An active-caster generates traction force in an arbitrary direction and magnitude by two motors according to direction of the drive wheel. To detect its direction, an absolute encoder is equipped on the steering shaft. However, because of structure of new type of active-caster which is composed of two tires and differential unit, the attachment position of encoder is restricted. In this paper, we propose the absolute-angle detection system using two potentiometers. The potentiometers are attached to two gears which have different in the number of teeth, while these gears are meshed with the gear rotating with the steering shaft. By rotating the steering shaft, two different voltage waveforms are detected from each potentiometer. We derive the calculation formulas detecting for the absolute-angle using two waves. In the experiment, we confirm the validity of the formulas for absolute-angle detection system.

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In recent years, autonomous mobile robots are expected to perform in various fields, such as in a living space as well as in an industrial establishment. In some cases, to construct a combination of a line following robot system (which can run easily in a fixed course) and an autonomous mobile robot system (which can run in a wider area with robustness using comparatively complicated sensing and control system) seems an effective way to expand the whole running performance. On that premise, we are developing a virtual line following system referring to line segments consisting of laser range observation data, in order to make the navigation system towards autonomous running simpler and more steady. This paper presents the system concept, the configuration of a prototype, and the results of experiments which have been performed to evaluate the stability and repeatability of the virtual line following system.

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Currently, manpower has been reduced by declining birthrate and aging population.Robot that works instead of people is necessary. But,the spread of robots doesn't advance. In particular, transport tasks are required in any industry. In this research, we develop a transport robot that can traverse the irregular terrain and equipped with a following pedestrian function. In addition, we experiment in a facility by developed robot and show the research result.

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A kinematics simulator of an autonomous mobile robot is proposed for the purpose of simulating complicated motions such as those caused by interaction between robot and environment in terms of geometric relationship. This paper presents the simulator concept, the basic configuration of the simulator, and the result of a preliminary simulation experiment which has been performed to evaluate mainly two follow-up motions: along a line and along a circular arc.

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We have developed a tracked mobile robot which attaches four legs at the corners of robot's body. This mechanism enables the robot to move on rough terrain robustly. In addition, the robot is able to perform handling tasks such as carrying an object and removing small obstacles with its track movement by using the legs as manipulation arms. This paper considers retrieving motion of a target object under a big board as a work by a leg-track hybrid motion of the robot. Statics in the motion was analyzed by simulation. The result of experiment by developed robot continued that the robot was able to achieve the motion.

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A new type of the active-caster mechanism is presented in this paper. The new active-caster equips dual-wheels to reduce the steering friction which are driven by a wheel motor via a differential gear mechanism. For maintaining the two-wheel contact to the ground even on the irregular surface, each wheel has an individual suspension. The design enables the mechanism to have a large wheel compared with the single wheel design which contributes to realize high step climbing. The design was embodied by the prototype which shows expected caster motions with high mobility which is suitable for omnidirectional robots and human support systems moving various environments.

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Recently, autonomous mobile robots have been researched actively. Most of the autonomous mobile robots include various kinds of sensors in the systems to achieve stable navigation. Some sensors are special and expensive. Also, they need to prepare environmental maps previously for autonomous navigation. These prevent the autonomous robots from spreading in our living environments. On the other hand, tablet-type devices and smart phones have been rapidly spread. Such devices include several kinds of sensors. Using such general sensors for autonomous robot systems, it is possible to reduce the development costs of the robot systems. This paper introduces a navigation method using a gyroscope in a tablet-type device and topological maps.

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This paper describes about the validity of the preview control theory used for the tracking control of mobile robot and the determination method of the target value.When the target value is previously known, applying a preview control will be expected to suppress the extreme response and to obtain the good tracking performance. The number of preview steps is able to decide by comparing the performance index of the optimal servo system and the optimal preview servo system. The simulation results performed the validity of the optimal preview control system for the tracking control problem.

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This study addresses the problem of robust adaptive control for uncertain road surface for wheel type mobile robot. The dynamic characteristic of wheel type mobile robot changes owing to the influence of the road surface variation and the changes of the rolling resistance depending on the air pressure of tires. It is necessary to adjust controller gains in case of implementation of the static control system. We propose the robust speed control method adopting simple adaptive control (SAC) in order to adapt to road surface variation. Experimental results demonstrated the effectiveness of the SAC of the wheel type mobile robot.

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Typically, instead of high energy efficiency, wheel mechanism is inferior to crawler or walking mechanism in point of step climbability. In this research, we focused on a new wheel mechanism named "Swing-Grouser Wheel". At first, we confirmed its performance on climbing higher step than its wheel radius by the experiment with practical model. Furthermore, we experimented the performance of the energy efficiency and the step climbability in low friction environment with 2D physics simulation which allow to make such environment easily. As a result of this simulation, we confirmed that the Swing-Grouser Wheel was able to climb up the higher step than wheel radius, even in the environment whose friction coefficient is too small for rimless wheel to climb up. In addition, the energy efficiency of Swing-Grouser Wheel measured in physics simulation is also higher than rimless wheel.

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In the case of disaster, disaster response robots are required for searching victims on dangerous place. Realization of the high traversability for robot on the rough terrain have been studied. As widely known, the crawler robots with active sub-crawlers have the high traversability to get over on rough terrain. In the present circumstances, it is hard for the operator to control its active sub-crawlers in remote control. From a viewpoint of the compliance control, this paper describes about the modeling and the controller design for the dynamics of a sub-crawler in order to achieve simply the semi-autonomous control.

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This paper describes the mechanical design of a small land mobile robot for environmental monitoring. To realize the low-cost and strong body structure and simple locomotion mechanism having high mobility against the rough terrain, authors propose the body and the driving mechanism using the commercially available waterproof case and the magnet coupling, and the crawler using the commercially available timing belt with lugs made with spring steel wire.

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In this paper, a control method for controlling the dual arm manipulator of the inverted pendulum type assistant robot while performing object hand over is presented. To reduce the complexity and increase the robustness, a partitioned control that separates the body and arm control while treating the other as a disturbance is proposed. To estimate the disturbances, the ESO is implemented on both subsystems. The development of the control and results of actual tests are presented.

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Wheeled inverted pendulum robots traverse several ground profile types that include ramps, steps and many others. During traversal of these structures, disturbances enter the system through the wheels and cause errors. To gain insight on the effects of different profiles, a generalized model for ground profiles is developed. An example generalized ground profile is created for verification.

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We are developing a mobility-support robot "ROPITS" traveling on pedestrian road autonomously to realize a next generation short-distance transportation system in compact-cities. In order to raise the level of autonomous navigating technologies to a practical use, we have made various experiments of autonomous running on the public pedestrian road in the Mobility Robot Experiment Special District in Tsukuba-city, Ibaraki prefecture. We found some places of this district having large position errors, caused by map-matching failures. Therefore, we introduce the recovery method. In this paper, we show the validity of our proposal method and comparison with existing technique.

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This paper describes the method of searching mobiles. There are various mobile around the robot, that is, pedestrians, bicycles, cars and so on. When the robot runs autonomy, the correspondence for a mobile is a problem. It is easy to avoid a stationary object, but it is difficult to avoid a moving object. This method searches a mobile around the robot using two laser range scanners, calculates the relative velocity vector of the mobile and sets the risk level considering the risk of collision with the robot from the vector in the mobile.

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In this paper, the inverted pendulum cart extended to omni-directional motion is shown. Omni-directional motion is implemented by the drive unit which is constructed of a paired mecanum wheels. The mechanism of the omni-directional drive unit and the control system are described. An experimental result on omni-directional auto balance motion is indicated.

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Recently, the robots which work in a hospital and factory have been developed. The robot is expected to omni-directional motion to move in limited space. Traveling robots had many unsuitable environments. It is difficult for the omni-directional robots to move on the uneven road surface because of slip. Therefore, there is a need for an efficient move for the robot. In this study, we will design of omni-directional mobile robot and perform slip correction using Disturbance Observer. The robots are adopted Mecanum wheels which can travel omni- directional. Propose controller can correct the load on the wheels. The running test on the actual road surface. Finally, we confirmed that robot is traveling on the road surface.

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Recently, autonomous mobile robots for object transportation have been applied in a typical environments such as plants or factories. In this research, trailer vehicles are focused on because they can dump a lot of objects for the transport task. The trailer robots, however, are difficult to control their motion because the load of objects is variable and running resistance is occurring by mechanical constraints. Thus, most of conventional researches for the trailer robot have considered the kinematics, and few researches focus on the running resistance or dynamical disturbance. Therefore, in this paper, we propose a control scheme for the trailer vehicle with estimation of the running resistance. Further, for the practical experiments, the trailer vehicle is developed.

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Many researches on inverted pendulum have been conducted. Inverted pendulum tilts to keep balance during acceleration and deceleration. However, large tilt makes some problems. For example, losing the balance and dropping transported products. Some researches to reduce the tilt of the inverted pendulum are conducted. As one of the way to reduce the tilt, a Center of Gravity Moving Mechanism (COGMM) is suggested. It is already known that movement of the center of gravity in the horizontal direction is effective to reduce the tilt. But the research about COGMM in the vertical direction is not conducted. So we propose a two-wheeled inverted pendulum with a COGMM in the vertical direction rather than horizontally. We experiment on the Inverted pendulum with COGMM and confirm the effect.

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It has been well known that the use of binding pedals enables cyclists to improve the efficiency of the muscle activities recruited in pedaling motion. It is essential for cyclists to fit the positions of bicycle to their physical property to master the pedaling skill. Few researches, however, evaluated the pedaling skill of beginners and proposed the method for optimizing the pedaling skill. Then, this study firstly aims to establish a method to evaluate the pedaling skill based on muscle activation analysis of lower extremity. Next, we develop the experimental device that can extract the cyclists' pedaling skill in real-time by using the proposed pedaling skill evaluation method. Our experimental results show that beginners have not the skill of pulling pedals up. Additionally, the muscle activity pattern of beginners varied irregularly in each pedal rotation, and this indicated the muscle activities of beginners were not stable.

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This paper presents a gait trainer by using the properties of stretch reflex of the muscles recruited in gait motion. The trainer we have developed in this study is composed of a tread mill and McKibben artificial muscles. In order to investigate the muscular activation due to the contraction of McKibbens, we measure the surface electromyogram (SEMG) of biceps and triceps, and try to statistically identify the change in SEMG corresponding to the stretch reflex of the muscles.

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In this paper, a structure determination method for wearable devices mounted on multiple joints of body parts are proposed. Motion of back part of the upper half body is more complex than that of simple joint part such as leg, arm and so on. There are no structure determination methods suitable for multiple body parts. Therefore, the motions on the back parts are captured through a sensor (Kinect for Windows V2) and analyzed based on relationship between markers mounted on back. The link parts and joint parts are distinguished based on standard deviation of relative distances of markers.

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The authors aim to develop a method of dog's velocity estimation from the sensors put on the dog's vest, on rubbles and stairs. Accurate velocity data enable us to obtain dog's running distance, its pose, and its continuous trajectory. These data are important to analyze and visualize the search and rescue dog's activities. This paper describes dog's motion analysis on the rubbles and stairs and proposed a velocity estimation method based on the dog's gait. The propose method allows us to increase accuracy of the dog's velocity from the ground velocity data and estimate a dog's velocity from the sensors put on the dog's vest.

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The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, validation was performed using our proposed method to estimate the impedance, whether the impedance is adjusted by changing load during pedaling exercise. In the result, the impedance was adjusted in preparation for changing load unlike in the case of constant load. This agreement suggests that our method could extract a component of human motor control strategy that adjust mechanical impedances during pedaling exercises.

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The patient of sleep disturbance and disuse syndrome is increasing at the residents of temporary housing after the 2011 Great East Japan Earthquake. Automatic classification of everyday activities can be used for promotion of a healthier lifestyle. This study developed the wearable case for monitoring device of daily living by the question survey and advanced classification algorithms.

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In recent years, Japanese society has been aging, and patient of lifestyle related disease has been increasing too. It is high probability that Elderly people develop a stroke is one of lifestyle related disease than the other people. The patient and elderly people who are paralyzed by stroke are caused a muscle contracture. It is important to moderate exercise for prevent a muscle contracture. We verify the readiness-potential which is movement of plantar flexion and movement of dorsiflexion in voluntary and involuntary.

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Recently, device for improving sports techniques by using technology of sensor is increasing. But device for basketball to support skill training is very few. As a result of research to product skill support device for basketball, it is important for improving free throw skills to acquire physical posture of set-form. Therefore we develop the device for reforming set-form by using sound bio feedback. The device measure shoulder angle on real time and inform ideal physical posture by sound basing measure angle. The result of the study for testing efficacy of the device, intervention group get 20% higher success rate than control group.

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This paper proposes a shared-type sports motion analysis system using manipulability. The system visually provides the evaluation result of manipulability measures for characteristic primitive motions with a digital-human posture to both coaches and players in real time. The effectiveness of the proposed methodology was demonstrated by the basic test for pitching motion with a low-cost prototype system.

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This paper reports the functional laterality on motor and sensory abilities in bimanual reaching movements. Experimental tests are carried out for five healthy volunteers with the developed experimental system using robotic devices. The results suggest that the ability of force perception, as well as the task difficulty, much affects on the motor control performances of non-dominant hand in bimanual movements.

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It is important to understand the control system of human movement when we develop robot manipulators or prosthesis devices. Although Hill type muscle models have been widely used for its simplicity, there are some limitations in the model when we calculate nonlinear behavior such as shortening-induced force depression. Then we used a systematic motor model that has a controller based on the chemical scheme of myosin cross-bridges. Surface electromyography (SEMG) is usually deformed by interference among the signals from different motor units (MUs). In order to obtain the artificial action potential pulses as an input of the muscle model, it is necessary to estimate each MU activation. In this study, we applied a 4-channel SEMG circuit to measure the muscle activity of human biceps brachii accurately.

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Humans move one hand with gravity and the other against gravity in bimanual steering. We have focused on gravity and bimanual operation, and investigated upper-limb motor control in steering. In this paper, we test position accuracy of each movement with or against gravity. Participants are instructed to remember target position, and then to operate to the target position blindfold under different intensity of torque characteristic. Experimental results show that position accuracy in the movement against gravity is better than that with gravity. This result indicates that bimanual steering is better in aspect of position accuracy by one hand moved against gravity and energy efficiency by the other moved with gravity.

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In our vehicle driving, it is important to take appropriate evasive action based on the recognition of the hazardous event as one of driver's ability. However, there are few researches about association of drivers' knowledge and avoidance ability in the previously. In this study, "Hazard sensitivity" which means the driver's ability included both of knowledge of the hazardous event and avoidance ability has been proposed to evaluate driving safety. And in this paper, an analysis method for it through the quantification of driver's knowledge and avoidance behavior is constructed. In order to obtain the knowledge and avoidance ability the experiments with subject driver were designed and conducted. By using obtained data, validation for proposed analysis method was also carried out. As a result of correlated with driving tendency, classification possibility of hazard sensitivity based on the individual characteristics had been confirmed.

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Measurement of floor reaction force is effective method in sports engineering and biomechanics. However force plate has some problem, such as large scale, and it can't continuous measurement and disturbs natural gait. In this research, we use 3-axis sensor to solve these problems and consider the measurement method of three directional components of floor reaction force. It is necessary to determine the identification coefficient because 3 -axis sensor can't determine directly floor reaction force. So we determine the identification coefficient using multiple regression analysis. As the result, the coefficient that was determined by identification experimentation is good precise. In walking experiment, there was an error between waveform of force plate and waveform of 3-axis sensor, but the characteristic of waveform is appeared.

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Juggling is one of tasks involving skillful dynamic manipulation, and visual information is essential to perform juggling. We achieved a two-ball juggling task with our high-speed robotic hand-arm system which had three general-purpose fingers and high-speed vision system. But it could not afford enough long operation time for juggling because the trajectory was not optimized. Therefore this algorithm often caused miss of catching the ball. In this study, we work on the improvement of the robot's trajectory at the juggling. We get the 3-dimensional hand position in human ball juggling by a 3D sensor. As a result the characteristics of human juggling is obtained. Based on the motion analysis, we make the throwing motion whose orbit is a circle including internal and external motion. We are successful in the throwing and catching motion by a new program.

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In this paper, visual shock absorber is proposed with the goal of achieving anti-rebound of collision object for high-speed catching. The architecture consists of series connection between passive elastic structure and software damper based on Maxwell model which represents plastic deformation. Experimental results are shown in which a 2-DOF manipulator with high-speed vision receives the impact of rolling object without rebound.

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Echography is indispensable equipment in every medical field but examination with echography greatly depends on the expertise and experience of an operator. So, it is difficult to obtain standard cross sections if a person who handles the probe beside the patient is not skilled in echography. In this paper, we have experimented to evaluate the skill of echography. First, we experimented and evaluated the ultrasound probe approach on several patterns. Next, we estimated the mental rotation matrix by focusing on the echogram change and probe movement. The mental rotation indicate to the ability to mental rotate the object of three-dimensional. In echography, mental rotation ability was defined as the probe displacement to follow the organ moved by body motion and breathing. As the result of evaluation experiments, we discriminated between the amount of movement of the actual probe and the organ acquired by time-varying image processing and we defined examiner axis. So, we have confirmed the usefulness and the possibility for an assistant system in echography by mental rotation matrix.

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Examination of echography greatly depends on an operator's expertise and experience. So, Diagnosis and treatment support system is necessary to reduce the doctor's load. Although we had so far developed the diagnosis and treatment support system for echography, the method of evaluating this system quantitatively was not established. On the other hand, although there is much research about measurement of tiredness or stress, there is no research applied to echography. In this paper, we have constructed the diagnostic support system for echography based on a biological signal. First, we have measured electromyograms of wrists and waists of the experimenters at ultrasound probe scanning. Next, we also measured the effect of posture of the experimenter and how to grasp the probe to the body surface. We have analyzed strain of physical base on time-variable average frequency (MNF) of EMG on each condition, and discussed those relations from each time change and correlation chart of MNF. As a result, we have found that it is possible to reduce a physical fatigue of echography by considering the tips of the posture and the probe scan.

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The demand of robots, which is to work under the hazardous environment scene instead of human, is getting increased in recent years. Such robots should be controlled directly by human operators to make flexible decisions under such conditions, so our study is to develop the system of using master-slave with high maneuverable master device. In this research we propose a new method of master-slave operation with manipulating multiple numbers of slave robots by single master operator. In particular, the method is to transfer the coordinate system of operator's hand directly to the manipulated object, but not to robot's hand. It is efficient in some situations which is found difficulty with using only one slave robot, such that handling a large object. Moreover, we aimed to realize the proposed system without a feeling of wrongness, by evaluating the movability of the slave arm, using Gaussian Mixture Model of the hand's movable area.

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In rapidly aging society of recent year, music therapy has been focused as one of the occupational therapy of the day care. However, there is a possibility with the weakness for some people to acquire rhythm. Therefore, it is necessary to support these kinds of people in music therapy situation of the day care. In this study, based on visual induced postural sway which is one of the illusions, a supporting method with visually presented coordinated rhythm has been proposed. Through the experiments with subjects, relationship between the weakness to acquire rhythm and postural sway has been confirmed. Finally, it is suggested that the easily induction for postural sway by visual stimulation is achieved in the situation of visual stimulation with multiple people compare with the single subject situation.

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The rubber hand illusion (RHI) is one of the most famous bodily illusions, which has been often used to discuss the sense of body ownership. In the present study, the RHI was induced under active and passive self-touches by using a robotic master-slave system, and we examined the effect of voluntary action on the RHI. Based on the results, the present paper discusses the relationship between voluntary action and the sense of body ownership.

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When the driver's posture is maintained during prolonged driving, a burden concentrates on the specific part and the driving fatigue is increased. We propose the air cell lumber support device that changes the lumbar posture periodically to reduce the driving fatigue increase for long distance driving. By using a driving simulator, the objective fatigue evaluation was measured based on the finger plethysmogram with or without our proposed device. From the results of the objective evaluations, a significant difference between using and not using the device was shown. Therefore, the effectiveness of our proposed device for the reduction of the driver fatigue increase has been verified.

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In order to improve our way of English pronunciation, we focused on the movement of mouth and tongue, and measured EMG signals of facial muscles. First, we measured EMG signals for some English sentences. After listening teacher's voice by CD, we measured EMG signals and investigated the effect of pronunciation training. Next, we measured similarly for some words that we Japanese have difficulty in distinguishing pronunciation. We analyzed the result of the experiment from the viewpoint of skill acquisition.

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Recently, twenty percent of Japanese have insomnia problems. The final aim of our project is to develop a sleep inducing machine having rocking motion. As rocking motion, the motion of a mother's embracing and rocking of a baby is adopted. In a previous study, we analyzed the mother's rocking motion and derived two models for baby's motion consisting of linear motion and rotation motion. And we determined the candidate of rocking motion having sleep inducing effect among ten rocking motion. In this paper, we verified sleep inducing effect by the candidate of rocking motion. For this purpose, we compared the sleeping stage with/without rocking motion for ten healthy adults. As a result, there are significant difference between the rocking motion and no rocking motion.

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The physical movements called visually induced postural sway are occurred when humans get visual stimuli. In this study, modeling and the model parameters identification in this phenomenon using second order lag system have been discussed. Based on the results of time- frequency analysis of actual human behaviors, identification procedure of these parameters are considered from the viewpoint of the relations of several characteristics of human behavior and model; Gain and the maximum postural sway, natural angular frequency and the frequency component contributed to induction by visual stimuli, damping coefficient and the decreasing of postural sway after. As the results validity of second order lag model using identification procedure has been confirmed.

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This study analyzes the recognition process of examining the texture of fine particles through tactile sensing using human fingers and aims at establishing the structure of texture recognition. Characteristic values of the tactile sensing are studied in order to investigate a relationship between tactile sensing and its verbal response. In this study, the SD method (Semantic Differential method) is used to execute the language estimation (the evaluation value) of fine particles. In this paper, the recognition of tactile sensing around 60 years old is shown by the relationship between particle size of fine particles and the evaluation value.

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This paper presents evaluation of venous return promoting effects of our developed "parallel link type human ankle rehabilitation assistive device (PHARAD)" that can measure accurately foot motions in six degrees of freedom (6-DOF) and reproduce ankle joint motions. The PHARAD performs passive exercise by controlling the foot plate in 6-DOF. The passive exercise can be performed for not only rehabilitation but also prevention of deep vein thrombosis (DVT). In this study, we measured concentration of deoxyhemoglobin (Deoxy-Hb) using multi-channel near infra-red spectroscopy (NIRS)-based tissue oximeters and calculated a gradient of Deoxy-Hb during the venous occlusion. We defined the gradient as the blood flow of vein (BF_<vein>) and evaluated venous return promoting effects of the PHARAD comparing BF_<vein> in resting with those in passive exercise. Experimental results show that there are significant differences of BF_<vein> in resting and passive exercise and this indicates PHARAD has a potential to prevent and decrease DVT.

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The hand training of the person of cerebral apoplexy is one of the worldwide important problems. In recent years, it is known that the recovery of the exercise function and sensory function has become possible by the brain plasticity. We aim at reviving an exercise function and sensory function. We have developed a complex rehabilitation device system to solve these problems. The conventional training of the hand put an important point only on the exercise function. We give a mechanical stimulation directly to tactile senses. In this paper, we report an evaluation result when using complex rehabilitation device.

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Recently many robotic rehabilitation devices are being developed, however these devices tend to be heavy and expensive. We propose a new type of walk rehabilitation device which attaches to and uses a conventional orthosis as frame to reduce the cost. By focusing only on walking rehabilitation we could design smaller rehabilitation device. Additionally in order to tolerate assembling error and keep compatibility with different type of orthoses, 4 bar linkage mechanism is applied.

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In recent years, there have been many bed-ridden people because of Cerebral accidents for elderly people in Japan. Almost of them have problems of their joints, for example, the finger joint and the knee joint. In this condition, they cannot move their joints smoothly. It is called a contracture. If the symptom occurs for hand's fingers, patients have difficulties to live independently. Then, physical therapists (PT), who are a professional in rehabilitation, take an important part in improvement and prevention for patient's disability. However, rehabilitation training is very hard work because PT has to do it multiple times in a day. Accordingly, they not have much time to train many patients. For these reasons, patients cannot get appropriate training when they need. Therefore, we focus on prevention of contracture for finger joints. We are developing the device that can make extension of finger joints automatically. This device can extend joints by using cam and link mechanisms.

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