Sensory information helps us to operate skillfully, when we manipulate a machine or a robot. There are various sensory information such as force sense and tactile sense. Slip sense is important information when we adjust grasping force to a suitable amount, utilize the slip, and indirectly manipulate an object by moving another intermediate object. We have proposed a slip-presenting device and system using a traveling wave vibrator, which has excellent responsiveness and helps achieve multipoint slip-presenting thanks to its compactness. In this paper, we show that a bilateral operating device which can present force and slip information to the operator is able to perform an origami (folding paper) experiment. Origami is a kind of dexterous tasks which need skillful manipulation. We believe the slip-presenting mechanism has a potential for various dexterous manipulations like human's.

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Currently, robots have been developed, in order to care instead of human. Robots are mounted the flexible sensor so as not to damage the human. However, robots are expected to load from multi-point, sensors that are possible to measure the load from the multi-point have not been developed. Therefore, it is needed a sensor to be able to measure the load from multi-point. In this study, the flexible contact sensor that can be measured the load from 2 direction was developed. The developed sensor is composed of a hemispherical elastic body and a load measurement layer. In this paper, we investigated relationship between normal load and angle by using simulation.

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This paper proposes a construction method for a Center of Pressure (CoP) tactile sensor using electrically-conductive paste and adhesion bond. The advantages are cost reduction and implement ability on various surface, because the conductive paste is able to draw electric circuits, for example, by pen-shaped tools, without using hot welding. A prototype sensor was implemented on a polypropylene sheet. It was confirmed that the sensor worked correctly and detected the position and amplitude of the applied force. This paper also discusses the noise reduction, an easier construction method, difference in materials of implementation surfaces, and the durability.

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When we present temperature to trunk, such as neck, influence of the body is larger than the temperature presentation to the hands of periphery. Because body temperature of the trunk is little change for the protection of internal organs unlike hands. Therefore, temperature presentation to the neck area gives a different impression from hands. In this study, we investigated the effect on the body due to the temperature presentation to the neck area. We got the variation in the heart rate interval (R-R time) and analyzed the frequency. We evaluated the effect in autonomic nervous system from analysis results. In this paper, we describe these results and the effectiveness of the temperature presentation to the neck area.

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We propose a spatial frequency estimation for Haptic Search engine that allows users to search the Internet for haptic contents using vibro-tactile waves scanned from textures instead of input keywords such as onomatopoeia. To realize this type of search, we propose to use Convolutional Neural Networks. In this paper, we estimate a spatial frequency, which means texture's roughness or smoothness, for recognizing recorded texture.

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This paper proposes a texture evaluation system for nursing-care pasty foods, where an imitation tongue is utilized to reproduce human mastication environment. First, we develop an artificial mastication model composed of a movable rigid plate, the imitation tongue made of silicone, and a pressure distribution sensor. Using the model, we measure the pressure distribution data during compression test of pasty food on the imitation tongue, in order to acquire the information associated to both geometrical and mechanical characteristics. Then we investigate the relationship between the feature values of pressure distribution and the value of sensory evaluation of food texture. We show that a food texture of Cohesive is appropriately evaluated based on the average pressure.

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We propose a wearable tactile display using transcutaneous electric nerve stimulation and tactile force. This tactile display is suitable for virtual reality applications, for users can wear this device and it doesn't disturb user's hand movement. This device has a high space resolution and users can differentiate edge and flat surface of virtual objects.

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This paper describes a texture sensing system for gel food. Considering the effect of elastic deformation of human tongue, we propose a method to evaluate the food texture by using a simple artificial mastication model with an imitation tongue. After explain a basic principle of variable elasticity of the developed imitation tongue, we show that it can reproduce the elasticity of human tongue from the relaxed to contracted conditions. In addition, we reveal how the pressure distribution during the artificial mastication of gel differs with respect to the elasticity of imitation tongue. Based on the numerical model between the pressure distribution data and the value of sensory evaluation, we evaluate the food texture. We show that the proposed method with the contracted imitation tongue can accurately evaluate the food texture.

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In this paper, we propose a novel touch sensor named strain-gauge-sandwiched rubber artificial skin layer formed by direct dipping. One of the most distinguished features of the proposed sensor is its rubber layer forming method where a part of the body (e.g. a finger) of a sensor user is directly dipped into a pool of liquid rubber to form a thin rubber layer in which a strain gauge is embedded. With this sensor, we expect that it detects crucial touch information on skin deformations when a user is performing a target task because its formed rubber layer is adhered strongly to the finger skin. We show experimental results to show strong correlation between the sensor outputs and the pushing forces, as well as the relationship between the outputs of the proposed sensor for three fingers and the resultant forces of the three finger coordination.

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This paper proposes a new method for measuring haptic surface roughness remotely. Specially, our target is to measure surface roughness of millimeter order. Proposed method consists of two ultrasound transducers. One is for generating ultrasound. Another one is for detecting sound pressure distribution formed by interfering with reflected waves from a measuring object. A sound pressure distribution changes according to surface roughness of a measurement object. In this paper, we assumed that diffraction occurs on a measuring object surface. Based on the hypothesis, we made a physics model. We conducted fundamental simulations and experiments through the use of the model. We report their results.

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In this research, we propose a method for estimating contact region by computer simulation. The actual contact region was measured by hand print papers, while the contact region was estimated by detecting collision between the individual hand model and the product model. It was found from the result that the contact region estimated by computer simulation overall agreed with the actual contact region. However, since the individual hand model penetrate into the product model, contact region around soft part of the hand was overestimated. In contrast the contact region by computer simulation was underestimated around the joints, because of collapse by flexing the individual hand model.

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One is contact force sensation and others are vibration methods in researches of tactile display. Vibration methods are suit for slip sense. Contact force sensation is not suit for wearable display. Therefore, we use MEMS technology to represent high-density stimuli. We improved the layout of cantilever actuator and confirmed performance of actuator using FEM analysis. We also developed optimal sputter condition of PZT film deposition. We confirmed major crystallization of PZT by XRD and suitable atomic element weight percent by X-ray Fluorescence Analysis.

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In this study, we examined methods of sensing roughness with haptic displays. Representation of paper quality applies to dictionaries, notebooks and other every-day items, not just calligraphy and washi paper (Japanese paper). We believe our experimental results provide elements of the basic information necessary for haptic devices to represent such roughness.

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Recently, the touch screen have been widespread in the field of computer interface. Use of the touch screen is easy because of intuitive operation. But an operational mistake may be caused due to lack of tactile feedback. In order to solve this problem, several studies have been conducted with various systems. We developed a tactile display using a sheet-like ultrasonic transducer (SUT) for providing tactile sensation. However, in previous research, representation of tactile sensation on the SUT mounted on a large-sized touch screen was difficult. In this paper, representation of tactile sensation on touch screen which is larger than conventional one is reported.

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We have developed a wearable tactile sensor for measuring skin vibrations using a PVDF film. The sensor allows users to touch an object with their bare fingers and it collects skin-propagated vibrations from fingertip that touches an object. This paper proposes a model of the sensor, which presents a transfer function from vibration applied to fingertip to collected sensor output. Experimental result shows that the model can express sensor output response.

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Measuring the shear deformation of finger pads during the tracing movement is important for analysis of tactile sensations and development of tactile texture displays. We have been developing a new method to estimate the finger pad's deformation based on the deformation propagated to the radial side of finger tip. In this study, in order to validate the method, we compared the accelerations of finger pad estimated based on the deformation of radial side and those by the shear forces applied to the finger pad while exploring a few types of materials. A mean error between the accelerations estimated by the two methods was merely 2.9 × 10^<-3> m/s^2.

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We propose the Finger Cot type Strain-gauges-sandwiched Rubber Artificial Skin Layer. It is a wearable sensor for measurement of the finger pressure. The thickness, lightness and excellent wearing feeling are the better features than other wearable sensors. The strain-gauges are arranged in the layer at the side of the finger in order to measure the deformation of the touching finger. Method of fabrication and results of experiment of the measurement are shown. Further more, the dynamical models of both the finger and the finger lapped by rubber are configured. Then, mechanical phenomenon are simulated in touching action of the finger by finite element method. From those results, it has been shown that the reaction force to the ball of finger can be measured by the Finger Cot type Strain-gauges-sandwiched Rubber Artificial Skin Layer.

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To measuring the birefringence of the optical material used, such as a liquid crystal display or an optical disk is very important in terms of quality improvement. For example, when forming the disc, it takes extra stress, there is a case where the birefringence occurs. By this, when laser light was incident, by a change in transmitted light intensity to affect the reading of the data. So far, the birefringence measurement using various techniques have been made. However, it takes time to measure in such as a rotated polarizer method and the rotated retarder method using a stepping motor. In addition a method using an electric device has a problem such as initial cost. In this study, we aimed at the development of the birefringence measurement system corresponding to the low cost and real-time measurement using a fast rotated polarizer method.

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We have developed a six-axis position and attitude sensor using a laser light as fixed coordinate. In our previous research, it was not enough to verify its accuracy. The goal of this paper is clarify its accuracy. To verify its accuracy, we manufactured an experimental setup that can rotate in the roll, the pitch, and the yaw axis with high accuracy. Experimental results show that our proposed sensor can measure the roll, the pitch, and the yaw angle with error of less than 2.60, 3.78, and 0.62 deg, respectively.

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An objective of this study is a development of the robot arm control system that can display grip force to the operator. To realize the objective, a grip force feedback system which consists of a robot arm, a force sensor and a microcontroller is experimentally developed. In our system, a grip force display uses a syringe pump and a stepping motor that control air pressure. In this display, displayed pressure depends on the number of rotations of a rotor of the stepping motor. A grip force is measured from a force sensor which is attached on the robot hand. And a grip force display is driven according to the measured grip force. In this paper, we assess the experimentally developed grip force feedback system.

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The purpose of this study is to support die bedridden and physically handicapped people who live independently. In this study, we developed an Electric appliances control system that can be used on the bed. The subject performs system control using hand motion. The hand detection uses infrared sensor of Kinect. Our developed system was tested with some normal subject and results of the experiment were evaluated. In this experiment, all subjects laid on the bed and tried to control our system. As results, most of subjects were able to control our developed system perfectly. However, motion tracking of some subject's hand was reset forcibly. It was difficult for these subjects to make die system recognize his opened hand. From these results, we think if this problem will be improved our support system will be useful for the bedridden and physically handicapped persons.

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SEMG measured from the skin surface are widely used as a source of information to determine various types of body movements. And many studies using forearm SEMG to detect the movement of the arm has been made. In this field, it is used for the results that have been detected to control the Idevice, such as a prosthetic hand. In order to control the robot hand precisely, it is necessary to feed back the gripping force to the subject. In this study, we have developed a multi-point pressure sensor capable of measuring the gripping force of the robot arm.

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This paper describes compensation of magnetic sensor used on an active levitation conveyance system in order to apply magnetic levitation system to non-contact robot hand. The position of the floating object is estimated by using Hall elements. When the magnetic levitation system operates for a long time, the position estimation error occurs. The error arises from the output voltages variations of Hall elements because the temperature of the electromagnet and Hall elements changes. Therefore we reconsider the drive circuit of Hall element. The output voltages of Hall elements are improved. Additionally, the resistance value of Electromagnet changes. Thus, we propose the disturbance observer to estimate the parameter variation as disturbances. As experiments results, we confirmed the estimation error is reduced.

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In recent years, the way of sell music has changed CD into digital distribution. Mp3 is the representative of compressed sound source in online music distribution service. Mp3 formatted sound quality is inferior as compared with CD-DA formatted sound quality, because mp3 has less information as compared to pre-compressed data. The objective of this study is by analyzing EEG to determine if people can recognize such difference as differences in sound. In the experiment, one subject (Healthy adult, Male, Age:22 years old) was studied. The results suggest that sound source format differences affected EEG that is come of higher cognitive function than auditory area.

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The three dimensional extent where a thumb tip can reach is closely related to functions that can he performed by the thumb. However, on the hand and finger rehabilitation, range of motion for each finger joint is used for evaluating the current state of the hand. It requires a therapist to measure the ranges. In addition, it is difficult to evaluate the three dimensional extent of motion from the ranges. We propose a method to automatically estimate three dimensional position of the thumb tip with a contactless depth sensor. To evaluate the relative position to the palm, we also propose a method to estimate three dimensional configuration of the palm. With experiments, we show the effectiveness of the proposed method.

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This paper describes an autonomous weeding robot with Archimedean screws for paddy fields. Our weeding robot has four Archimedean screw wheels, and can move forward/backward and turning, in addition, just besides direction in muddy paddy field. By using these wheels, the robot runs along a paddy row by trampling some still small weeds, and supresses their growth. In this study, we propose image processing and control methods for the robot to recognize paddy row to move along and/or change one. Using the developed method, preliminary indoor/outdoor experiments have shown a good performance.

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Nowadays, awareness of foods safety is increasing. People say that organic farming is great about safety of foods because it does not use weed killers and chemical fertilizer and so on. However, the spread of organic farming is difficult because fanners are burdened weeding the rice field with their hands. The research arm of this study is to develop a 5-DOF weed removal robot arm with an end effector consists of a cutting part and a grasping part. We adopt a system from a grass cutter saw for the cutting part, reciprocating saw cuts weed ear part, and adopt a system like a scissors of pole pruner for the grasping part, grasping and releasing weed ear part. After we developed the robot arm, we evaluate the performance throughout experiments.

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In recent years, there has been widespread damage caused by wild animals. Medium-sized harmful animals, such as masked palm civets and raccoons, cause crop and house damages. Large-sized harmful animals, such as wild boars and deer, cause crop and forest damages. The most effective methods to catch harmful animals are a medium cage trap for medium-sized harmful animals and a wild boar cage trap for large-sized harmful animals. This study improves automatic capture systems in order to prevent mistaken trapping pet cats by a cage trap, and to reliably capture adult wild boars. For a medium cage trap, developed system uses image processing to discriminate between harmful animals, masked palm civets and raccoons, and others by using features based on the Histogram of Oriented Gradients (HOG). For a wild boar cage trap, the automatic capture system uses image processing for the discrimination of adult and infant wild boars by whole-body images.

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Food production faces difficulties, such as poor harvests due to abnormal weather and food shortages due to population growth. One effective solution for these problems is the "vertical farm". However, it is difficult to realize the vertical farm because currently only leaf vegetables are available in commercial production. Therefore, it is necessary to automate the fruit vegetable cultivation for the realization of the vertical farm. In this study, we study automation and mechanization of tomato cultivation, especially focus on the hormone treatment. This paper proposes a hormone treatment end-effector, consists of an auto-focus stereo camera, a hormone spray arm and an angle control mechanism, for a robot which is able to estimate a 3D position of tomato flower by using the Kanatani and Kanazawa Algorithm. Finally, we demonstrate the performance of the hormone treatment system.

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The purpose of this study is to develop a lighter and smaller power assist machine that can assist the user's arm to reduce burden on farm workers. The assist machine consists of a mounting part and a linkage mechanism in order to use a single actuator. In this paper, we used a linear motion actuator and a ratchet mechanism. The ratchet mechanism is used to assist the upper limbs without using an actuator. As a result, it is possible to keep the work posture of the upper limbs without controlling an actuator. The effectiveness of the improved power assist machines is verified by the result of the experiments.

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This paper reports an approach to accomplish tasks assigned in a competition of automated or remote controlled robots harvesting tomatoes. For automation of harvesting, we use RGB-D images to estimate position of tomatoes. With an assumption in the competition that a large black wall stands behind tomatoes, we can recognize the wall by calculating a plane equation fitting retrieved point clouds, and identify a tomato in front of the wall from red color regions of it. And then position of the tomato can be also obtained with approximating it by a sphere. Moreover our proposed approach to tomato recognition can be applied to a bunch of tomatoes using a presumed size of tomatoes.

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The purpose of this study is to propose a tracking control method for a wheeled weeding robot based on the rice plant line in a paddy field. The weeding robot has a capacitive touch sensor to detect the rice plants, azimuth sensor, microcomputer and battery. In this paper, we considered to reduce the rotation radius in turning traveling of the weeding robot. The rotation speed of the wheel is controlled by the PWM control signal. The effectiveness of the proposed tracking control method is verified by the experiments.

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The purpose of this study is to develop a sensor system for a weeding robot in order to detect the end of rows of rice plants in a paddy field. The sensor system has two capacitive touch sensors to detect the rice plants. The function of the sensor system that is mounted on the weeding robot is to detect rice plants, it cannot be affected by another sensor or the robot main body. In this paper, we carried out two types experiments using imitations of the rice plant in a sandbox. The effectiveness of the developed sensor system is verified by the experiments.

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This paper proposes the vision-based mowing boundary detection algorithm for an automatic lawn mower. The proposed algorithm utilizes the idea of a bank of filters, which consists of 36 Gabor filters, to capture the change of the features before and after mowing the lawn. The x^2 statistic is calculated as the feature value from the filter responses. The input image of lawn environment with two fields before and after mowing the lawn is classified into two classes by utilizing the x^2 statistic. The boundary between two classes is determined by RANSAC.

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This paper presents study of about a robot which is able to harvest tomatoes. To harvest the farm products such as tomatoes is performed by farmers now. So many farmers have problem that much cost and time are spent. Therefore, to solve this problem, we develop the robot that performs tomato harvesting by visual recognition in this study. And the purpose of image processing, to recognize a flesh tomato by using HSV conversion and search the optimal value of hue, saturation, value experimentally. In addition, our laboratory will take part in a tomato harvesting robot competition held in Kyushu Institute of Technology in December 2015.

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Plant water content (PWC) affects growth, yields and quality of the plants. We have developed a needle-type PWC sensor with humidity sensitive polymer, polyethersulfone (PES) membrane. When the sensor is insert into a plant, PES absorbs water from the plant according to its water content. The electric impedance of PES is determined by the amount of the absorbed water and reflects the PWC. This sensor is based on a glass tube and soaked into PES solution to form a PES film. However, this sensor is fragile for brittleness of the glass and it is difficult to layer a film thickness for pipe-formed structure. In this paper, we propose the plane-formed structure sensor based on an acrylic board. As a result of switching from, we can produce PES film and a base separately. We performed the performance evaluation with an old sensor and performed the fluid volume monitoring of the strawberry.

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Weeding is important for cultivating crops. However, weeding is a big burden to workers because it is done by hand. Automation of weeding can save labor. In addition, consumers are highly interested in organic vegetables. Cultivating crops without using weedkillers will increase the value of the crops. In this study, we developed a weeding robot which determines weeding areas automatically by identifying the registered plants. To identify the plants, we proposed a method of extracting a single leaf image using multiple lights. The aim of the study is a weeding robot that can be applied to any placement. style of plants, and any type of plants.

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This paper presents a visual information aided behavior strategy for tomato harvesting robot. Particularly, we have proposed an image analysis method for estimating the pose of the fruits as it is the most essential information for picking tomato. Tomato harvesting robot includes a six-axis serial manipulator with a monocular hand-eye and an end-effector, and autonomous mobile cart along with a digital computer. Multi-images of tomato bunch captured from different views by hand-eye are used to reconstruct a 3D point cloud of the bunch which provides the basic information for pose estimation. This information is used in the proposed algorithm to estimate the pose of tomatoes with different shapes and sizes.

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In this paper, we describe the newly grafting robot with high efficiency. The conventional semi-automatic grafting robot needs three workers to execute a series of grafting operation. Although the full-automatic grafting robot that can be operated by one worker has been developed, it is hard to say that both types of grafting robot has become widely used in Japan. The developed grafting robot can be operated by one worker and can graft about 1800 seedlings per hour. From the test results, we recognise the necessity of the mechanism improvement for easy operation as well as the cultivation system for super-uniform seedling.

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We have proposed weed suppression systems that can be flexibly adapted to a variety of paddy. In this report, the most important and basic functions have been verified in our weed suppression systems. That is, experiments of weed suppression with simple prototype that can move on the water surface along with the turbid water was performed. As the results, sufficient weed suppression performance was obtained.

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Sweet pepper is one of the major vegetables in Japan with the annual production of almost 150 000t. Kochi prefecture is the third largest producer of the sweet pepper with around 12 000t per year. A sweet pepper automatic harvesting robot is being developed at Kochi University of Technology to help the local farmers with harvesting. Sweet pepper is challenging for automatic harvesting as the localization of the stem of a sweet pepper fruit for cutting is difficult with machine vision. This paper presents preliminary results of a new method for sweet pepper fruit stem detection. The method is using laser range sensor data for fruit orientation calculation and stem position approximation.

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Pruning robot has a posture adjustment mechanism using a worm-gear. The climbing method driven by servomotors with a warm-gear reduction mechanism can rest on a tree by using its own weight without any energy expenditure. The pressing force from wheels to tree increases at the posture adjustment control because there has no automatically loosening by a self-locking of the worm-gear. In this paper, we present posture control considering pressing force and control evaluation.

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A vision system for the Unmanned Surface Vessel is introduced in this paper. It consists of two stereo vision cameras, two Leddar sensors and a Pan-Tilt Unit. With this vision system a big view range can be obtained and the target objects such as obstacles can be detected. Through experiments, it is verified that this system can work well. This vision system can be used to other robot platform.

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Power shovels are used to clear wreckage after natural disasters but the process can consume a lot of time. Furthermore, operating such heavy machines in those circumstances is very dangerous for the involved human workers. To speed up access to inner parts of disaster stricken areas, obstacles can be surmounted with the assistance of carefully maneuvered arm, instead of removing them. In this paper, an autonomous obstacle surmounting technique for an unmanned power shovel is proposed. Out of different sequences, the one that optimizes the total energy consumption is chosen as the best candidate for surmounting a given step-like obstacle. Simulation and experiment results show the effectiveness of the proposed method.

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Long articulated body mobile robots such as snake and/or worm-type robots possess small cross-sectional area, and have inherent ability to move along narrow paths and even thread through inside rubbles. This research proposes an externally drive motion concept for a very long worm-type robot to be used in maintenance and inspection tasks of infrastructures. This robot will be equipped with compound sensors comprising of gas sensor, cameras and radars. This paper analyzes the advantages of the proposed system and the reports the development of the first mechanical prototype.

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Many bridges had been constructed during the steep economic growth age. Presently, dealing with the deterioration of those bridges and maintaining them have become very important. Using robots for the bridge inspection to aim at the labor saving and lowering the cost is useful for the management and maintenance of many old bridges because the conventional method will intensify the strains on the economy. In this study, we created a flying robot HORNET with tilt-rotors and two wheels that can inspect cracks and corrosion in concrete bridge substructures. We confirmed that the relationship between the state of wall surface and the power consumption of the robot.

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In the environment survey using autonomous vehicle, vehicle path should be generated from measurement results after the rough search of large space. To reflect the results we propose a method to compare them with some prediction to compare something with results. The prediction model of the field needs to deal with many variables with complex relationship. Applying 2 prediction methods, a historical database model and a decision tree model, we discuss which prediction model is suited for our research. In addition we consider the form of the data used for calculation of prediction value. Finally, database model is suited more than the decision tree model and the form of the data has less squared error than normal method.

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In the literature, model identification methodologies for unmanned surface vehicles with propulsion and steering systems based on propellers and rudders is commonly found, but not for catamaran type surface vehicles with propulsion and steering system based on only two propellers. Therefore, this research introduces a new easy and systematic identification methodology for this last surface vehicles. This methodology consists of experiments with three different maneuvers: straight line motion, circular motion and rotational motion. This methodology do not demand expensive equipment such as high precision GPSs or costly facilities such as tow-tanks, which is an advantage of it. The methodology was tested with a small size catamaran type surface vehicle and the parameters identified with this test were validated through simulations.

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The necessary performances for exploration are not only the traversability on rough terrain, but also the ability for getting through narrow space and climbing over large objects. In this point of view, the active wheeled snake-like robot is to be effective. However, prior types have some disadvantages in stairs or doorknobs because of its shortage of trunk length and small of wheels. In this paper, we developed new snake-like robot "ACM-R8 ", which possess large and special wheels and long trunk to cover disadvantages in stairs and doorknobs, yet its height and width are smaller than other types of exploration robots. We confirmed its high traversability on stairs and high steps by motion experiment. Especially, the step height was 600mm, which is twice as high as the height of the ACM-R8.

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In this study, a 6 DOF Spatial Cognition Telexistence Robot System (TORSO) was mounted on a driver's seat of a Unmanned Backhoe (BH). The drive efficiency and effectiveness of spatial Coherent experience of sitting on the Backhoe seat and manipulating the machine was evaluated through several experienced and non-experienced remote operators by giving them with a 8-shaped road track under various hazardous conditions. Furthermore, the effectiveness of spatial coherent drive experience towards working at construction sites and real hazardous fields was discussed.

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