The purpose of this study is to verify the difference of moment when rotating teeth around two different axes as one of quantitative evaluation of orthodontic treatment. Although the alignment of the dentition is dependent on mechanical factors, quantitative measurements of the forces and moments applied to the teeth during treatment were not performed sufficiently. In this paper, the moment was measured using simulated orthodontic force measurement device. The device can measure 3-axis forces and moments applied to teeth. The moment applied to the tooth when the bracket attached to the tooth was rotated -20 to 20 degrees around two different axes was measured. The two moments should theoretically be the same value for each angle. However, as a result of measurement, it turned out that moment is different for each axis. This experiment result suggest that the dentist needs to consider details such as the skill of wire attachment.

A lot of elderly people need to care for joint disease, and one of the treatments for ankle osteoarthritis is artificial joint replacement surgery. Estimating the relative positional difference (alignment) between the bone before the deformation and the deformed bone, artificial joint replacement surgery can be performed effectivity. The purpose of this study was to evaluate a three-dimensional bone relative positional relationship of the talus and the calcaneus of ankle osteoarthritis using Go-ICP algorithm. The three-dimensional bone model created by stacking the CT images is overlapped by using the Go-ICP algorithm, and the bone relative positional relationship of each patient can be estimated. Using the proposed method, the amount of the rotation in the Y-axis showed a significant difference in Stage 3B compared to healthy subjects in the talus and calcaneus.

Near-infrared light has the wavelength between about 800 nm and 2500 nm. It does not affect body badly and has less absorption and scattering than visible light. For this reason, near-infrared light has been applied in the medical field in recent years. Near-infrared light endoscope which is one of medical devices that have a great potential as the surgery supporting system. Therefore, this study focused on the endoscope using near-infrared light. However, the image fiber used for the Near-infrared light endoscope is different in wavelengths resolution and spatial resolution from near-infrared camera used in the current research. In this study, the identification accuracy of gastrointestinal stromal tumor (GIST), which is a type of sarcoma located under a mucous membrane was verified at the same wavelength resolution and spatial resolution as the image fiber.

In this research, we study a muscle fatigue evaluation method based on the surface myoelectric potential. Human may gettingin a fatigue state called muscle fatigue after long-tern muscle activity. However, there are various definitions concerning the muscle fatigue. For this reason, we invistigate the analysis method based on EMG for fatigue evaluation and study the evaluation method of muscle fatigue.In this paper, the effectiveness of the proposed muscle activity evaluation by wavelet transformation of EMG confirmed.

In this research, we aim to design a control system that realize complex and arbitrary motion for myoelectric prosthesis. In order to enable these operations, we construct a hybrid system to realize complex motion identification by BPNN, and to realize joint angle estimation by MISO-NARX model. The pattern of wrist and arm motion were discerned by BPNN. As a result, rates the identification accuracies are about 95.6%. Moreover, the wrist and arm joint angles were estimated by MISO-NARX model and the estimate errors were 0.167(palm flexion direction), 0.183(ulnar flexion direction), 0.0929(arm turning direction) in mean square error.

Ultrasound diagnosis has advantages of small size, low cost, and low invasiveness. However, proficiency is necessary and fatigue level is high. Therefore, Robotic-echography for Diagnostic and Treatment support system has been built to alleviate the burden of doctors and laboratory technicians. Body movement and probe scan compensation system that corrects body movements and probe scans in a previous study has been proposed. In this study, we focused on the movement of relatively moving organs due to movement of ecogram which changes according to body movement by breathing and probe movement in normal diagnosis. Furthermore, we discussed feature quantity necessary for body movement and probe scan compensation.

Laparoscopic surgery, which is also called minimally invasive surgery, is a technique associated with accelerated post-operative recovery. However, it can only be performed by surgeons possessing advanced surgical skills. One of the main challenges in laparoscopic surgery is the restricted motion of forceps caused by the limited degrees of freedom imposed by the trocar. Recently, to overcome this problem, many master–slave manipulators with articulated forceps have been used in laparoscopic surgery. However, these conventional manipulators are only intended for surgical procedures within the abdominal cavity. A robot that can be used for both laparoscopic surgeries and procedures outside the patient’s abdominal cavity would be widely implemented. Therefore, during the design of a robot to assist with laparoscopic surgeries, it is important to optimize its motion both inside and outside the abdominal cavity. We had proposed a seven-axis redundant vertical articulated manipulator with a linear axis at its distal end in a previous paper. In this study, we propose a linear motion unit and an articulating robotic forceps. Mechanical design of the units is shown. The linear motion unit has a wider motion range as compared with the total length of the mechanism. The forceps unit has roll, pitch, yaw and gripper axes, and detachable from the linear motion unit. Furthermore, prototypes of the linear motion unit and the robotic forceps units are shown.

Among various medical problems facing us in today’s Japan are rapidly aging society, localization of medical doctors, concentrated visits of patients to large hospitals, etc. We have developed an ultrasound diagnosis and treatment support system for reducing the burden of doctor and patient so far. We succeeded in the tracing of the organ which moved a dislocation image by body movement or breathing, However, that system premises a physician who can get echogram. We proposed an echogram processing system to use one ultrasound probe to enable tracking or the organ three-dimensional movement. In this paper, we defined the basic probe pushing force of the probe scanning and probe pushing angle indicating the range of the probe scanning as a probe scanning parameter. And we experiment to use luminance and examined the probe pushing force and probe pushing angle on Echogram Processing.

Echography is an imaging diagnostic method that has advantages of low cost, minimally invasive, real time, compactness, and simplicity. It is indispensable equipment in every medical field but examination with echography greatly depends on the expertise and experience of an operator. Recently, it has been revealed mainly by overseas research that echography is a risky work of musculoskeletal disorders. The reason for this, ultrasonographer have to look at the position of ultrasound probe and the monitor which displayed got echogram alternately by diagnosis. In this paper, we have constructed ultrasound diagnosis support system that superimposed displayed echogram at the position where the probe applied in real time applying optical see-through head mounted display OST-HMD, for the purpose of encouraging of echography techniques of inexpert.

Echography is inexpensive and indispensable equipment in every medical field but examination with Echography need the expertise and experience of an operator. So, person who is not skill in echography not easy inspect. We have constructed an echography support system for reducing the burden of doctor and patient so far. We estimated the mental rotation matrix by focusing on the echogram change and probe movement. We focused on the acoustic window can be taken clear images avoiding bones and organs. Also, experts have focused on placing probes on the acoustic window and have been working on building probe contact position and orientation measurement systems. In this paper, we report on the system which visualizes the location of the acoustic window and the internal organ information on the body surface. Also, we propose system for examination acoustic window by estimating range of motion of probe for examination with desired echography.

In this study, we propose a quantitative diabetic neuropathy diagnostic method which uses the foot sole images based on skin hardness of patients. The purpose of this study is to estimate the severity of the diabetic neuropathy based on the foot plantar image. We compared the evaluation between the method of the change of the foot plantar image and classical, neurological, and hemodynamic assessments. A positive correlation (0.517) was presented between the proposed evaluation and the classical assessments. Also, we compared the area change rate with the hardness of the foot plantar measured by durometer and the hardness based on proposed image diagnosis. A significant positive correlation was found between the area change rate and the hardness of big toe (0.300), first metatarsal head (0.448), and heel (0.400). A significant positive correlation (0.468) was also found between severity and skin hardness in the heel.

This paper investigates a influence of a laser-induced plasma ablation for a tissue. A pulsed laser cause vaporization of tissue by plasma if a laser can provide high-density energy within a very short pulse duration. Such phenomena are called laser-induced plasma ablation. Nanosecond laser output could cause an optical breakdown in the air. To evaluate thermal damage and destruction of tissue in the laser's vaporization, experiments to irradiate tissue were conducted. The experimental results show that nanosecond laser caused vaporization without thermal damage and destruction at the tissue approximant 300 μm away from the ablation area.

Intuitiveness of user interface in master slave control for multi-degree of freedom surgical robot is crucial to perform dexterous motions in surgery. Conventionally, eye-hand coordination, time-delay and haptic feedback are studied in tele-manipulation systems to increase the performance. Here, we take into consider a new paradigm - embodiment, in assumption that the performance would increase if the user can manipulate the robotic tool as though it became a part of the user’s own body part. To conduct a preliminary study, we implemented a robotic simulator that can allow the user to control a simulated robot under different configurations in VR scene, and conducted an elementary experiment.

Home oxygen therapy (HOT) is a medical treatment for patients who suffer from lung problems, and the patients must receive highly concentrated oxygen to maintain a constant level of oxygen in their blood. Thus, the patients must carry a portable oxygen. However, the total mass of the portable oxygen equipment is heavy enough to discourage patients from going out. In this paper we propose two types of operating I/F devices which detect the pushing force from the user to the robotic cart, then we show the effectiveness of them.

The final purpose of this research is to develop an echocardiography diagnostic robot. In previous research of echocardiography diagnostic robots, it could not secure sufficiently the safety of patients because of binding inspection posture by robots. This paper is aimed at presenting new postures for echocardiography diagnostic robots which are not bounded by robots and can keep the quality of the echo images. In order to find those, the examination was conducted with a doctor’s cooperation. As a result, new postures are suggested. Next in order to evaluate patient’s physical burden, the authors developed an inspection support structure by which patients can retain new postures. At last, the authors evaluated patient’s physical burden by the structure. As a result, new postures for echocardiography diagnostic robots in consideration of the quality of the echo images and patient’s physical bound are suggested.

For schizophrenics who are at home care, it is most important to properly take medicines prescribed by medical doctors and to live a daily life. In order to carry out this action, it is desirable not to provide mechanical or instructional support but to support the caregiver to support themselves. To develop a support method using a communication robot, this paper will investigate how to build a relationship with a robot as an early stage by an impression investigation. A communication robot is placed the day care facility for mentally disabled and is conducted a survey by questionnaire on how the user feels.

Recently, anyone can easily acquire a wide variety of information. Much information can be also obtained from sight. On the other hand, it is difficult for visually impaired people to obtain information from the visual sense. Currently, Braille displays capable of acquiring information from tactile sensing have been developed and commercialized. However, they are large in size, heavy, and not suitable for carrying. Therefore, in order to solve these problems, we have developed a braille display that is small in size, easy to carry, and low price. This paper reports a belt driven braille unit using two stepping motors. The braille unit displays all characters by changing the pattern of dots arranged on the belt surface. The design and performance test of the unit are shown.

This paper discussed the health care monitoring system for the elderly persons at a nursing home. We developed the health care monitoring system which is composed of a microprocessor (Raspberry Pi) with a web camera, several vital sign sensors (Pulse rate, Temperature and Oxygen saturation) and a touch panel display. The system acquires the vital sign data of the elderly person and sends them to the external PC of the supervisor in order to manage the physical condition. The effectiveness of our system is clarified by several experiments.

We propose an obstacle detection sensor for operation support system aimed at preventing falling and toppling over of electric wheelchair. The LRF which is commonly used so far is excellent for detecting obstacles and the like. Since the obstacle to be detected is of the shortest distance within the range, it is difficult to detect steps, grooves on the floor surface and the like. Therefore, the proposed system arranges the laser ranging sensors in the form of an array and extends the reading range by reflection and angle adjustment of the plane mirror. In this paper, we describe the extraction of problems of LRF and the features of the proposed system.

This paper clarifies the characteristic about psychological change of people by run experiment when a robot showed the direction that turn to the person. Recently, the study has been carried out toward utilization of the autonomous mobile robot which runs a sidewalk. We think that the action of the mobile robot affects people. The experimental device attaches blinkers to the electric wheelchair which operates on radio. The experiment considers the psychological change by passing each other of people and the mobile robot of Plural conditions. Conditions are two kinds at the time of turning on blinkers or the time of do not let blinkers turn on.

we have proposed a system for visually impaired person to enjoy music with a healthy person. The system uses a HID (haptic interface device) as a visual alternative interface and is called an electronic music baton system. Accelerometers were built in the baton of the conductor so that acceleration data could be transmitted to the performers using radio waves. Characteristic movements of the baton of the conductor were extracted from the received data and transmitted to the performers via the HID on their wrists. However, they are hard to feel a rhythm of music when the device is worn on the wrist. we analyze whether there is a difference in response time to the stimulus between the wrist and other places. As a result, the HID can be used at parts other than the finger and ankle when the device regularly vibrate with prediction.

As a communication between a person and a robot, we aim for the robot to clap hands according to the person who is singing. This paper describes acquiring the tempo from singing voice without drum sound, that is, by a cappella. As an outline of the estimation method, the rising of the sound volume is detected, and the tempo is estimated from these time intervals. We were able to estimate the tempo in real time against a song of speed of 60 BPM. However, for slow and fast songs it took a long time to estimate the tempo.

In an environment where human being is difficult to approach and work, it is considered important that robot is remotely controlled. In this study, we employed “Master-slave system” as one of the teleoperated methods, and then we developed a wearable wireless master-arm. It has 9 joints structure and each joint angle is directly detected using a potentiometer. Obtained each joint angle is sent to the simulator “Vmech”, and we can move the slave-arm on the simulation. In this paper, we verified the validity of the system via a simulation of picking movement.

Propose of this paper is to add inner loop in Maxwell Control for getting robustness to the error of the model and real parameters. Inner loop is one of position feedback control based on the estimation calculated by model parameters and dynamics of robot hands. In this paper, we use position control system by using position and velocity gains to bring the trajectory of the end-effector near the desired trajectory. In this paper, we evaluate the robustness by comparing two methods: maxwell control and maxwell control with inner loop in both simulation and real environment. Finally, we show the stable action with inner loop maxwell control when we push the robot hand.

In recent years, twist-drive mechanism using round belts has been studied as a safety robotic mechanism. The single joint structure developed in previous paper has a problem that the range of joint motion is narrow. In order to improve this problem, we newly designed two-joint robot finger, in which a tendon driven mechanism based on the twist-drive actuation is used. This robot finger has the same range of motion as human fingers. In addition, this study shows that this mechanism enables the robotic joint to move slightly under high reproducibility. Finally we show good performance of force control in the case of extremely small force value like human fingers.

The complexity of the trajectory of the robot in the feature-based visual servoing is caused by the nature of the deviation used for control and the content of the relationship Jacobian generating the motion of the robot therefrom.Therefore, in this research, we focus on the fact that the visual space coordinate deviation is obtained from the image coordinates in the Eye-And-Hand type robot arm, and propose a visual space based visual servoing with the deviation part as the visual space coordinate deviation of the feature point.Since the control is such that the deviation of the visual space coordinate is minimized, it is considered that occurrence of unexpected movement can be suppressed.

Various objects were successfully manipulated in our previous research. However, the network had to be trained for each different motion. Therefore, there is a hardware load for getting training data for each motion. Specifically, four-fingered in-hand manipulation is difficult to control because of a high number of joints. This paper suggests a method that reduces the required training data for in-hand manipulation with the concept of pre-training and mutual finger motions. The training data included various sized and shaped objects for making the network more versatile. After pre-training the network, one shot learning was used to do training with a new task; mutual finger motions can be used with 3-fingered pre-training data for 4-fingered manipulation. Importantly, pre-training data from fingers with the same kinematic chain is required. As a result. the importance of morphology specific learning was confirmed. Moreover, untrained sizes and shapes of objects could be manipulated.

Suction pads such as vacuum pads or Bernoulli pads are used for pick-and-place tasks in the industrial field. We propose six axis contact force constraint models of suction pad from measurement values. Models are able to determine acceleration limit to convey objects. With this proposed models, we aim at high speed conveyance of objects. The three dimensional contact force models are defined by contact limit force based on suction force and friction force of pads. We measured contact force limit of pads by experiment and confirm the validity of the models.

In this research, we aimed to estimate the contact condition between an object and the environment using the information on motion, when a person manipulates an object while making contact with the environment. The shape of the object was assumed to be unknown. We classified the contact conditions according to the restriction of their motion and proposed a method to estimate the contact condition using the information on the position and orientation of the object. In the experiment, we measured the motion of an object for some contact conditions and compared the measured value with the theoretical value calculated by our method. As a result, we verified part of our method.

This work presents a design of mechanical tools for multiple picking tasks. The idea is that a robot can hold and use the mechanical tools by grippers to pick up target objects. Mechanical tools with a variety of tooltips that are optimal for specific tasks respectively are designed. Conventionally, robots require complicated versatile grippers or exchangeable hands or fingers to handle multiple tasks. In our proposal, a robot can easily use the tools as well as change the tools so as to pick up objects using the optimal tool. To promote the characteristics on transmission and fixation, two symmetric parallelograms are employed to transmit motion and torsion springs are installed to support the structure and apply the forces on the friction surface. Experiments are performed to test the load capability under different working poses, demonstrate the working process, and show the ability of handling various objects.

In this research, we aim to move the flat plate to the work area when assembling by using the double arm in the assembly operation by the robot, and to improve the delay of work by fixing the flat plate etc. At that time, Construct an action plan by applying constraints such as gravity to the planning of the robot to be assembled.The proposed method searches the assembly posture for each 3D object and compares the work area And the conflict of the robot itself. After that, we construct a robot pass plan by executing Rapidly exploring Random Tree (RRT) cite 1-1 considering gravity equilibrium.In this paper, first of all, data acquisition by grasp planning, assembly considering gravity equilibrium Attitude search, grasping and collision of assembly posture and searching method of inverse kinematics, RRT taking gravity equilibrium into consideration After that, we show the actual machine and verify the proposed method.As a result of operation, multiple objects with gravity balance Automatic assembly plan of things was realized.

This paper propose a method using caging with two fingers in consideration of the influence of gravity as a method of transitioning the object from the initial posture to the target posture. By using caging in consideration of gravity, we realize change of posture of object by simple gripper which does not require force control. In this research, we search all equilibrium states by analyzing two types of objects for all discretized finger states in the three-dimensional configuration space defined by the center of gravity position and rotation displacement of the object. Next, we create an action of two fingers for transitioning from the initial attitude to the target attitude. Finally, we confirm the motion obtained from the analysis result with the actual robot and two kinds of objects. Experimental results confirmed that the object can transition to the target state as analyzed.

This research proposed an automatic approach for robotic calibration while the robot is completing the bin-picking task. Since the performance of vision-based bin-picking task can be affected by calibration inaccuracies or weak scene processing, we proposed a method to do calibration during the bin-picking task in real time. First, we use fast Graspability measures to predict the two-finger gripper grasp pose on acquisitions captured from a 3D depth sensor. We use another camera to get visual feedback of robot gripper after every grasp execution. Then, we track the differences between actual grasp pose and detected grasp pose. By updating calibration matrix of the robot system in real time, we increase the success rate in bin-picking task e ciently.

This paper proposes an impedance control method that is capable of avoiding kinematic singularities and preserving manipulation performance simultaneously. Specifically, this paper designs a virtual repulsive force and moment for avoiding the singularities without degradation of manipulation performance around the equilibrium pose. First, how to design the repulsive force and moment is presented. Then, the effectiveness of the proposed method is verified through a simulation.

This paper proposes a manipulator which can suction and manipulate an object without contact. The proposed device has 6 nozzles and can suction an object using air-jet. We describe the principle of suction and propose a manipulation method. We experimentally verify that the developed device can manipulate 2 degree of freedom to translational motion and 1 degree of freedom to rotational motion.

In recent years, robots have attracted attention as a new labor force. Therefore, it is thought that highly robust communication is required between robot and human. In this research, we try to realize the contact communication operation with high affinity between the human and the robot, using manipulators with expressive power equivalent to human beings. In this paper, we discuss the inverse kinematics including the redundancy degree of freedom required for controlling the manipulator.

This paper proposes an underactuated finger mechanism using four bar cross linkage to expand the grasping function of parallel grippers. Because of the simple control and low cost, conventional parallel grippers have been widely utilized as end effectors for industrial robots and experimental setups. However, the application of the grippers has been limited to simple tasks, because they have less versatility compared with human hand and fully actuated multi fingered robotic hands. Therefore, we propose an underactuated finger mechanism to improve the grasping versatility of the grippers without increasing actuators. The proposed finger mechanism is based on the four bar cross linkage. The mechanism can passively switch two grasping modes: precision grasp and power grasp. The underactuated fingers with the proposed mechanism were developed. Then, the precision and power grasp motion of the fingers were experimentally tested with a parallel gripper attaching the two fingers.

This paper focuses on a problem of positioning a textureless object to a tray for alignment using a robotic manipulator with active visual servo control. In the active visual servo control, a projector projects several patterns to provide artificial visual features to the object and reflected light is captured by a camera. However, the active visual servo control cannot perform positioning the object to the tray whose pose is not fixed. To solve this problem, this paper proposes a novel active visual servo control named Phase Shifting based Active Visual Servoing (PS-AVIS) which uses a phase image instead of the image directly captured by the camera. We also propose a method of computation of a goal phase image corresponding to the changed pose of the tray for PS-AVIS. Experimental results show that the proposed PS-AVIS achieves high position accuracy even if the pose of the tray is changed.

In this study, a VR camera mounted simple narrow tunnel inspection device was developed to assist inspection work inside narrow culvert channels of a small hydropower plant. To reduce the burden on the waist while moving a few kilometers inside the tunnel, a commercial walking assist frame was used. Developed device was tested in a free flow tunnels with 1.5 m height in Tottori prefecture. As a result, it was confirmed that the load on the waist while walking was improved, and interval images of the fisheye camera is useful for making inspection records. In addition, we concluded the virtual inspection experience by VR goggles may be effective for sharing information to better understand the situations of the site.

In recent years, inspecting bridge by inspectors has had problems of cost and safety, then inspecting bridge by robots has been expected. In detail bridge inspection, ultrasonic and percussion devices have been used, and a robot for detail inspection of the bridge has to run on the bridge with these heavy devices. Therefore, we have developed the magnetic wheel robot capable to load heavy things and run from floor to wall, and from wall to ceiling of steel structures. Furthermore, autonomous driving system is necessary for practical application of bridge inspection by robots. In this study, we have confirmed that the robot can run automatically in climbing a wall by control of robot’s yaw angle and wheel angular velocity.

After a large earthquake happens, it is necessary to investigate infrastructure as soon as possible. To prevent suffering from secondary disaster, mobile robots should be utilized for the investigation. By using an image recognition technology, mobile robots can find where is a trouble such as a crack. In the case of utilizing the image recognition technology, a camera should be moved by considering recognizable condition. In this paper, we describe wall inspections by a mobile robot using image recognition technology. We discussed how to inspect the wall thoroughly and constraints of an algorithm considering recognizable condition. Then, we proposed an algorithm to give the range of the robot position and the parameter of PTZ camera. Finally, we demonstrated proposed algorithm to verify it by an experiment that a mobile robot recognizes QR codes that imitated trouble points on a wall.

In order to reduce the burden of inspection, automation of inspection is required. As one of them, the use of multicopters are being studied widely. However, there are many problems in automatic inspection based on multi-copter’s approaches because of disturbance such as a wind at bridges. In this paper, we propose a method to stabilize the attitude control of three-dimensional-surface mobile robot with a multi-copter mechanism under disturbance of wind. The proposed method utilizes thrust force by the multi-copter as the pushing force. The pushing force works a robot body against the three-dimensional surfaces, and enables the robot to stabilize the attitude. We also developed the robot installed this mechanism for the bridge inspection. Through the experiments, we show the effectiveness of the proposed method.

It is necessary to improve the efficiency of embankment inspection of rivers in urban areas. In urban areas, river's water depth changes. So that, it is necessary to check by walking or check using ship. In urban areas, flight of UAV is prohibited by the aeronautical law. Therefore, the amphibious systems is suitable for inspection robot. In this research, we developed a hovercraft aiming at the inspection and management of rivers in urban areas. In this report, we describe the outline of the developed hovercraft and the evaluation test results.

In order to inspect social infrastructures such as bridge or tunnel, the wall-climbing robots have been developed based on Universal Vacuum Gripper, in short UVG. UVG adhere to uneven surface by the deformable rip part. The robots with UVG achieved the uneven wall climbing and move along ceiling in previous works. However, the inspection tools, vacuum pomp or battery were not equipped on the robot itself. In this paper, we proposed a novel vacuum gripper combined with inspection tool and evaluate the performance of the gripper. We also developed the inspection robot with the proposed gripper for the inspection.

In this paper, a hammering test system using the impact head of a dot impact printer is introduced. The proccess involves hammering the object with the impact head and acquiring the sound generated using a microphone. The obtained signal is analyzed and an estimation of the state of the surface or the presence of internal defects are performed. As a first step, fundamental investigations were carried out using test specimens that had fatigue cracks which are representative defects. The result of the experiment shows that there is a difference between the test pieces with cracks and without cracks.

When operating a remote control robot by wireless communication in restricted area such as disaster site, it is hard problem to distinguish the communicable area. In this paper, we describe the method generating the path with less disconnection of wireless communication in advance based on the estimated electromagnetic wave power obtained from the result of radio wave propagation simulation.

To improve the inspection method in the inner wall of the tunnel that became superannuated, the mechanism that was flexibly transmutable of the guide frame shape for the inspection according to the object in the tunnel was developed. In part 5, numerical analysis was performed on the influence of pressure fluctuation caused by the movement of the vehicle on the guide frame as the vehicle passes through the tunnel. The pressure and flow around the vehicle and the guide frame were analyzed in the guide frame using the polymerization lattice of the inside of the tunnel and the moving vehicle. As a result, when the car passed through the guide frame, it was presumed that large pressure fluctuation propagated and vibration occurred.

Social infrastructures such as tunnels and bridges are aging in Japan. In order to achieve the automated inspection by robotics technology, inspection multirotors with adhesion mechanism are developed. We developed the multirotor with Universal Vacuum Gripper (UVG) as the adhesion mechanism. UVG is a kind of vacuum sucker with deformable lip part composed of an elastomer and powder, which can freely deform along the uneven surface and prevent air leakage. Inspection equipment is required for infrastructure inspection work. Therefore, a multi rotor with a large payload amount is required. In this research, we developed a large-sized hexacopter which can hold a suction drive source and can adhesive on the wall with horizontal propulsion mechanism.

In the seismic hazard generated some time ago, the inspection robot was expected of the information gathering to the distresses region where nobody was able to enter. However, because the robot technology to the disaster correspondence is not continuously prepared, the work result by the robot is not achieved enough. In our aim of study, a new robot inspecting the building wall and the estimated method of deterioration that can be used even due to the normal work and the disaster are developed. In Part 5, operating performance of based robot pressed by duct fan are reported. The based robot is composed of various modules and duct fans, and then changing the number of duct fans, we verified the performance of thrust and propel power by experiment. The power of Fan is much largest, so the robot can be hung the inspection robot.