This paper proposes an efficient technique for the measurement of large-scale three-dimensional environment using a laser scanner. The proposed technique consists of two parts, the optimum parameter setting of a laser scanner and the reduction of movement time of target markers. We conducted measurement experiments and verified the effectiveness of the proposed technique.

In this paper, developing of a compact range image sensor capable of obtaining color texture is presented. The sensor is designed for installing on a mobile robot. By using this sensor, the robot can sense the target or obstacle using the range image date. The color texture mapping on the 3D range image can help sense small obstacles between slits. The sensor is based on a range image sensor using a multi-slit laser projector. By adding a color camera to obtain the color image, the sensor can output range image with color texture in real-time. The measurement range is 380-720mm, the number of measurement points is about 4600, and the processing speed is about 12fps. The effectiveness of the sensor is verified by experiment.

In this paper, development of a compact and light weight range image sensor is presented. The sensor is designed for installing on a robot hand to help it sense the target or avoid the obstacle. The sensor we present can obtain 3D distance information at a range of 50mm - 300mm, which is simply made by a USB video device class camera and a multi-slit laser projector. The improvement over the previous sensor is a newly added method of the range measurement. The new sensor can measure the distance by using both disparity and blur. A method of Gaussian curve fitting to quantify the image blur is presented to obtain the range image at a distance closer than 100mm.

Realistic haptic feedback can greatly improve user satisfaction in midair interaction systems. In this paper authors propose a new approach for more realistic vibrotactile friction feedback during midair handwriting. Experimental study to analyze the modulation of normal force of finger during writing on a real screen revealed the dependence of finger direction and velocity during the writing of different characters. A new vibrotactile friction rendering model was developed to recreate the normal force modulation in midair writing using cues from finger motion. An experimental evaluation of the developed rendering system on 4 subjects showed promising results.

Similar to Haptuator from Tactile Labs Inc. and Force Reactor from Alps Electric Co., DC motor can produce high fidelity vibration when it is driven by alternative current such as audio input signal. In our study, we developed a new vibration actuator using a DC motor that can generate much stronger vibrations than a normal DC motor and produce very low frequency of vibrations. We proposed that the stator of the motor could be used as the vibration mass by fixing the rotor of the actuator. To evaluate this design concept, we developed a prototype actuator that can be driven in two modes: stator mode (i.e., the new design concept) and normal mode. The experiment results revealed that stronger vibrations can be obtained on a fingertip in stator mode because the fixed part that comprises the rotor was lighter and the vibration mass using the stator was heavier. We also confirmed that the actuator can be driven at very low frequency (1 Hz) in stator mode.

This paper introduce a sensor for detection of surface undulation. This sensor is composed of two objects. One is artificial rubber skin layer with strain gauge. The second is a tactile devise, we call a “tactile contact lens (TCL)”. The tactile contact lens(TCL) is a tactile devise. That is composed of a sheet and numerous pins arranged on one side of the sheet. The devise has effect on enhancing human tactile perception of surface undulations by tracing surface with it laid between human skin and the surface. Its enhancing effects every length of pins is discussed. Proposal sensor is assessed by the enhancing effect.

We combined a few methods to effectively create the illusion of embodiment and sense of body motion in the framework of the rubber hand illusion. In our experiments, active hand movements and self-stimulation were employed instead of classical passive tactile stimuli applied to still hands. The combination of these conditions effectively created the illusion. Furthermore, we collectively tested the effects of visual stimuli that were accompanied with tactile sensations. Specifically, we observed that when an object associated with tactile sensations was moving around the fake hand, the illusion tended to be more intensively induced than when an object that was unlikely to be associated with tactile sensations was placed still near the fake hand.

In this paper, a midair tactile display using a 70 kHz airborne ultrasound was examined. First we fabricated a 70 kHz ultrasound phased array. Next, we measured the physical properties of the ultrasound converging beam and confirmed the successful improvement of focusing, compared with the conventional 40 kHz ultrasound. Finally, we examined the psychophysical effect by the focusing improvement. The minimum perceivable radiation force for 70 kHz focal spot was smaller than that for 40 kHz case and the smaller focal spot was easier to perceive. We also conducted a comparison test of the perceived force area with real contacts.

In recent years, aging of skilled workers and lack of successors is becoming serious. A efficient method to solve this problem is the use of motion-copying system. However, previous researches are non-wearable. This paper proposed the assist device applied motion-copying system with haptic gloves which had pressure sensors.

This study experimentally investigates the perceptual mechanism of the force applied to a grasping tool based on the hypothesis that perceptual force is mediated by the combination of cutaneous and kinesthetic sensation. We conduct the experiments in which, first, two participants memorize a pseudo force presented by the suction pressure display which enables cutaneous stimulation without kinesthetic bias. Then, the participants reproduce a memorized force by pressing a finger actively (with some kinesthetic sensation) and passively (without some kinesthetic sensation). Experimental results show that a reproduced force varies according to the presence of kinesthetic bias, the activity on reproducing task (active or passive) and the intensity of applied cutaneous sensation by the suction display. These results support the hypothesis that the combination of cutaneous and kinesthetic sensation is used for the perception of force.

This paper proposes a wide dynamic range force/torque sensing method. In this method, the force sensor is composed of two flexure elements having different stiffness. Wide dynamic range is achieved by switching the flexure elements. However, there is a problem that the output of the sensor changes suddenly when switching the flexure elements. The problem was figured out by the signal processing of the two output signals from the flexure elements. It was confirmed from the experiment that the proposed method can measure the small force at a high signal-noise ratio.

This study aims at improving the measurement accuracy of a torque sensor developed by the authors. It measures torsional deformation of a bar without contact by a photo-interrupter. A known problem is an other-axis interference, in which the bending deformation is wrongly accounted for as the torque about the axis. A simple but effective idea is to put a bearing in the sensor unit to support the torsion bar against the bending load. The efficacy of the idea was experimentally evaluated.

In force control by Master-slave system, when used in such rescue robot, vibration is added from crawler and engine. As a solution, some componets addition to the system for suppresion of the noise was proposed. But it is difficult to downsize due to the additionof the parts. Therefore, we attempted the suppression of the disturbance by two degree of freedom control usingYoula Parameterization.

In this study, we examine a method for guiding the users' hands to a specific region in the air, by utilizing Airborne Ultrasound Tactile Display (AUTD). The AUTD is a device that creates focused airborne ultrasound on the surface of human skin resulting in perceivable vibrotactile stimuli. Measuring the position of a hand in real time, the fabricated system allows users to tactually feel a virtual wall out of focused ultrasound that is accordingly generated. The AUTD is placed on the left side of the workspace yielding rightward radiation force onto the palm of the user. In this paper we particularly discuss the human performance of locating horizontal position displayed by the system, in terms of its accuracy.

The purpose of this study is to elucidate the variability in the Semmes-Weinstein monofilament test (SWMT). In this study, we measured the human hand motion during the manual control of the monofilament and compared the velocity of the hand motion and the contact angle between the monofilament and a simulated skin surface. We measured the human hand motion during the SWMT and analyzed both the velocity of the hand motion and the contact angle between the monofilament and a target disk substituting for the skin surface. These results show that the accuracy of the SWMT is dependent on the human hand motion (velocity of hand motion and/or compression angle). In future work, we plan to find a smart solution to minimize the variability in this test and develop a new method that uses tactile sensibility.

Relationship between skin displacement and subjective sensation is indispensable for the design of tactile feeling display. Previous works on the observation of the skin displacement mainly used flat glass plate and a camera. However, the flat glass is not a representative tactile texture that we daily touch. We developed a system that can observe interaction between textured surface and finger skin by using technique known as index matching. The textured plate is immersed in the oil with the same refractive index, so that the texture became invisible. The finger skin is printed with markers, and its movement is analyzed by image processing. We also show a preliminary result of the observation when finger strokes on 0.5 mm interval grating.

Humans perceive the surface characteristics of an object through the tactile perception at the fingertip. In this study, we measured the fingertip force and the deformation of the contact area when displacement is given. We investigated the relationship between the results of affective evaluation and the measured physical indexes.

It is put importance on healthcare activity by the senior citizens themselves. In particular as accident and sickness which have a high rate of receiving medical care, hypertensive disease is cited. However, it may become difficult to wind cuff for measurement of blood pressure around the own upper arm. In addition, upper arm circumference of the senior citizens and women is small, and it of partial western people is very large. Moreover, the shape of cross-section of upper arm is not uniform. In this study, it has been developed the soft gripper for fixing to a human body for the purpose of blood pressure measurement. In this paper, we describe the automation of blood pressure measurement operation by the release mechanism, the basic experiment for the purpose of responding to a variety of upper arm circumference.

To judge and suggest optimal training for realizing early rehabilitation, the estimation using multiple RGB-D sensors is proposed. The system consists with multiple RGB-D sensors and measuring computers connects with each RGB-D sensor, a server, which integrates information from each computer. Based on measurements of a target person by a RGB-D sensor, each computer estimates positions of all joints of the target. The server collects and integrates joint information from each computer. By integrating information, the server compensates occlusion. Based on the integrated joint information, the system judges the grade of paralyze and the state of the target and suggests training to the target, family and so on, supporting menu to an other system or supporting robot/robots. In this paper, a method for position calibration of each RGB-D sensors and a method for integrating information measured by each sensor are described especially on Microsoft KINECT V2. By using implemented experimental system, the validity of the proposed method is shown.

Recently, aging of the population progresses with increasing speed. In this research, we developed an MR fluid-based Gait-assist cane for elderly people. The developed gait-assist cane has three legs and the compliance of each leg can be controlled independently. It improves the walking stability on the irregular terrain. Experimental results illustrate the validity of the proposed system.

This paper deals with a new method for measuring arm motion of sign language. In many preceding researches, they use camera and data-glove for this purpose. But, camera and data-glove are inconvenient to carry and wear in various places. So, a new tool suite that doesn't tax user and can be used anywhere in needed. In this research, the authors propose sign language translator by using wristband style wearable device like a smart watch. Almost all such wearable devices have inertial sensors. Therefore, the authors use inertial sensors for getting data of arm and use Singular Value Decomposition for analysis to distinguish arm motions.

Recent years, height of percentage of the person who has subjective symptom of such lower back pain is presented as a problem in aging society. Brace therapy is one of the methods of treatment for lower back pain. However the method of treatment has possibility to cause muscle deterioration by wearing invariably for a corset. On the other hand, it is difficult for such senior citizens and handicapped person to do removable the corset. Therefore, this paper proposed development of the corset that built pneumatic soft actuators and has on/off switching function in order to solve the problem.

This paper proposes an assisting device for a human standing-up and sitting motion considering the balance of the center of gravity. It consists of a fluid powered human gripper “Hug-arm”, an assisting motion device, and a walker with braking assist function, and human intention detecting function. We classified human standing-up motion into three phases, 1) bending phase, 2) leaving phase, and 3) lifting phase, and each phases can be detected at each starting point. Starting point of first phase was judged by load on human chest, and those of second and third phase was detected by load on foot, especially on thenar eminence. Using these proposed methods, the prototype was tested by using a mannequin. Finally the experiment performed by human showed that driven with human intention detecting function, the device can reduce the load on human during standing-up motion.

Until now vehicle driving is studied by vehicle motion control of car driving device with joystick. Vehicle motion control of car driving device with joystick can operate accelerating, braking and steering with a joystick controlled by single hand. However, it is difficult for handicapped people to park the vehicle by driving device with joystick. And handicapped parson has to ride in the welfare vehicle from back door with wheelchair. This study develop “Front parking assist system” which support to park by driving device with joystick. This system calculate orbit of vehicle and operate driving device with joystick and shift lever by calculation result. In the experiment, we simulate vehicle behavior by orbit calculation.

A lot of the power assist suits using pneumatic artificial muscles for assisting extension of knee have been developed. But in almost all of devices their centers of rotation are fixed on their mechanisms. The knee joint of human has a complex movement. We developed a new knee joint mechanism with a bio-inspired joint motion, torque adjustment mechanism. We also evaluated the motion of the knee mechanism. The combination of the sliding mechanism and wire-pulley mechanism fitted the subject's flexion-extension motions. The muscle activation with / without the developed assist suit during standing were measured. The use of the device reduced EMG of rectus femoris.

Estimation of physical burdens that people with motor impairment suffer from aids us to establish welfare techniques and systems comprising personal care equipment and assessment of critical risks such as fall. We developed a wearable robot for a healthy person and its control algorithm to simulate the representative motions of knee osteoarthritis patients. We then calculated the knee exion and extension moment of the simulated patient during standing-up and sitting-down motions to estimate the physical burdens of incurred by the knee malfunctions.The burdens estimated under some conditions qualitatively match those clinically considered, which corroborates the validity of our patient simulation techniques.

In areas where it snows a lot in winter, the elderly people cannot go out for exercise, so that they have a loss of motor ability and high risk of falling. The falling is one of the causes of bedridden state. In order to solve this issue, we develop a system which can facilitate indoor exercises for the elderly people. In this system, we use compact-size mobile robot equipped with camera and virtual reality game for the exercise motivation. In this paper, we introduce what types of device are combined in order to construct the exercise system.

The present paper proposes a cooperative neuro-rehabilitation methodology for the enhancement of motivations of patients with motor disorders in their long-term training using robotic devices.The prototype system is constructed with 4-D.O.F manipulandum with two handles so that two operators can carry out a cooperative visuomotor task, in which the air-hockey game and the balance seesaw game can be provided.The preliminary tests of the balance seesaw games are carried out by two healthy volunteers, and the results show the possibility of the proposed cooperative training approach for neuro-rehabilitaion.

A wheelchair is widely used mobility aid for the people with a handicap on their lower-limb. A conventional wheelchair has several demerits that the user feels inconvenience in their daily life such as large turning radius, limitation of step climbing, and low user reaching height. To resolve the demerits, we propose an electric wheelchair with high usability and safety, which mounts seat sliders and a seat lifter on a wheeled pendulum type mobile platform. In this paper, the basic development concept and mechanical design of the proposed wheelchair is described.

Our objective is to develop soft pressure sensors to control the electric arm prosthesis by measuring the movement of muscles for the control signals instead of EMG. In our previous research, we made refined sensors that has black inner sidewall white inner ceiling at the topside. By using this refined sensor, we succeeded match better controllability of the finger opening speed and finger grasping force. Furthermore, we made a wrist-unit to give a rotational function of hand and drove it by the additional pressure sensors to measure the movement of the ulna and radius. In this study, we tried to install a soft grasping function by monitoring the electric current of the finger driving motor. After the experiment, we knew that the sensitivity is not so good by this current monitoring method. We succeeded to pick up a piece of firm tofu by the arm prosthesis but we could not pick up silken tofu. An over-pushing motion was also necessary to detect the softness by this function. Therefore, we decided to install soft sensors in the fingertips for the refinement of the soft object grasping function. As a result, it had become possible to stably grip without crushing those soft objects in the prosthetic hand. Furthermore, we succeeded in stable gripping the silken tofu. We also developed the pressure detection system around all lower limb surface to detect the suitable points for the control signals. We also demonstrated that we could estimate the wrist angle for the pronation-supination movements by two sensors and trained neural network. According to the estimation of palm flexion - dorsal flexion, the required sensor is only one.

Wheelchair is well known as one of the popular moving aids. However, use of wheelchair causes the decrease in ability of walking motion control and strength of lower limbs. In this study, an electric assist walker driven by the user's walking motion while supporting the user's body weight was proposed. The subject is to detect the user's walking motion easily and to generate the control signal of the walker. A method which detects movement of markers attached the user's foot by digital camera and estimates the desirable motion of the walker was adopted. Using the left and right foot movement, to generate a stable control signal was generated.

This study is developing an externally powered prosthetic hand for children to loss point from the elbow. In this report, we explain the design concept of the externally powered prosthetic for children, the design of its model, the manufacture technique, and developing a shape memory alloy actuator as the driving source of the prosthetic hand.

We develop an equipment in the nursing system such as the mobile robot with the portable toilet and its autonomous control system, and also develop a support system to equip aid in transport an excrement, and cleaning toilet designed to improve the QOL of handicapped people. A portable toilet is mounted on a mobile manipulator. In order to deal with cleaning an excretion, we propose a simple arm with wire driven by the motor installed on the base of the mobile robot. After use in toileting, the mobile manipulator moves to an ordinary permanent in rest room in house. In order to flow the excrement, the mechanism of the robot can exceed above the toilet in the rest room, and also the robot can clean the toilet by flushing the water using the proposed manipulator.

Up to now, a lot of research related with the control method of a myoelectric prosthetic hand has been conducted. However, we seem to have limitations in controlling the hand only using myoelectric signals. In this study, we have tried to improve these limitations based on latest sensor network technologies for the Internet of Things. The sensor data and the history of prosthetic control are recorded in a log file and all processes including EMG pattern recognition are conducted on a server computer. Thus, the sensor imformation and properties embedded objects provides us new control abilities. This paper explains development of the sensor network system and the control method of the prosthetic hand, and shows the operation examples.

This paper introduces a trial for the testing mechanical properties of an assistive product which is made by three dimensional printer, that is fused deposition modeling(FDM). This three dimensional printing technology is suitable for making personalized assistive product for persons with disabilities. However, objects of FDM have direction dependency on their mechanical properties. Therefore, we explained characteristics of objects which are printed by three dimensional printers and discussed possibility of the technology.

In Japan, where an aging society progresses, the demand for care services is increasing. At the same time, physical load of care staff is also increasing. Especially, low back pain caused by transfer assisting is frequently reported. In order to reduce low back pain risk of care staff, we propose a transfer assisting vehicle separable from a bed. This vehicle is able to undock from care bed, and the mobile function enables users to freely move like an electric wheelchair. As the first phase of the development, we made up a prototype of the vehicle, and implemented a control system using a joystick.

We have been studying a novel interface that enables us to “click” a real object just like a familiar GUI manner in a PC. In this paper, exploiting the interface, we propose how easily to resister some real objects into our developed real object position management database. We also show some merits of the database to easily and efficiently access real objects. Finally we confirm the validity of the proposed idea using a life-support mobile robot with an arm.

Upper limb rehabilitation training and functional assessment for hemiplegic patients are conducted by the occupational therapist (OT). Quantitative assessment is difficult, because assessment depending on the experience of the OT. Robot rehabilitation enables quantitative assessment, because the robot rehabilitation does not depend on the experience of the OT. In this study, we conducted clinical evaluations with an occupational therapy training program, WIPE with an upper limb rehabilitation system SEMUL. Experimental results show game level of WIPE and relations of Fugl Meyer Assessment (FMA) or Simple Test for Evaluating Hand Function (STEF). In addition, we discussed the usage of SEMUL with a wearable robot, and an electrical stimulation device.

Elderly people are at risk of tripping because of their low toe clearance. To avoid tripping, gait training that increase toe clearance would be beneficial. In this study we propose a gait-training robot applying knee flexion torque to increase toe clearance. We investigated the relationship between magnitude of applied torque and change in the toe clearance while walking before and after the application of this torque. We developed a wearable robot and carried out an experiment on young people, in which a motor pulls a string embedded on the robotic frame, applying torque in the pre-swing phase. We found that toe clearance increased after applying the torque if the torque was near 8 [Nm]. Therefore, we were able to verify that a new gait can be learned through application of torque.

Robots have been rapidly developing with advances in technology. No longer limited to factory use, they can now be found, operating in homes and cities. However, many of these robots are fundamentally set up to repeat the same operation, and have difficulty adapting to environmental changes and unexpected situations. Reinforcement learning can be used to solve this problem. Reinforcement learning is a machine learning method. The technique determines an optimal behavior pattern with respect to the target depending on the circumstances and environment by repeating trial and error. Using this method, robots will attain or change an optimal behavior pattern based on the changes in environment and situation. In this study, we applied reinforcement learning to a robot modeled on a four-legged animal and examined whether the robot could attain running behavior (bound gait). At the conclusion, our robot was able to attain stable running motion, and it shew much improvement in velocity by changing the reward.

When we develop robots, we cannot completely deal with unexpected situations and unknown environments in advance. One way to solve this problem is reinforcement learning, which is a technique for finding an optimal behavior pattern with respect to the target depending on the circumstances and environment through trial and error. This learning enables an action suitable for the achievement of the aim tailored to the environment without changing the control program. However, it takes a lot of time to complete learning. In this study, we applied reinforcement learning to our four-legged robot modeled on four-legged animals and examined whether the robot could acquire an improved trotting gait. As a result, the robot acquired the trotting gait. Furthermore, in repeated learning, running speed became 31% faster, and energy consumed fell by 23% because running movement was improved.

In most of the past works, a robotic picking is tackled in simulated or structured real world. In a clutter real environment, however, it is still difficult to complete for robots, because of uncertain vision input of environment and characteristic of objects themselves. In this paper, we propose a learning approach while the robot is doing the task to be adaptive to the uncertainty of vision data from environment which the designer of the robotic system had not estimated. We approach to this issue by estimating perception parameter from the vision input at each time, and updating that estimator while the task. Firstly, the robot collects data from environement and initialize the estimator for initial value of parameters which the designer assigned. Secondly, it does the task and collects data of whether the task is completed in what environement status. And finally, the estimator is updated after training with the collected data. We adopted the approach to two perception components of picking task in clutter scene: perception to segment objects in clutter scene, and that to recognize objects in hand after picked while moving arms. The recognition accuracy rose in both segmentation and in-hand recognition. Our approach is a general way to estimate better parameter for the task in an environement status, and efficient to be adaptive the change of environment.

The authors attempt to estimate finger gesture only by biological signals of forearm, because finger motion of human being affects not only finger muscles but forearm muscles. It is necessary but difficult to relate the forearm muscle activity to the finger gestures. This paper studies identification of finger movement based on myoelectric signals of the forearm skin surface. Genetic programming technique helps us to automatically generate the algorithm to estimate finger shapes by learning characteristics of muscle activation. We examined the influence of several genetic programming parameters such as Crossover rate, Mutation rate, Population size, and Target number of nodes to establish the optimum identification.

Redundant manipulators avail to make use of various task in complicated work environment because of the wide variety of poses to be taken for a task demand. An agile inverse kinematics calculation, however, is required for obtaining a desired manipulator poses. This paper proposes a simple method of inverse kinematics resolution for redundant manipulators. The method transforms an original inverse kinematics problem of redundant manipulator to regular and small problem, that is a simultaneous equation on a dimension of task space, by preconditions of Jacobian matrix. The result obtained by solving the simple problem is transposed again into the solution of original problem finding out the joint angle of redundant manipulator. Numerical experiences have showed that the result obtained by the proposed method is equivalence to the results solved by using of the pseudo-inverse matrix of Jacobian matrix.

Robots that coexist and work with human are required to have safety and adaptability to changed motion properties to be able to use various tools like human and cope with bad conditions. This paper proposes a method to estimate motion properties of a robot that requires only short duration and information available from sensors mounted on the robot. We also propose a control method which contains estimated values, then verify the behavior and extendability of proposed method by simulation of tendon driven arm robot including elasticity that might be used actually in future for higher safety. Furthermore, we discuss evaluation of dependency among data from sensors to automatically select which relation among sensor variables to estimate for higher adaptivity and autonomy of robots.

In the present study aims to build the player model of Hanafuda. Not performed substantially research in Hanafuda, the optimal player model is not clear. So, a player model that prioritizes the "interesting" is a thing to explore what kind of thing. The method evaluates the field using the evaluation value, determines the card cutting based on the evaluation value. Create a player model using this technique, to evaluate by simulation experiments. The results of the experiment, it is a rudimentary but think as a model to create a "interesting" could be created.

Estimate position and posture of object by input image, using learning model constructed by training images associated with direct mounted sensor. Experiment is to target various shape of Human hand by photographing point and evaluate results from three points of system. Machine learning is used as deep learning.

In this study, we illustrate a new practical approach to schedule the visiting routes for given stores having probabilistic maintenance demands. There are so many real situations like that. For example, an electric maintenance company has to visit the customer store in which electric equipment broke down, and to fix that. Though the maintenance company contracts with many customer stores, the stores should be visited on a certain day are a part of all stores. Besides, the company can't know whether when and where maintenance demand occurs. This problem is defined as the probabilistic TSP(PTSP). We solve the PTSP by some meta-heuristic algorithms. An optimal allocation problem of a new maintenance base is also solved by our proposed method.

We have developed a weeding robot in paddy fields. This robot has two wheels. Rod wheel is a wheel which developed in order to drive in paddy field. Rod wheel model on loose soil developed by previous work. However, this model still hasn’t been completed. In this paper, we will pursue correctness of rod wheel model. We will improve control of a weeding robot by developing rod wheel model on loose soil. We measure not only rod wheel but we measure general wheel. Thereby we analysis correlation coefficient of general wheel model and rod wheel model. We validate correctness of rod wheel model.

The use of robots is expected in a human life environment except for industrial fields. The pose control of robots is however indispensable in the practical use of robots especially in a human life environment. This paper deals with a kinematics framework for controlling the pose of robots possessing a complicated and redundant configuration. The framework consists of metaphysical subsystems corresponding to robot parts such as joints, links, effectors, and so on. The closed network of subsystems composed in accordance with their connection rules brings a chain reaction of the processes of localized forward and inverse kinematics. The changes of network topology can make a different control for the demands of pose and use of robots. The framework has been applied a redundant manipulators to confirm the effectiveness and the feasibility of the framework.