In recent years, with the increasing sophistication of medical care, the lack of skills among medical students have been pointed out. However, due to the shortage of manpower, medical training cannot be sufficiently provided. Therefore, we are developing a human simulator for medical practice. In this research, we focused on the eye movements among the motor functions of patients, and aimed to create a robot that simulate the patient's symptoms and condition. We have also developed an eye mechanism that moves in the same way as human eye movements and can reproduce impairment of ocular motility disorders.

In this thesis, we propose a subterranean excavation robot that can move through the ground. This robot uses biomimetics to replicate the movement of a mole. However, there is little detailed literature on mole movement. Therefore, we will start by analyzing the mole's movements. In addition, the mole is an organism that can turn in a narrow environment with a body diameter almost the same as its own, which is a characteristic of moles. In this paper, we report on the behavior analysis of the mole and the design of the soft actuator. The mole is an organism that can turn in a narrow environment with a body diameter almost the same as its own, which is a characteristic of the mole. In this study, we observe the turning motion of the mole and propose an engineering solution and a mechanism to enable the turning.

In this study, we aim to miniaturize and automate large intestine endoscopy. Especially, we give attention to an automatic advancing mechanism for large intestine endoscopy. This delivery device is intended to reproduce an endoscope insertion method performed by a doctor and to insert an endoscope. As an action necessary for reproducing, it is necessary to move the endoscope linearly in the roll axis direction and rotate it in the roll axis direction. It is also necessary to perform this operation at the same time. Therefore, in this research using the Mechanum wheel, we made a device that can perform these two operations.

In Japan, "malignant neoplasm (cancer)," "cardiovascular disease," "cerebrovascular disease," and "pneumonia" are the four major causes of death, with mortality rates for "cardiovascular disease" (15.50%) and "cerebrovascular disease" (9.0%). Catheters, which cause less damage to the body, are frequently used for these treatments, and endovascular surgery is performed. This reduces the physical and mental burden on the patient and helps to reduce medical costs by shortening the hospital stay. Since this treatment relies heavily on the experience and skill of the surgeon to guide the patient with a guidewire when inserting it into a human blood vessel, we will research and develop an active catheter that can do this automatically.

Self-excited electrostatic actuators are suitable for small robots because they have a simple structure, are driven by DC voltage, and the force density increases with decreasing size. We have combined this actuator with a PLZT element, which has the property of generating a high voltage when irradiated with ultraviolet light, to fabricate a wireless small mobile robot and successfully drive it. In order to improve the driving performance of this robot, it is necessary to know the influence of various parameters of the robot on its motion. In this paper, we conducted a verification experiment to investigate the influence of the armature mass on the driving characteristics of this robot.

This paper describes a wall-climbing robot inspired by insects, which can move on a smooth vertical wall and ceiling using surface tension. An adhesion mechanism based on adhesive organs of ants is employed, where a meniscus force of a water droplet is used for normal adhesion and fictional forces of rubber-wrapped wheels are used for tangential propulsion. In order to use the meniscus force during moving on the slop and ceiling. We installed two pieces of adhesive pads made of glass. One was installed on the front end of the robot and the other was installed under the shaft of the wheels. The robot weighs 8.3 grams, and moves by dragging the adhesive pads using its wheels. The experimental results show that the robot can successfully move by 300mm, 195 mm, and 100 mm on the slope of 80°, 90°, and 180°, respectively.

This paper describes a flapping-wing flying robot inspired by humming birds. The robot has two wings, which are flapped by using a four-bar linkage mechanism and a single dc motor. The total weight of the robot was 5.6 grams. Three types of wings with various wing areas were fabricated, and lift forces generated by the flapping wings were measured using 3-axis force sensors. The experimental results show that the lift of the wing with an area of 1800 mm2 reached 74 [mN] when a voltage of 4 volts was applied, which exceeded the gravity force of the robot. The lift force decreased with increasing wing area due to flexibility of materials of the wing.

In recent years, with the development of MEMS, IoT, machine learning and robot technology, these technologies have been used for coaching team sports. These coaching systems can be classified under two categories: one is to analyze the performance after the game, and the other is to present additional information during the game. These systems for team sports have not been studied for the purpose of learning an appropriate formation for the whole team by moving each player during the game. In this paper, We conducted two experiments to validate the effectiveness of the proposed image processing system for a team sport coaching system: 1) an experiment to verify the accuracy of detecting the position of a stationary person in real space, 2) an experiment to verify the recognition accuracy of four color-tagged human models moving in virtual space.

In this paper, we constructed a point cloud data including stiffness values based on contact information, and used the values to interpolate and restore the deformation of the point cloud. Currently, contact type 3D shape measurement is not mainstream due to factors such as low data collection efficiency and deformation of the object upon contact. However, we thought that using the contact information would improve the interpolation accuracy of the acquired point cloud and recover the deformation caused by contact. Therefore, we collected data and calculated the stiffness by 4-channel bilateral control using a haptic device, and applied it to interpolation and restoration. As a result of the experiment, it is demonstrated that the interpolation is more accurate than the inverse distance weighting method, which is a common method, and that the shape can be restored.

In recent years, new production methods for food, such as projection mapping on food, have attracted much attention.A method of creating a dihedral corner reflector array made of candy has been proposed to present an aerial image on the food, but the existing formation method has the disadvantage of low resolving power of the projected image.Therefore, we propose a new formation method to improve the resolution.As a result of processing the back surface of the candy and improving the silicon mold, it was confirmed that the resolution of the projected image was improved compared to that of the image created by the existing method.

In recent years, a variety of head-mounted displays have been developed in response to the growing interest in AR/VR. Head-mounted displays have problems such as Vergence Accommodation Conflict and display latency. These become a problem when superimposing annotations on the dynamic real world. To solve the two problems, a 1000 volume/s fast volume display has been proposed. We developed a prototype display based on this principle, and by controlling the DMD, we constructed a system that updates the depth of image presentation and the presented image according to the position of the real object, and evaluated the performance.

In recent years, the use of dynamic projection mapping has been gaining attention. However, the conventional projection method using fixed projectors limits the distance that can be projected by a single projector. Projecting images to distant, moving objects is expected to expand the use of dynamic projection mapping and is useful. In this study, we developed a prototype of a dynamic projection mapping system for distant objects by combining a three-mirror line-of-sight control system and a laser display, and conducted a basic evaluation.

A treadmill has a potential to enable humans to have a walking experience in remote place without a spatial limitation for telepresence. In this study, we present a treadmill system with a string traction, which enables a human to walk in the similar way to a level ground gait during the transition phase to a steady state from an acceleration state. As a result of an experiment with six users, the proposed treadmill system enabled the users to walk in an acceleration state with the same head acceleration pattern as with level ground walking while canceling the inertial effect by the string traction, which means that the users was able to experience walking in the transition to a steady state from an acceleration state on the treadmill.

This paper presents an offline robot programming method based on direct teaching in the simulation space. The operator wears a head mounted display to observe the three-dimensional graphical model of the target robot and objects. In addition, the operator moves motion controllers attached to their hands to reflect their tracked position and orientation to the robot’s posture. Calculating inverse kinematics of the robot step by step generates a desired path of the joints. We demonstrate some pick and place motions programmed manually by the proposed method and evaluate their tracking precision.

Virtual Reality technology becomes popular, Motion Platform are being developed. Conventional research using small electric vehicles and electric wheelchairs has already provided a sense of floating and falling, but the conditions under which this is achieved have not been examined. Therefore, I confirmed the possibility that the back and forward movement of the MP synchronized with the video affects the human's sense of floating and falling. As a result of the verification, it was confirmed that the sense of floating and falling can be obtained by changing the acceleration of MP at the timing when the human experience of VR images changes.

There have been widespread attempts to emphasize and extend the eating experience by adding images to food. In recent years, methods to add optical functions by molding transparent food materials have been proposed, and edible retroreflective materials, etc. have been reported. In this paper, we apply this principle to fabricate light pipes using a transparent food material, candy. In addition, we propose a new method of food presentation using light by decorating food with the candy light pipe and making it glow. We also report the results of the fabrication and basic evaluation of a prototype of the candy light pipe.

This paper describes a method for reducing VR sickness in a wheelchair simulator. Our previous study developed a wheelchair simulator that can evaluate and examine barrier-free houses for wheelchair users at the design phase. However, this simulator had a problem of VR sickness caused by the discrepancy between the sensation obtained from the virtual space and the sensation predicted from past experiences. In particular, it was known that VR sickness occurred frequently and strongly during rotational motion. Furthermore, among rotational motions, VR sickness occurs most easily during yaw rotation. Therefore, this paper proposes two methods to reduce VR sickness by focusing on the yaw rotation. To verify the effectiveness of the methods, an experiment was conducted on a subject.

In recent years, there are many researches that integrate visual and haptic presentation technology in order to improve the VR and AR experience. However, most of them are experiences which are surrounded by devices or mount them. In this cases, these devices will be barrier between users and virtual objects, it is defficult to experiece in an open state. Therefore, this paper proposes interaction system with midair images with haptic sensation for open interaction with 3DCG contents without barriers. As devices suitable for the proposed interaction system, it consists of midair image display with mist screen and haptic presentation device using ultrasonic waves.

In laparoscopic surgery, the problem is that endoscopic cameras have a narrow field of view and are often overlooked even if organs outside the field of view are damaged. As support, surgical navigation systems present the entire organ. However, because the navigation system uses preoperative medical images, the difference between the actual situation and the information presented by the navigation system increases as the surgery progresses. To solve this problem, in this study, a system of superimposing a deformed intraoperative organ virtual model onto an endoscopic image using mixed reality technology is proposed. In the proposed system, the movement of the surgical instrument is tracked by a motion capture (Mocap) system, and the dynamic deformation of the organ due to contact with the surgical instrument is calculated by a dynamic simulation. In the experiment, a liver model made of urethane resin was placed in a mannequin. The superposition of the endoscopic image of the liver model and the deformed virtual liver model was confirmed.

In this paper, we propose a fall detection method for elderly people due to illness or accident using camera images and MediaPipe. The method extracts 33 landmarks of a pedestrian and uses the difference ratio of XY coordinates of the landmarks obtained when the pedestrian falls to identify the fall. First, we explain the method for determining the fall state in order to detect a fall. Next, we report on the usefulness and applicability of using the aspect ratio to determine the fall state. Finally, we report on the usefulness and applicability of the method for discriminating between falling and crouching motions.

In recent years, a new way of staging sports is expected to make them even more exciting. However, most of the projected objects are static objects, and projection on high-speed objects is not so common. Lumipon projects a beam of light onto a ping-pong ball that moves at high speed while following the object by installing a laser on the same axis as the camera of a device called a saccade mirror that keeps the object in the center of the image. In this study, we added a ray of light of a different color to Lumipon, and the dynamic projection of the two colored rays creates a projection mapping-like effect on the ping-pong ball.

This paper presents a novel teleoperation method called “Illusory control” to address the problem of reduced acceptance due to the disagreement between human and robot intentions in shared control. We have reported the simulation results of the teleoperation behavior using Illusory control. This paper describes the improvements of the proposed system and shows the results of experiments using an actual robot and realistic virtual images by CycleGAN.

We propose a novel system for teaching nursing care movements using mixed reality technology and human pose estimation technology. This paper proposes a teaching system that guides a patient from a lying posture to a sitting posture. This nursing care operation is not easy to learn because it requires several steps to guide the patient to an appropriate posture. In this method, a mixed reality headset is attached to the caregiver, and “how-to guide the patient” is projected onto the real world to teach the caregiving operation intuitively. The system uses a camera mounted above the patient’s bed to estimate the patient’s pose and then uses a mixed reality headset mounted on the caregiver to project nursing care instructions based on the patient’s pose.

In response to increase interest in VR/AR in recent years. various head-mounted display(HMD) have been developed and attracted attention. However, HMD have problems such as vergence-accommodation conflict(VAC) and display delays. When performing a superposition of the annotation to the dynamic real-world needs to be a high-speed display. Also, VAC is said to cause fatigue and sickness called 3D sickness. To solve VAC and display delay, the principle of 1000volumes/s high-speed volumetric display for high-speed HMD[1] has been proposed. In this paper, we report the development of binocular 1000 volume/s high-speed volumetric display based on this principle.

This paper describes a system that realizes a work environment in which virtual objects and real object parts coexist for task training and task support. By using such a mixed environment, it is possible to perform task training and support with a higher sense of reality than in an environment where everything is a virtual object. And even at the design stage, it is possible to change the design while verifying the task efficiency, or to perform task training at an early stage when all the parts are not available. In that environment, a haptic device capable of presenting a sense of force is required in order to express the contact between virtual objects or the contact between virtual objects and real objects. However, it can be used not only for expressing the contact of objects, but also for other purposes. In this paper, further utilization of the haptic device is considered. Specifically, a method of inducing a task motion using force sense presentation is examined, and the results of some evaluation experiments are reported.

Most human–drone interfaces, such as joysticks and remote controllers, require attention and developed skills during teleoperation. More natural and intuitive drone operation, which makes this technology available to wider range of users, can be achieved through wearable interfaces. In this study, we introduce a VR (virtual reality) interface for allowing a single user to control multiple UAVs in an intuitive manner. In the VR human-computer interaction environment, instead of using the traditional keyboard, mouse and touch screen, natural interaction languages such as gestures and body movements are used. We show a preliminary result of natural interactive UAV control experiment in VR immersive environment.

From the maneuvering training research of the surgical support robot DaVinci, it is reported that the reduction of the geometric inertial constraint that can be the motion resistance does not necessarily lead to the improvement of the learning speed. In other words, it is considered that the trainee is proficient in the force field due to restraint as a clue. Therefore, this report verifies that proper restraint promotes skill proficiency.

We have been developing a three axis micro MEMS tactile sensor that was inspired from the human sense of touch. The sensor allows to sense pressure and shear force simultaneously. We employed a typical analog wheatstone bridge and amplifier circuit to inquire signal. However, increasing number of tactile sensor elements, size of analog circuit become critical. To solve this problem, we propose unique method that modulates the resistance value into pulse density by an oscillation circuit on FPGA. The proposed method reduces the physical size and power consumption of a signal converter for our tactile sensor.

In robots that involve physical contact with humans, it is thought that the task can be accomplished efficiently if the movement is induced by using the reaction and nature peculiar to the human. However, the timing of the intervention is not clear. Therefore, we investigated the effect of the robot's pulling motion on the human's standing posture response under different conditions. In detail, conditions are different from with or without periodic disturbance in the anterior-posterior direction, or with or without temporal prediction. The results showed that forward stepping occurred at a higher rate when there was no temporal prediction and when the timing was after a periodic anterior-posterior disturbance.

We constructed a system of tracking robot focusing on toe trajectory. In order to detect human feet, this system used a background subtraction method and inter-flame difference method to find the moving area. Furthermore, this system detected feature points from moving area and calculating optical flow in the region of interest. Calculating the center of gravity of the three feature points detected under the image as the motion of the human foot. Also, the average position of the center of gravity in the last five flames was calculated and used for motion control of the robot. Using this system, we conducted a tracking experiment using a corridor course and an experiment in which we passed by people other than the target of the tracking. As a result, in both cases, the success rate was 70 %, confirming the effectiveness of this system.

Human posture changes according to the task or purpose being performed, and the shape of the spine changes accordingly. It is essential to focus on the shape of the spine when evaluating posture In this study, we constructed a spine shape measurement system using a 3-axis acceleration sensor, and realized the measurement of spine shape corresponding to various seating postures, which has been difficult to measure so far. Using the constructed measurement system, the subjects were seated in a reclining chair under various conditions, and the spinal column shapes were measured and compared during the seating.

In the field of nursing care, the burden of many recording tasks, including nursing care records, has become a problem. In order to optimize the division of work and to reduce the burden of indirect work, it is necessary to have a system that can automatically record the contents of work at the actual work site. In this study, we use inertial sensors and plantar pressure sensors attached only to the back, waist, and shoes to measure movements and recognize transfer assistance tasks.

The purpose of this study was to investigate the back posture change and lumbar support position that can reduce driver's seating fatigue by using a muscle potential measurement device and a posture measurement device. We evaluated the back muscle activity and posture measurement in the seated state, and combined them with the results obtained from the posture measurement and driving fatigue evaluations conducted separately for a long period of time. As a result, it was confirmed that the driver's driving fatigue can be reduced by supporting the back position where posture changes occur with a decrease in muscle activity and a large amount of lumbar displacement.

Autism spectrum disorder (ASD) is a neurodevelopmental disorder characterized by a combination of atypicalities in social cognition. From previous studies, it has been shown that people with autistic characteristics have different gait characteristics and motion perception from typically developing individuals. In the present study, we investigated the association between motion perception and autistic traits by measuring visual event-related potentials (ERPs) while observing the life-size virtual character approaching and receding. As the results, there was a significant positive correlation between P1 latency on the occipitotemporal area and SATQ scores. These findings suggest that people with more autistic traits have delayed motion perception of biological motion in others.

By applying vibration to muscle tendons, it is possible to induce illusory sensation (kinesthetic illusion) as if the body is moving, even without actual movement. However, with current knowledge, it is difficult to quantitatively control this illusion. In this study, we consider the relationship between temporal change of the vibration frequency and the motion illusion as a transfer function, and measure it through psychological experiments. In this paper, we conducted a preliminary experiment to confirm the feasibility of the measurement, but we could not obtain meaningful data at this time, and problems with the experimental method and system were surfaced.

In recent years, the aging of society has led to a shortage of labor force and other social problems. As a solution to this problem, we propose the development of non-powered assist device. In order to prevent stumbling, which is a major cause of falls in the elderly, the non-powered assist device increases the foot clearance by generating a torque that promotes dorsiflexion at the ankle joint during the stance phase, thereby preventing stumbling. The non-powered assist device was found to be effective in reducing the risk of falls in the elderly on flat roads, but the effect in everyday walking environments such as slopes and stairs has not been verified. Therefore, in order to evaluate the adaptability of the non-powered assist device on slopes and stairs, we conduct walking experiments on slopes and stairs, and compare and verify the walking parameters between assisted and unassisted walking.

This paper describes a skill analysis in wall painting work using a roller brush. We construct a measurement system, which is mainly consists of an RGBD sensor and a roller brush with sensors attached. We focus on the usage analysis of the roller brush because how to move and apply force to the brush is useful to find out the skills of the painting work. In proof experiment, dataset was generated through measuring actual painting work. Then, the quality of painting work was evaluated by comparing the professionals’ data with amateurs’ data.

Functional Electrical Stimulation (FES) is applied to conduct electrical stimulation and induce muscle movement in particular body locations to rehabilitate patients with bodily weakness or paralysis. The FES System in this research study is utilized to produce functional movement, specifically finger flexion, to assist in rehabilitation. To achieve an effective Functional Electrical Stimulation (FES) system requires an effective feedback mechanism that is accurate and consistent. As a first step towards the development of an effective feedback mechanism for FES-applications, this paper investigates the use of Inertial Measurement Unit sensors for measuring finger range of motion (ROM). Then, finger ROM data obtained is used to approximate a percentage of finger flexion. The proposed feedback mechanism could potentially serve as an effective tool for tracking finger rehabilitation progress during FES applications.

In recent years, lack of sleep among Japanese people has become a serious problem. Napping has been attracting attention as a solution to sleep deprivation but napping for long periods of time may cause sleep inertia due to excessive sleep depth, which in turn reduces work efficiency. Self-awakening is therefore attracting attention. Self-awakening is known to be effective in reducing sleep inertia. In this study, we used the relationship between sleep depth and body temperature to assist self-awakening by presenting temperature during napping. The aim of this study is to reduce sleep inertia.

This paper describes a biaxial tactile sensor using standing laser-induced graphene (LIG) cantilevers. The proposed sensor has standing LIG cantilevers as a sensing element in an elastic body. When the force is applied to the sensor, the cantilevers deform and the resistance of the LIG on the cantilever surface is changed. Since the cantilever shows different resistance changes depending on the direction of deformation, the biaxial force can be measured independently. The proposed sensing element was formed by properly irradiating two types of laser. In addition, the cantilevers were formed on a flexible polyimide (PI) film; thus, the cantilevers maintained the standing position by thermoplastic deformation. These fabrication processes were simple and highly repeatable. As a result, the fabricated biaxial tactile sensor measured normal and shear force with high independence.

Recently, light-sheet microscopy has been developed as a method of observation and analysis using fluorescent materials in microspaces. Light sheet microscopy is a microscope that uses sheet light as illumination and divides the light path into illumination and detection. However, the existing light-sheet microscope systems have difficulty in high-speed 3D measurement. In this talk, we report the results of the application of a high-speed light-sheet microscope combining a TAG lens and a galvanometer mirror to the 3D motion measurement of Chlamydomonas, based on the premise of a high-speed 3D microscope system combining a TAG lens and an I.I.

This paper presents an airflow sensor for drones. Drones are more affected by the airflow during flying, so the further improvement of flight stability is a significant issue. Thus, it is desirable to detect air current directly by an airflow sensor and feedback to the control. In the case of a drone in flight, the sensor should detect wind direction and velocity. Here, we propose a compact spherical-shaped airflow sensor for drones. Three highly sensitive micro- electro-mechanical systems (MEMS) differential pressure (DP) sensor chips were built in the spherical housing as the sensor elements. Furthermore, multiple inlets are properly located on the housings. These structures reduce the nonmonotonic relationship between DP and airflow and allow redundant measurements. To evaluate the sensor response, first, data was collected to calibrate the wind direction and velocity. Then, a regression model was constructed from the obtained data, and it was confirmed that the sensor response could be converted to wind direction and velocity using this model.

Micromechanical characterization evaluation of single cells, such as elastic, young’s modulus and stiffness is of fundamental importance to the study of cell growth, differentiation, migration and morphogenesis. However, traditional methods (such as atomic force microscope or optical stretching methods) are time-consuming, complicated or low sensitivity. Device with the fast response and high sensitivity still remains challenging. Glass-based devices made of ultra-thin glass sheets are transparent and physically and chemically stable, which allows high resolution and real-time observation of cell deformability. Here a micro-indentation method using an ultra-thin glass sheet (UTGS) cantilever platform integrated with the metallic foil pattern as the strain gauge sensor provides a way to measure the micro deformation under 30 μm which could be used to measure the stiffness of single cells in the future.

This paper reports on development of inclined UV lithography with liquid-immersion. Conventional fabrication methods had limitations in the inclination angle of structures due to the difference in refractive index between materials. The proposed fabrication method applies liquid immersion exposure from semiconductor process, allowing structures to be made in a higher inclination angle than previously reported. The developed device consists of two adjustable mirrors and water chamber attached to a cubic prism. UV light rays reflect off mirrors and pass through the cubic prism to expose the glass wafer without air. The device was able to produce an array of inclined structures on glass wafer. The results suggest increase in inclination angle of structures. In addition, the flexibility of the inclination angle allows improvements in the performance of three-dimensional MEMS structures.

A slip detection sensor with arrayed microscale wave-shaped walls was developed to mount a robot hand. The microstructure is made of polydimethylsiloxane, a highly flexible elastomer. A piezoelectric film made of polyvinylidene fluoride (PVDF) was coated on the surface of microstructures. When an object grasped by the robot hand slips, the microstructure on the sensor deforms, then the piezoelectric thin film outputs a voltage signal. The effects of the shape of microstructure and PVDF coating conditions on the sensor characteristics were evaluated in this study.

In this study, we evaluated the effect of foot angle on walking stability and walking efficiency. We placed several MEMS 3-axis force sensors on an insole and inserted them into a shoe-shaped device to make a prototype shoe-shaped sensor device. The shoe-shaped device measured the normal and shear forces applied to the sole during walking at different foot angles. It was found that the walking efficiency was high around the foot angle of 10 degrees, and the stability was high within the foot angle range of 10 degrees to 20 degrees. A quantitative evaluation of the effect at different foot angles on walking efficiency and stability was achieved by using this device.

This paper presents a design of high force generation efficiency for inflatable bending microactuator with an actuation conversion mechanism. In the inflatable bending microactuator, a balloon expands and bends when pressure is applied. The inflatable bending microactuator has a force conversion mechanism that converts the balloon expansion force into the bending force. The Force transmission rate between the balloon and the force conversion mechanism depends on a contact area between the two components. We increased the contact area by designing a smaller non-bonded space to obtain high-output of the microactuator. As a result, the generated force by improved inflatable bending microactuator achieved 1.15 N at 80kPa of applied pressure, which was 1.7 times higher than the conventional generated force.

Miniaturized spectrometers are attracting attention because they can perform chemical analysis in a narrow space. One of the most promising methods, spectroscopy using a surface plasmon resonance photodetector has been proposed. However, this method has not been demonstrated on incoherent light condition. Here, we report near-infrared spectroscopy using the photodetector with an incoherent light source whose spectral range is from 360 to 2600 nm. We input incoherent light filtered by a bandpass filter into the photodetector, and we computed incident spectra from the photodetector output. The photodetector output signals have peaks at an incident angle predicted by the theory of surface plasmon resonance. The peak of the computed spectra was shifted by 15 nm from the result obtained from a commercial spectrometer, but their shapes were consistent with each other. From these results, we concluded that spectroscopy using our photodetector can perform on incoherent light conditions.

Image-based single-cell screening is the key way for regenerative medicine, diagnose and advanced therapy. It offers bits of knowledge into the arrangement, dynamics, and administrative components of tissues and cell populaces in illness or different investigations. In our approach, we have constructed a system which contains automation stages, optical system and MEMS device (Digital Mirror device). Using this system, experimentations are being carried out to screen a single-cell by obtaining from high-throughput imaging work which can be performed software (MATLAB, LabVIEW) and to irradiate the light over that particular cell and also to ensure cell viability efficiency in different condition.

We propose a control method of the miniaturized variable stiffness mechanism using shape memory alloy (SMA) and shape memory polymer (SMP). Particularly we proposed the stiffness control of the SMP by using the stretchable heater electrode. The stretchable heater electrode was made of multi-wall carbon nanotube (MWCNT) and ionic liquid (IL) dispersed in the polydimethylsiloxane (PDMS). The fabricated stretchable heater electrode exhibited a high conductivity of 3.43 mΩ ⋅ cm, which is comparable to the conductivity of bulk graphite, a well-known heater electrode material, in addition to its stretchability. Furthermore, the resistance of the stretchable heater electrode was proportionally related to the applied stress or strain. Therefore, the self-sensing actuation was feasible by using the stretchable heater electrode. We fabricated the driving circuit for the self-sensing actuation of the SMP. As a result, we successfully detected the resistance change of the heater electrode while the SMP was heated for the elasticity control. we also demonstrated the hybridized use of the SMA and SMP for the weightlifting by the microarm. This technology could be applied for the powerful, high speed and energy-saving microrobots or micromanipulators.