Jumping mechanisms have been developed mainly for ground vehicles that need to traverse steps larger than their wheel diameter. However, as typical jumping mechanisms require a strong force to compress elastic body for jumping, conventional jumping mechanisms must load powerful actuators which tend to consume a large amount of electricity and be heavy, resulting in shorter operation time of the robot. In this research, the authors proposed a new method of compressing and releasing a spring using the Internally-Balanced Magnetic Unit, a mechanism that enables a permanent magnet to be controlled by a much smaller force than its attraction force. They realized its prototyping model and conducted experiments to show its effectiveness.

In general, high controllability and high response control devices for pneumatic systems are demanded. We have designed the flow control valve that can control flow proportionally with high response. This flow control valve has simple structure using PZT vibration. However, the valve opening condition is not identified perfectly. In this report, we designed air pressure change experiment and made experimental system for confirm conformation of valve open condition. From the experimental results, we verified the condition of valve open condition.

Dielectric elastomer actuators (DEAs) are intensively researched because of their fast response, large deformation, and good control characteristics. However, these actuators are conventionally fabricated in non-transparent body and two-dimensional structure. In this study, we perform basic evaluation of transparent DEA toward three-dimensional fabrication and actuation. The actuators are made of silicone elastomers that are transparent and have high mold transfer characteristics. For the basic evaluation, the driving characteristics of the membrane samples under pre-stretch were evaluated. Furthermore, we constructed driving system of the actuator for three-dimensional motion by using water pressure. We evaluated displacement ratio and frequency response of both actuators.

This paper describes the development of a new valve that performs the intake and exhaust of a closed flow path by self-excited vibration instead of using electricity. Recently, fluid powered robots are developed actively, because they can be operated near human safely and they are also easy for environment because they don’t produce hazardous wastes. In addition, fluid powered robots have less risk than electric powered robots to cause fire when they are operated in the gas, because fluid powered robots are less likely to be ignitions. But they still have the risk to cause fire in such a place, because electromagnetic valves are often used in fluid powered robots. So in this paper, I propose the valve which performs without electricity, and show the results of several performance experiments. After that, I propose ways to use the valve as a new actuator, for example, a mobile robot and a musical instrument.

When tracking a person using a laser range finder (LRF), our previous method could not separate multiple persons when a non-target person overlapped the target person. The proposed method detects the boundary of two or more persons by checking whether the detected object is convex or not. Then, if concave points are detected, that part is determined as the boundary of two persons. From the experimental result, we confirmed that the proposed method robustly separated the target person even when a non-target person walked by the target person.

We are developing telepresence robots that play outside with children in remote areas. Therefore, we propose a robot that reproduces the face of the operator. Since the visibility of the liquid crystal display is low outside, we use the face of the robot imitating a person. However, if the face of the operator is always presented, it will be exposed to the public, which is a problem. The purpose of this research is to develop a robot which presence the operator’s face only when necessary.

Guiding people have been drawing attention as an important task of mobile robots. However, there were problems that people overtake the robot and go out of the guide route, and that people move to a position that interferes with the movement of the robot. In this paper, we focus on a robot equipped with a projection function, and we propose a method of naturally guiding a person without explicit instruction by combining movement and projection behavior of the robot. Experimental results show that the movement of subjects was affected by both the movement and projection of the robot, which confirmed the effectiveness of the proposed guide behaviors.

A program was developed to recognize the movement of a hand using IMU (Inertial Measurement Unit) sensor, which is also used by smartphones. A sensor module was made by connecting the IMU sensor with a pressure sensor. Then, in order to obtain an accurate recognition rate with CNN (Convolutional Neural Network), a signal image was made from the gesture signal data collected using the IMU sensor attached to the hand. The neural network model was trained with multiple gestures including handwaving, beckon, circular motions. The optimization process resulted a high test-accuracy of 97%. Furthermore, the program was also tested to recognize gestures in real-time by utilizing the pressure sensor as a switch. The experimental results confirmed that hand gestures can be recognized with excellent accuracy.

Pupil response is closely related to human affect and interest. Focusing on the pupil response in human-robot interaction, we have developed a pupil response system using hemisphere displays for enhancing affective conveyance. This system can generate pupil response like human by speech input and enhance affective expression. In this study, we designed and developed a pupil response pet-robot for improving familiarity between human and pet-robot. This robot generates the pupil response based on the body contact using small displays which represent the 3D models of pupil and iris. The effectiveness of the pet-robot was confirmed experimentally.

Japanese “Bunraku” puppets have attracted people by showing their impressive and emotional action, even though the structures and motions are different from human beings. The exaggerating and omission of motions, which include expansion and contraction, and high frequency shakings of the body, are effectively utilized to express humanistic emotions. This paper proposes novel robot mechanisms to reproduce functions and motions of Bunraku puppets by extracting the mechanism of a Bunraku puppet. The proposed configuration of the robot has capability of expanding and contracting of its neck and chest. The shoulders, arms and hands are mounted on the both sides of the waist, which mimics the Bunraku puppeteers to realize expansion and contraction of both arms, and at the same time it contributes to drastically reduce the weight of upper body to realize high frequency shaking. Translate motion of the shoulder, which independently moves from the neck, realizes much emotional action.

This research focuses on “gracefulness” and aim for the extraction and modeling of the graceful motion feature using classical dance. We consider that dancers decide their position and orientation based on their foot movement and decide their posture based on the movement of their limbs. Hence, in this paper, we describe extracting the gracefulness feature, not just from the motion data acquired by the motion capture system analyzed so far, but from the data separated into “position/orientation” and “movement of limbs”. We analyzed the curved surface made by a dancer’s arm movement and showed that its area is strongly related to gracefulness. After that, we visualized its curvature using the Gauss map and quantified. Using the mapping distance, we indicated that the separation emphasizes the movement feature of both forearms.

In this study, we developed a robot hand that social touch in interpersonal relationships can be established between humans and robots. The developed robot hand is device capable of expressing human like body temperature as well as touch and grip like human skin. We developed two different sizes of robot hands in a structure able to grasp other hands and to be grasped by other hands which is different from the traditional structure of robot hands. We made a hypothesis that if a robot hand improves its similarity to a human being, a social touch can be created through physical contact with the robot hand. This means that even from physical contact with robots, the positive effects from social touch can be obtained. It is also suggested that the social touch with robot hands opens the possibility of pain reduction effects like social touch in human-to-human.

This paper describes a novel approach to classifying whole body motions from estimated human postures in 2D camera images, and subsequent generating their relevant descriptions. The motions are encoded into the stochastic motion models that are referred to as motion primitives. Words are connected to the motion primitives, and word n-grams are represented in the stochastic manners. More specifically, the motion observation is classified into the motion primitive, from which its relevant words are generated. These words are arranged in a grammatically correct order to make the descriptions for the observation. This approach was tested on actions performed by the elderlies in the care facility and its validity was demonstrated.

In local communities, care prevention activities like health promotion meetings has been provided for the elderly. In the meetings, physical therapists coach exercises or evaluate motor functions of the participants. To quantify their motor function, a method to construct a motor function evaluation index has been proposed. It is obtained by summing up feature values of the exercise motions acquired by a RGB-D sensor. As previous research, we verified validity of the indexes for expression ability of their motor functions by a principal component analysis. To confirm the result by a different method, in this study, we performed a factor analysis on the indexes and compare them. As a result, the previous analysis result was supported.

The three-dimensional aerial image interface (3DAII) is a system for aerially projecting various 3D objects. The projected objects can be viewed from multiple directions without the use of special devices, such as eyeglasses (i.e. AR), gas or vapor for projection...etc. This research aims to reproduce 3D objects that can be touched and rotated interactively, as if on a freely spinning platform. The previous system only allowed positional movement of objects based on finger gestures. However, positional (but non-rotational) movement functionality alone is not enough to reproduce a true sensation of interacting with an object. In this paper, we added a function to rotate a given object and a function to transform it (e.g. squeezing by fingers). As a result, it was confirmed that this addition provided a more realistic interaction than the previous function.

The authors have developed pressure presentation devices. In case when an instruction about body parts motions is required, the pressure presentation devices are activated and they stimulate the body parts. As a result, it is expected that the user is induced to correct the body parts motions. In this paper, two kind of such devices are introduced; one is for an instruction of calligraphy brushworks, and the other is for an upper body posture. Several participants tested the developed devices, and their applicability was evaluated.

In this paper, the authors focus on a surveillance system with unmanned aerial vehicles, UAVs. Moving objects are targets in this system. In order for UAVs to detect the moving objects, the UAVs are required to take the optimal action depending on the situation. For this purpose, we adopt the reinforcement learning approach. The situation of the UAVs and targets are defined as a state. Given a target that moves sufficiently faster than the UAVs, however, it is difficult for the UAVs to learn the optimal action. For this challenge, we design a novel reinforcement function based on the expected value of reward obtained in each state. In order to prevent the state space from increasing, we further define the state of the UAVs and target in the relative position coordinate system. Surveillance simulations show that the UAVs are enabled to detect more targets.

Recently, multicopter UAVs perform various tasks in a variety of areas including inside of corrupt building and so on. In such a situation, an air flow due to wall or ceiling may affect to control of the multicopters. This paper experimentally verifies influence of the air flow to the multicopter UAV near wall or ceiling. In the experiment, three environmental cases are considered, namely only ceiling near the UAV, only wall near the UAV and both ceiling and wall close to the UAV. The experimental results show that the thrust increases near the ceiling and the moment is generated near the wall.

This paper proposes a modular watch-like thrust-generating concept, called flying watch, which can be attached to a robotic arm to enhance arm strength. Multiple flying watches can be attached with an attachment style customized to a specific mission. Flying watch has a compact propulsion system in order to avoid collision and removable and adjustable watch bands similar to wristwatch in order to be attached to different robotic arms. After attachment, flying watches adapt their thrusts to cooperate with existing arm actuators to reduce their loads. Flying watch provides existing long arms higher strength and versatility to accomplish more missions and gives roboticists more flexibility to build more slim long arms. The important elements for realizing such concept will be detailed in this paper.

In recent years, multi-rotor UAVs are being studied for use in various fields because of their high mobility. However, the conventional multi-rotor UAVs have a structural drawback that the position and attitude cannot be independently controlled. To overcome such a drawback, a quad tilt-rotor UAV has been developed which has a capability of independent position and attitude flight by adding actuators to change the direction of each thrust. In this research, we develop a control system for seamless attitude change flight of the quad tilt-rotor UAV. The validity of the developed control system is verified by numerical simulation.

We developed a flapping UAV equipped with a mechanism of center-of-gravity shift, which leads to a variety of variations in the flight posture. The pitch angle can be largely varied by changing the position of the center-of-gravity, thereby the flapping UAV can change its flight posture seamlessly between the hovering flight and the horizontal flight. Aiming to realize the autonomous flight control, we have implemented a feedback control system. Stability of the hovering flight was ensured by the PID control of a tail propeller motor, which is equipped to control the yaw angle. Furthermore, we have succeeded in implementing a reinforcement learning control to stabilize the pitch angle in the horizontal flight mode.

This paper presents longitudinal dynamic model construction of a small flying-wing unmanned aerial vehicle (UAV) and a nonlinear control approach to altitude stabilization and automatic landing. The longitudinal dynamic model is obtained by considering the aerodynamics, i.e., wind-tunnel experiment data, for the small flying-wing UAV inadditiontosix-degree-of-freedomdynamicsofitsbody. Thispaperprovidesalsoanonlinearcontrolapproachbased on the guaranteed cost control design framework to altitude stabilization and automatic landing. The nonlinear control approach is compared with the linear LQR design approach. The simulation results demonstrate the utility of our nonlinear control approach utilizing the constructed longitudinal dynamic model with the considered aerodynamics.

A quad tilt-rotor UAV is a UAV which has capability of independent position and attitude flight by adding actuators to change the thrust direction. However, since the number of actuators increases, the control system becomes complicated. It induces difficulty of gain adjustment for stable flight. In this research, focusing on position control, we aim to develop a control system that does not require trial and error gain adjustment for the quad tilt-rotor UAV, and evaluate its validity with numerical simulation and flight experiment.

Contact force control of a UAV allows for achieving aerial tasks that require contact motions with objects. Force control systems for a multi-rotor UAV whose tilt angle is not variable have been achieved. Although invariable tilt angle structure is simple, the UAVs can not change their thrust direction quickly. Hence, to improve performance, a multi-rotor UAV whose tilt angle is variable (tilt-rotor UAV) have been proposed. However, this research has not guaranteed its stability. Therefore, in this paper, force and position control system for tilt-rotor UAV is designed by sliding mode control, and evaluates its stability using Lyapunov stability analysis. Lastly an operation confirmation of this method is done by simulation.

We report on the study of 27 drones to do the same work in one place at the same time on the basis of 'mesoscale meteorological measurement by 27 unit drone fleets' by project for promoting business Provincial Reconstruction practical development, Fukushima innovation coast. In this fiscal year's verification, at the Fukushima Robot Test Field, we verified whether 3 x 3 x 3 row flight is possible at intervals of 40 m, 70 m, 100 m at 30 m intervals, up to an altitude of 100 m. As a result, while occasionally there was a drone descending due to the turbulence of the airflow, we were able to hover at a fixed point while maintaining a sufficiently safe airspace.

This paper describes the development and the flight test verification results of the differential-pressure-based low-speed air-data sensors (ADS) mounted on the rotor of small helicopters.Referring to the low-speed sensor technologies for large-scale helicopters, newly-developed small and light-weight sensor, rotating with the main rotor of the small helicopter, integrates two probes at the both ends of the arm, a differential pressure sensor, a rotary encoder with one magnet and two sensors, a microcomputer, a wireless data link, and a battery.This can measure the static or total pressure at each rotor angle, and the airspeed of the fuselage can be calculated by using the differential pressure and the encoder from low speed.Flight test results show that the magnitude of the airspeed can be calculated precisely from low speed, on the other hand, the angle of the airspeed has static error about thirty to forty degrees.

We developed an application software compatible with iOS and Android with the aim of enabling a quadrotor to easily perform complex tasks on a smart phone. The operability and usefulness of the proposed user interface are experimentally evaluated using two kinds of applications available on iOS and Android. The application is developed for a quadrotor to conduct two functions, i.e., rounding and mission planning.

We propose the bridge inspection system using a small size two-wheeled multi-copter. The multi-coper has two-wheels of the size 25 cm and can go into narrow space near bridge bearings. We also developed both a wheel driving system to move accurately at low speed on the ground in the narrow space and a camera gimbal device capable of controlling remotely to take close-up images of a bearing. A field examination in a water part of the river shows that the system is useful and practical for a bridge inspection and maintenance.

Recently, practical applications of UASs are increasing. However, it is considered that it is necessary UTM (Unmanned aircraft system Traffic Management) for commercial use of UASs. UTM system is a flight information sharing system that supports visual outside flight UASs. One of the purposes of UTM is the collision avoidance of UASs. Because conflicts occur frequently under the situation where the drones are dense, the conflict resolution logic that corresponds to the situation is necessary. In this paper, we describe the avoidance path generation based on the flight information which is summarized to UTM for multi drone conflict resolution.

This paper describes a method of azimuth angle estimation using RTK-GNSS and gyroscope on a small unmanned aerial vehicle (UAV). Recently, a power line and steel tower inspection using UAV is attracted at electric power companies. However, azimuth angle cannot be estimated due to the high magnetic field in the vicinity of the power line. We propose a method to estimate azimuth angle by combining RTK-GNSS and gyroscope with Kalman filter. As a result, the proposal method has the same azimuth angle estimation accuracy as the method using the magnetic sensor in the static test. In the high magnetic field environment, the proposed method could stably estimate the azimuth angle. We implemented an autonomous flight test with a UAV incorporating our proposed method. As a result, even during the flight, the proposed method was able to estimate the azimuth angle equivalent to that using a magnetic sensor.

This paper presents a position estimation system for a drone to utilize visual inertial odometry method instead of GPS. Firstly, the usefulness of the visual inertial odometry method was verified through experiments of position estimation using VI-Camera and a laptop computer. In addition, based on the verification results, a drone system using VI-Camera and a Stick PC embedded with the position estimation system was developed and its capability was evaluated by comparing the estimated results with the actual positions. Finally, a ground computer connected to the drone with Wi-Fi communication was tested for improving computation efficiency and precision of position estimation.

Our research team is developing a UAV with a passive rotating spherical shell whose purpose of inspecting bridge. The UAV with a passive rotating spherical shell can avoid crashes caused by contact with some objects. This UAV have been successful in inspecting under some bridges. But for now, there is no optimal controller that can be applied to this UAV. This is because of the existence of the passive rotating spherical shell. So, the dynamics of this UAV is different from general UAVs. In this study, we propose a new dynamic model and controllers for a UAV with a passive rotating spherical shell. The new dynamic model is considering the moment of inertia of the spherical shell. Because the moment of inertia is unknown, the new controller is used adaptive control via backstepping to estimate it. We conducted an experiment using simulation and confirm that a controller could be used for actual usage.

In recent years, multi-rotor helicopter has been attracting attention because it has a simple structure and excellent flight performance. In this paper, we present a formation control of multiple small-scale multi-rotor helicopters. In order to achieve the high-precision trajectory control, we use a model following type model predictive control in the translational and the altitude control . Experimental results are presented to show the feasibility of the control method.

We present a novel fully actuated transformable multilinked aerial robot which consists of the link modules with 1 DoF thrust vectoring mechanism. Commonly used UAV is underactuated due to its simplicity and high flight duration, but can not control the position and orientation independently. To overcome this problem, fully actuated multirotor aerial robots have been developed. In this paper we propose a new design of link module which has a tilted rotor and 1 DoF thrust vectoring joint which enables to avoid singularity forms and keep the flight stable during transformation. Then we propose a transformation planning method utilizing the 1 DoF thrust vectoring angle with consideration of guaranteed minimum force/torque. Finally we perform an aerial transformation experiment with a real platform to demonstrate the feasibility of our proposed methods.

In this paper, we propose a compact and lightweight robot with autonomous flight capability using only a single rotor, that is, with minimal degree of freedom, using microcomputers and sensors. A simple flying robot that improves the problem of drone, the flight sound and the complexity of the system is required. Not only the propeller and the motor but also two vertical body wings that prevent the body of the robot from rotating can make it possible to fly with only a single rotor. The proposed palmtop type prototype equipped with a microcomputer weighing 32[g] with a size of 200 × 23 × 93[mm] showed the possibility of flying with a single rotor.

Stabilizer (Fly-bar) makes the efficiency and performance of an unmanned helicopter worse but it is very reliable mechanical feedback to enhance its maneuverability and safety. In this paper, a design method for attitude control of the unmanned helicopter with stabilizer was proposed. Flapping motion of the rotor blades and stabilizer blades was considered for precise modelling of horizontal motion of the unmanned helicopter and dynamic inversion method was adopted to design the attitude controller. The attitude control system includes an observer to estimate the flap angle of the stabilizer blades. Utilizing flapping motion characteristics of both blades, the flap angle controller was designed. It was clarified that the stabilizer blade may resonate when the band limitation is not applied for control due to the small lock number of the stabilizer blade. Results of numerical simulations revealed that the proposed attitude controller functions properly by bandwidth limitation to control.

We are focusing on violin-playing aimed at establishing communication between human and robots. The ultimate goal of this study is to build a robot that can determine its performance automatically based on the information of musical notes. The violin-playing robot we are developing was previously controlled by one PC equipped with ADC, DAC, and Counter, which make the system to larger. Such system can be replaced by small and inexpensive microcomputers. Thus, we decided to build a new control system using microcomputer. We conducted preliminary experiment to assess the performance of the control system. In addition, we analyzed the relationship between the bow force and sound pressure based on the experimental data, which is necessary for the violin performance design.

We are developing a violin-playing robot which can communicate with human through playing the violin expressively. In this paper, we focus on “vibrato”, which is one of the most popular technique for playing the violin. In order to reveal the sound characteristics of vibrato, we conducted experiments with three trained violinists, in which, we asked them to play the sound of D5 with vibrato and analyzed the sound with FFT. Also, we recorded the sound of a short famous musical piece in three conditions. As a result of the sound analysis, we found that the values of the frequency fluctuation in vibrato vary from 2 Hz to 6 Hz. Then we analyzed their playing based on a questionnaire, and we found 5 patterns on musical notes to which the vibrato should be applied.

We have developed the Deformable Shadow Casting Robot (DeSCaRo) that articulated robot with 39 degrees of freedom. The purpose of this robot is to perform the shadow art. The shadow art is one of the fields of art attracting attention from people in recent years. Thus, DeSCaRo gives us a shadow art and a surprise by that. However, there is one problem. It is difficult to make shadow art, because extensive calculations and precise calculations are necessary. Therefore, in this study, we developed an algorithm to automatically generate the shadow arts.

The swimming humanoid robot called SWUMANOID was developed for underwater motion study. It had 24 servo motors that could achieve four swimming strokes, including crawl stroke, backstroke, butterfly stroke and breaststroke. However, the swimming direction of the robot was not stable and could not be controlled in the previous researches. In this study, a new mechanism was proposed to control the swimming direction. Meanwhile, the mechanism control algorithm was decided based on the simulation results. From the simulation, it was found that the robot could change the direction at 9.38, 5.98, 5.54 and 9.79 degrees for the crawl, back, butterfly and breaststrokes respectively. In experiment, attitude heading reference system was used to obtain the robot yaw angle as an evaluation index. The experiment showed the robot could also change the direction with this new mechanism.

The purpose of this study was to examine the effect of lung volume on the depth of the swimmer’s center of gravity, trunk inclination angle, and projected frontal area during front crawl swimming. Six swimmers performed front crawl swimming with sustained maximal (MAX) and minimal (MIN) lung volumes at same submaximal velocity. An underwater motion capture system was used to collect 3D motion data of each body segment during swimming. The whole-body surface was scanned for each subject on dryland with MAX and MIN and the quantified surface data were fitted to the 3D motion data of swimming. The center of gravity position was lower in MIN condition. The trunk inclination angle and projected frontal area were larger in MIN condition. These results suggest that smaller lung volume during front crawl swimming induces larger projected frontal area owing, in part, to the lowered center of gravity and the increase in trunk inclination angle.

In this research, we aim to elucidate “Kire (Sharrpness)” in Karate movements using wearable devices. If we could understand important points in karate movement, it is considered for us useful for guidance and evalutation about Karare practice and competition.

In this paper, we verified the “Seiken-duki” (Fore fist punch), which is the basic movement of Karatedo. We uses three devices which can measure acceleration and angular velocity. In the experiment of this paper, we verified the motion of hand’s wrists and waist movement for a experienced player and a first time player.

This paper presents a method to measure a table tennis service stroke using an inertial measurement unit (IMU) mounted on a racket. Although the trajectory of the racket can be estimated through double integration of IMU measurements, such naïve methods typically result in significant error. We have previously proposed to correct such accumulated errors by constraining the initial and final states; more specifically, we initialized the racket position to a known position and returned it to the identical position after the play. Here arises the necessity of positioning the racket with high precision. We developed a tool that helps user repositioning a racket precisely. The design and evaluation results of the tool are detailed in this paper.

In the field of competitive cycling, the importance of improving own pedaling skills has been recognized. In addition, highly trained cyclists argue that the appropriate motion of their upper limbs is needed to make the pedaling exercise more effect. Thus far, few studies have investigated the roles of the upper limb during pedaling exercise. Then, this study aims to experimentally investigate the roles of upper limb by measuring the handling motion of a highly trained cyclist in this paper.

Japanese archers have won medals in international games recently and are expected to win medals in Tokyo Olympics. Therefore, it is very important to improve the reliability of their archery equipment to support Japanese archers. In this study, an archery robot reproducing archer’s shooting have been under development to find three or six arrows with same condition. The prototype of the archery robot manufactured in this study has been used to make clear the required strength as a practical archery robot for Olympic archers. Besides, the shooting experiment with the prototype archery robot and a various of statics investigation on the Olympic condition have been conducted. As a result, we have found the indexes for the design of the practical archery robot for the Olympics.

A method to improve quality of life of elderly people is to increase muscular strength. The purpose of this study is to improve muscle strength effectively. In this paper, we propose a muscle strength training device that exerts variable resistance using pneumatic artificial rubber muscle (PARM). We developed a muscle strength training device for elbow movement by using a PARM and an arm curl machine. In addition, we observed the influence on electromyography (EMG) signals with predictable and unpredictable load patterns and compared the waveforms of the EMG signals in the patterns. Experimental results showed that there was a remarkable difference between the rising time and the maximum value of the muscle activity depending on predictability of load change and showed the possibility of effective muscle strength improvement.

We have proposed to use a robotic throwing device in Boccia that is a sport for the disabled. In this paper, we developed an active release throwing mechanism in order to reduce the difference in throwing distance when using balls with different softness. We conducted performance evaluation experiments.

Currently in Japan, many companies are still having problems. For example, lack of successors, lack of expert and so on. So beginners are taught skills from experts. The sport industry is also similar, beginners are taught skills from coach and trainer. However, expert's guidance is hard to understand for beginners. Because it is sensuous guidance based on past experience. Therefore, many studies being performed in order to evaluate quantitatively for difference between experts and beginners. In past studies, only motion analysis is performed, and there is no combination of biological signals. Therefore, there is novelty in research using biological signals, and it will help to determine quantitative differences between experts and beginners. In this study, we analyzed motion of forehand stroke in tennis with motion capture system and wireless myoelectric sensor, and reported the quantitative difference between experts and beginners.

Kinematic sequence of golf swing is the order of events which is characteristic motion of body parts measured by its speed or angular velocity and so on. If the shots are ideal, the orders of kinematic sequence are all the same sequence. Kinematic sequence gotten from the golf swing is expected to be useful to improve them. To propose effective auditory interactive training, we used kinematic sequence and top speed information gotten from the golf swing. By experiments with proposed method, we showed kinematic sequence order improvement by proposed training method on intermediate subject.

The purpose of this study is to develop a motion sensor system which can measure 3D posture of a paddle, propulsive paddle force, and boat velocity for kayak paddlers in flat water canoeing. The system has an inertial sensor to calculate paddle kinematics, and strain gauges are used to measure the force applied to the paddle. In addition, GPS sensor is employed to measure boat velocity. In an experiment, the developed sensor system was used to measure the paddling performance of some kayak paddlers with different ages and technical skills. Then we investigate the evaluation indicators to evaluate the performance of kayak paddlers.