method was implemented, and an evaluation experiment was conducted. Experimental results using a proposed method are presented.

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The authors have been developing an information-gathering system using mobile robots and wireless sensor networks (WSNs) in underground spaces in post-disaster environments. In our system, teleoperated mobile robots carry wireless sensor nodes (SNs) and deploy them into the environment based on measuring values of both a received signal strength indication (RSSI) and a throughput. During teleoperating the mobile robot, it is necessary to consider communication path to maintain the operability. Therefore, we proposed method that communication path is optimized by the position between the mobile robot and SNs. In this paper, we evaluated the value of end-to-end throughput after changing communication path by actual experiment. The experimental result showed that the operability of the mobile robot is improved by changing the communication path.

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In this paper, we propose a method to provide the information of rest facility by utilizing Delay Tolerant Network (DTN). When public transport is stopped by the disaster, commuters try to go home on foot taking a rest at facility. However network infrastructure of the disaster area is disconnected by the disaster damage, commuters cannot get information of rest facility. Therefore we propose a method to exchange information of rest facility in possession between commuters via DTN through mobile device. Commuters can get information of rest facility under the situation without network infrastructure, and they will can take a rest at facility. We made the application to exchange the information of rest facility via DTN. In order to evaluate the application, we verified the communication performance. The experimental results showed the developed application had sufficient performance to exchange the information of rest facility via DTN.

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This paper reports the automatic driving of the car with drive assist device which operates handle and pedals. In order to verify the automatic driving, it experimented in the driving to the setting coordinates auto velocity control which maintains a car velocity, and the steer to the setting coordinate which steers the direction of car to specification coordinates were included in the driving to the setting coordinates. The experiment showed that the run course of the car in alignment with a specification course was acquirable. However, the phenomenon of moving in a zigzag direction is seen, and this is a future subject.

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In recent years, the new terminal using IT technology is spreading. On the other hand, the numbers of the elderly people who cannot master them are increasing. We think that it is important not only passive interface to wait user's input but also communicative interface to speak to user. In this paper, in order to address the user, the sensing means needed for the interface robot and the comparison of a robot with substance and CG in a personification agent are introduced.

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To operate a mobile robot by remote control with safety, the operator needs to know around the robot to avoid obstacles. In this study, we use a vision system with wide field of view in order to acquire images around the robot. Then, we propose a method to show nearness of an obstacle in the image by LED and antenna. The operator can confirm the safety of the robot in the image by observing a movement of the light projected on the wall or antenna comes contacting with an obstacle. In addition, we evaluate the usefulness by experiments and show the result in this paper.

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In this study, we present a feasible solution to address the problem of deficiency of haptic feedback in fine manipulation. We studied the effect of skin stimulation by multipoint suction pressure on the haptic perception of external force. The subjects perceived the presented magnitude and direction of suction pressure and interpreted it, by exerting an equivalent force vector on the tactile interface. We had obtained the characteristics of perceived external force with respect to suction pressure stimuli. This relationship is used as a model for presenting the stimuli on the interface.

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In this paper, we propose a new sensing system which measures tangential force on forearm. When the tangential force is applied to the forearm, skin surface moves vertically at the side of the forearm. By using infrared photo reflective sensor, the normal deformations of the skin are detected and then the related tangential force can be estimated. This sensor is useful to measure human-human contact event such as a massage. We show our Finite Element Method simulation results that show our concept is feasible. We fabricated prototype system and evaluated that the theory can be applied to the realistic situation. We also show one of the applications which utilize human skin surface as an input device for information environment.

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We've developed a vibration alert interface (VAI), provides some information through changing its vibration pattern. In our previous studies, we designed the VAI and its vibration pattern to provide analog-like information to users such as distance to obstacles. To recognize the precise information, users need to perceive the vibration pattern correctly. However, various disturbances often impede it. We thought that the change of movement speed would have affected the recognition of the depth perception via the vibratory stimulation. In this paper, we experimentally show the relationship between the vibration sense and the depth perception. Further, we'll propose a vibration presentation model for mainly drivers in order to correct the perception gap due to the application and the surroundings of the VAI. We'll evaluate the proposed model through carrying out the experiments.

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We have developed a simple skin-like user interface that can be easily attached to curved as well as flat surfaces and used to measure tangential force generated by pinching and dragging interactions. The interface consists of several photoreflectors that consist of an IR LED and a phototransistor and elastic fabric such as stocking and rubber membrane. The sensing method used is based on our observation that photoreflectors can be used to measure the ratio of expansion and contraction of a stocking using the changes in transmissivity of IR light passing through the stocking. Since a stocking is thin, stretchable, and nearly transparent, it can be easily attached to various types of objects such as mobile devices, robots, and different parts of the body as well as to various types of conventional pressure sensors without altering the original shape of the object. It can also present natural haptic feedback in accordance with the amount of force exerted. A system using several such sensors can determine the direction of a two-dimensional force. A variety of example applications illustrated the utility of this sensing system.

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In this paper, we propose a texture display using phenomenon named hidden vibration perception. This was found in an investigation of haptic feelings with vibrating plate. Hidden vibration perception is a tactile perception that when drag a plane through a thin plate with vibrator, although the vibrator is running, we feel the vibration only when we drag. Thus we can feel the vibration of the plate as if it is a texture between the plate and the plane. We also propose a display using our method and examine the possibility of method by developing a prototype. The prototype consists of a thin polypropylene plate small eccentric motors attatched and a tablet PC.

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In this paper, we present haptic sensor selecting environment, which aims to aid the designer to select the proper sensors as a haptic sensor for robot hand. Profiling curve defines the relation between sensor's measurements from the simulated environment and its output providing to the display. By providing various profiling curves, we can have variations of the same sensor but with different characteristics for various applications. By assuming that the simulated environment provides a good representation to the real physical environment, the sensor can be assumed as a candidate for physical utilizing. Here we provide an implementation for a pressure sensor as an example of this approach, and we show how the profiling curve would affect and improve the result sensation.

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The purpose of this research is to achieve a user friendly interface for non-expert to teleoperate in versatile purpose. However, it is difficult to teleoperate a robot for non-expert. In this paper, we propose a new interface to improve usability with a touch based haptic interface for teleoperation. The proposed interface uses users' Smartphone or TabletPC and POM(Portable Multi-Modal Module) which is originally developed in this research. It is possible to teleoperate mobile robot and to grasp objects with a manipulator without spatial restriction with the proposed interface since it is portable. Moreover, operator is able to catch the positional relationship between the robot and obstacles in remote areas by vibration feedback from the POM. In this research, we propose methods of presenting sense of direction and distance to obstacles with the POM. In this paper, the experimental results are shown and the usability of the proposed interface is evaluated.

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Presentation of friction is a critical essence in various scenes such as support for remote operation of robot hand or haptic interaction with virtual world. In this paper, we propose a novel tactile device that can present friction by using vertical vibration and horizontal skin deformation to user's fingertip. Adding tangential skin deformation, which has been used for presenting friction in previous works, we represent counter force from surface so that we can present natural haptic interaction with friction. Furthermore, the device can present friction by cutaneous feedback system, which is able to be realized by simple implementation, while kinesthetic feedback system can be heavy and complex.

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