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中川 志信
セッションID: 1A1-C27
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Robots that expand its affinity with humans by adapting traditional Japanese cultures will become a product innovation that makes the world happy like Japanese animation.
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稲垣 早紀, 森田 大樹, 瀬島 吉裕
セッションID: 1A1-D03
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Online communication can be realized even in remote areas by sending and receiving mutual images and voices in real time. However, in such online communication, it is difficult to share a sense of unity and interactive atmosphere because the monitor is perceived as a spatial boundary. Therefore, we developed an avatar robot that incorporates an estimation model which simulates the degree of activated interaction from the speaker’s speech. The developed avatar robot expresses an interactive atmosphere by changing its facial color based on the estimated value. In this study, we evaluated the avatar robot under the condition that the avatar robot acts as the remote talker. The effectiveness of this avatar robot was demonstrated by sensory evaluations.
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橋本 智己
セッションID: 1A1-D04
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In this paper, we propose a method to generate antipathy based on anger and disgust. An emotion corpus was created using the Bag of Words method (BoW), and antipathy coefficients were obtained from emotions of anger and disgust. In the experiment, we selected 20 sentences on the Internet with antipathy and 20 sentences without antipathy.
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岸 淳仁, 新妻 実保子
セッションID: 1A1-D05
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Children change their behavior based on their perceptions of robots. In recent years, robots have become more accessible and children have had more opportunities to interact with them. It is not known what kind of robots children consider social. Therefore, we investigated children's perception of sociality toward robots. In the experiment, we designed a behavior expressing sociability with an arm robot, and subjects watched three videos and answered a questionnaire. The videos consisted of a robot in which a person manually moved the robot, a robot with only simple movements, and a robot using the designed behavior. The results showed that adults perceived the designed behavior as social. However, children were found to perceive sociality from their interactions with people, not from their behaviors.
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西川 泰大, 新妻 実保子
セッションID: 1A1-D06
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Social behavior of robots plays a vital role in improving human-robot interaction. In the previous study, we created a behavioral model of the social robot inspired by the attachment behavior of dogs. This robot uses the vocalization, a non-verbal communication, to build relationships with human. In last year's study, the results of some experiments revealed the usefulness of the vocalization and some functional issues. Based on these results, we improved the vocalization mechanism and the robotic platform. In this paper, we describe the results of an experiment on the effects on the relationship with the social robot from the human perspective obtained through communication with this robot.
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板寺 駿輝, 堂前 幸康
セッションID: 1A1-D10
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
This paper introduces a motion priority selection method to efficiently avoid collisions between automated and teleoperated robots in an industrial recovery scenario. While robots are becoming increasingly prevalent in industrial sites, human-robot collaboration (HRC) remains challenging when humans and robots work together on a task in a shared workspace. Robotic teleoperation technology has emerged as a promising solution for remote and safe task execution, which can be useful in manufacturing failure scenarios. The goal of this study is to minimize production loss during the recovery process while maintaining an acceptable risk level. We develop an HRC simulator to estimate productivity and risk during the recovery process and formulate an optimization problem to determine suitable parameters for a motion priority function. We demonstrate the feasibility of our novel concept by experimenting with the HRC simulator.
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吉田 天河, 小林 裕之
セッションID: 1A1-D11
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In this paper, the authors aim to correct strokes for input of handwriting diagrams. In order to achieve this correction, they propose a method which is in real-time using machine learning. In addition, they aim at the precision improvement by using a classification prediction model with regression one concurrently. They also focus on real-time performance and evaluate the computation speed of different machine learning models.
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2者間の同期リズムの収束点とその要因の調査
渡邊 柊人, 渡辺 亮, 五十嵐 洋
セッションID: 1A1-D12
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In recent years, there has been a growing demand for robots that can coexist with humans. Rhythm is one of important factors. Related research has suggested that synchronization has a significant impact on the excitement of conversation and the performance of cooperative tasks. While there have been many studies of robots that follow human tempo, few studies have considered synchronization between humans and robots. By considering the latter, stress-free and highly applicable synchronization can be achieved. Therefore, this research aims to realize a system in which a robot can synchronize with multiple people and control their rhythms unconsciously. This paper investigates the point of convergence of tempo synchronization between two parties and the causes of this convergence. The results confirmed that there were two major patterns of tempo convergence, with those in charge of slower tempos tending to speed up their tempos.
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岩野 航平, 岡田 昌史
セッションID: 1A1-D13
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We have developed a semi-autonomous remote excavation consisting of autonomy (by dynamical system with an attractor) and human action (by admittance control). There is a significant challenge that a trajectory of excavation is implemented to an attractor and it is deformed at the work site. For this purpose, the global stability of the attractor has to be guaranteed and it has to be appropriately deformed based on the operator’s intuition. In this paper, we design globally stable attractor based on teaching data and an intuitive online deformation method for the attractor ’s trajectory. Based on the spectral analysis of human inputs, the Weighted Least Square method is used. Moreover, for fast calculation, Recursive Least Square method is applied. The effectiveness of the proposed method is verified by 2-DOF simulations.
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久下 真由, 井上 淳
セッションID: 1A1-D17
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
At present, demand for wheelchair is increasing due to the aging population and the growing number of people with disabilities. However, conventional wheelchairs are unable to climb stairs because of the small size of their front wheels. In this study, we focused on the front wheel of the wheelchair and developed a mechanism where the wheel radius increases only when climbing stairs. The purpose of this mechanism is to maintain mobility and safety on flat surface, while reducing the impact on users when climbing stairs and achieving stable running.
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小柳 健一, 鷲塚 寛子, 河相 てる美, 矢野 正晃, 小林 泉
セッションID: 1A1-D19
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Training of the ankle dorsiflexor muscle group is thought to contribute to the improvement of abilities necessary for stable walking, such as the maintenance of dorsiflexion of the ankle joint and balance. In this study, we developed a device that allows users to train by ’Multitasking Exercise’ while sitting in a seated position while watching TV, etc., and examined the effectiveness of this device.
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友貞 雄介, 佐藤 篤志, 古館 裕大, 三上 貞芳
セッションID: 1A1-D20
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Standing up from a chair (STS) is an indispensable activity for daily life. However, it is not an easy activity for the persons who are physically weak due to such as old age. Many power assisting devices for STS are proposed. However, for home and portable use, the assistive device should be light weight without external power. This research proposes a cane-like device which supports pelvis lifting by the user’s own power. Unlike a cane, the bottom of the device is formed as a nonlinear curve, which keeps the pelvis assisting trajectory similar to the one performed by a PT during STS assistance. This report describes the design of the bottom curve and linkage for the proposed cane-like device.
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瀧口 史華, 小澤 隆太
セッションID: 1A1-D21
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
For high performance, it is important that the myoelectric prosthetic hand have an active wrist mechanism. However, the wrist mechanism can be damaged by external forces during wrist dorsiflexion. Here, we describe a dorsiflexion passive mechanism designed to prevent damage to the wrist mechanism and stabilize the posture of the myoelectric prosthetic hand. When the wrist mechanism reaches the limit of dorsiflexion, the gears become passive, allowing the hand in contact with the elastic body to move elastically against external forces. This is the mechanism of the dorsiflexion passive mechanism.
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Takayuki MIYAMOTO, Modar HASSAN, Kenji SUZUKI
セッションID: 1A1-D22
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
A major obstacle to performing comparative experiments with robotic exoskeletons is the difficulty of conducting human research including clinical ethics. Therefore, investigative research tools are needed such as exoskeletons for animals including rodents. In this paper, we propose a robotic rat phantom as a dynamic testing tool for robotic exoskeletons for rodents. We present the developed phantom and preliminary experiments on our previously developed exoskeleton. The result showed that the phantom is capable of imposing perturbations at the desired timing, and helped us estimate the dynamic characteristics of the exoskeleton. The prospect of this project is to perform more experiments on the exoskeleton and brush up on its design and control method prior to animal testing.
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反町 優平, 沓澤 京, 大脇 大, 林部 充宏
セッションID: 1A1-D24
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
As Japan’s population ages, the incidence of falls due to decreased motor function among elderly people has increased. Consequently, there is a growing demand for balance rehabilitation to prevent falls. Traditionally rehabilitation has been conducted on a one-on-one basis between therapist and patient, with evaluations heavily dependent on the therapist’s experience and knowledge. However this method involves a considerable workload for the therapist, which has increased the demand for rehabilitation using automated equipment and quantitative assesment. In this study, we developed a game-based rehabilitation system using multiple-depth cameras and mixed reality (MR) device. The MR device allows for the presentation of moving targets in real 3-D space, while the use of multiple-depth cameras enables tracking of accurate movement tracking with a higher degree of freedom than in previous studies. Our approach aims to alleviate the workload on therapists while also improving the effectiveness of rehabilitation.
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小菅 規央, 藤井 まなみ, Alberto Elías Petrilli-Barceló, Muhammad Nazrin Shah, L ...
セッションID: 1A1-D25
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Post-stroke survivors have lower limb spasticity due to myotonic tonus on triceps of calf. To preserve ankle joint flexibility, the developed ankle rehabilitation device with Bowden cables successfully assists two ankle combination movements: supination and pronation without restricting axes of motions. Trials are conducted with twenty healthy females at the mean age of 21.5 ± 3.2 to determine how the device affects four lower leg muscles: Tibialis Anterior (TA), Peroneus Longus (PL), Medial Gastrocnemius (MG), and Soleus (SOL) during all single movements: plantarflexion, dorsiflexion, inversion, and eversion as well as the two combination movements. It is confirmed that the developed device can implement the six movements, support a wider range of motions with less muscle contractions. There is high expectation on the developed device that it could help stroke survivors to maintain their ankle joint flexibility with natural ankle movement in the future.
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古館 裕大, 千葉 馨, 石田 裕二, 三上 貞芳
セッションID: 1A1-D26
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We have proposed finger rehabilitation robot for in-home hemiplegic patient. In previous study, there remained the problem of not being able to complete treatment in one robot according to degree of recovery due to the housing. This problem leads to another problem such as asking multiple expensive robot, making home rehabilitation difficult. To solve this problem, we have developed the robot that can treat various degree of recovery in one device. In detail, our robot has been developed focusing on (i) the housing that can be customizable according to degree of recovery and (ii) the assist mechanism that can properly assist finger extension whatever load is applied according to pathological grip due to hemiplegia. Our experimental result confirming the upper limit of assist force supposed that our robot has enough force to assist finger extension under load that could conceivably be based on the force of young adult males.
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一寸木 佑, 高戸 了, 戸嶋 和也, 山﨑 一德, 打田 正樹, 森田 良文
セッションID: 1A1-D27
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In our previous study, we have developed the testing and training device of adjustability for grasping force “iWakka” and verified its effectiveness in various medical applications. In this study, we developed an all-in-one type Wakka to make iWakka compact, which is called All-in-one Wakka. A bridge and amplifier circuit, a microcomputer, a BLE module, and a battery, which are the components of the conventional iWakka, are mounted in All-in-one Wakka having the basic structure of the conventional grasping body “Wakka”. The results of comparison experiments show the compliance characteristics of All-in-one Wakka, which are the relationship between the amount of deformation and the grasping force, are the same as those of the conventional Wakka.
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一ノ瀬 龍一, 太田 英伸, 香川 高弘, 田辺 茂雄, 大高 洋平
セッションID: 1A1-E02
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
While walking up a step with a wearable robot, large range of motion of the leg joints may induce an overload of the actuators, losses of balance, and fall. In this paper, we propose a telescopic mechanism for walking up and down a step by a wearable robot. We develop a device to lift and descend the user by pantograph mechanisms under the soles of the wearable robot. In the feasibility test, we confirmed that the device could lift a user up to 164 [mm] in 35 [s], which suggests that the device allows users of the wearable robot to move safely over steps.
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矢島 玲菜, 加藤 龍
セッションID: 1A1-E03
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
On bedside rehabilitation for young children, it is important to perform rehabilitation with voluntary muscle contraction to prevent disuse muscle atrophy. Recovery of physical function requires continuous and repeated rehabilitation. However, that's hard for young children owing to lack of motivation for rehabilitation and having difficulty communicating. In this study, we proposed and developed a bedside rehabilitation assist system for young children that encourages voluntary muscle contraction and continues rehabilitation. The proposed system realizes various rehabilitation, and induces voluntary muscle constructions of the whole body above a set threshold through an interactive myoelectric toy. As the result, we suggested applicability of the proposed system to rehabilitation.
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―健常児に与える効果の検証―
古賀 洋平, Qi An, 倉爪 亮
セッションID: 1A1-E04
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
This study is developing a device replicating the intervention skills of physical therapist (PT) that enables children with cerebral palsy to receive rehabilitation at home. Previous studies have measured the PT’s intervention skills and examined the effects of intervention on motor function. This paper describes the development of a stimulation device that replicates the PT’s skills identified in the previous study and experiments to verify the performance of the device. We developed a device that stimulates foot sole using a pneumatic actuator. It was tested whether the device could intervene with the same force as PT on a healthy child. The results showed that the device exerted less force than PT. We also examined the change in motor function before and after the intervention by the device. The results showed that the device tended to improve motor function after the intervention, with a decrease in foot pressure center sway and a decrease in lower limb muscle activity.
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青戸 一晃, 野上 大史, D.S.V. BANDARA, 荒田 純平
セッションID: 1A1-E05
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Recently, the needs of body movement support based on robotic technology arise for both Activities of Daily Living (ADL) and rehabilitation therapy. In both cases, the device is required to be compact and lightweight often in a wearable fashion, to effectively support the wearer’s movement without hindering the limb’s motion. In this paper, we propose a pronosupination support device driven by an elastic strip which provides a compact and user-friendly design, thanks to its effective power transmission. In this paper, the concept design, prototype implementation, and preliminary evaluation are reported.
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伊多波 辰徳, 和田 佑生, 石橋 凌, 矢木 啓介, 森 善一
セッションID: 1A1-E08
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
This paper presents a portable patient lift that helps contracture patients transfer from a wheelchair to a toilet seat. Various types of patient lifts have been developed to support transferring. However, most of conventional patient lifts are large, expensive, and difficult to operate in narrow spaces. Moreover, they require patients to keep standing position. We have developed a portable patient lift that helps patients transfer in a seating position. A caregiver can lift a patient with weak force using a manual hydraulic jack. This paper also presents changing diapers with this patient lift. The experimental and analysis results show the usefulness of this patient lift.
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楊 辰巳, 島 圭介, 島谷 康司
セッションID: 1A1-E09
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Multifunctional control of EMG-based man-machine interface requires users to generate separated electromyogram (EMG) patterns. This paper proposes a training system to improve the consistency and separability of users’ EMG patterns based on the usage of functional electrical stimulation (FES) and motion selection method. User is capable of contracting target muscles by FES. Motion selection method selects suitable motions (EMG patterns) for each user by eliminating similar ones. Motion classification is performed with a probabilistic neural network using feature patterns extracted from EMG. Experimental results demonstrated that the proposed system is effective for generating separated EMG patterns consistently. It is therefore assumed that proposed system can be used for interface control training.
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剣持 竜也, 関野 晃聖, 大村 俊介, 落合 颯太, 荒川 拓也, 齊藤 靖, 齋藤 敬
セッションID: 1A1-E10
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Currently, our research on the Convex-type telescopic mechanism (commonly known as the tape measure arm) has received increasing attention from the society and various joint research projects have been conducted. This mechanism could be applied to elderly and paralyzed lower body to support walking and standing movements by means of a telescopic mechanism. One of the major features of the tape measure arm is the use of steel shaped like a measuring tape and constructed like a dynamic pulley, which allows the arm to expand and contract. To prevent unwinding, this mechanism can wind and feed the steel strip directly from the reel. The Type-L Telescopic mechanism employs a new four-section linkage mechanism to reduce the number of degrees of freedom, thereby improving driving force and stability. The specifics of this study are described in this report.
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亀澤 音羽, 横山 広充, 吉川 雅博
セッションID: 1A1-E11
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Exoskeletons and extension devices have been developed to support person with finger dysfunction. However, using these devices was difficult depending on the degree of the user's dysfunction and the object to be grasped. We propose an assistive hand device controlled by a flex sensor. Since it is worn on the forearm and grasps objects instead of the user, it can be used regardless of the degree of the user's dysfunction. Its grip force was 2.1 N. A SHAP test and operational test of daily objects showed the effectiveness of the device.
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中井 唱, 中嶋 貴也, 後藤 知伸
セッションID: 1A1-E16
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Because bacterial swimming in the aqueous solution is not affected by gravity, three-dimensional measurement is required to know the swimming trajectory. We tried to track a bacterial cell by detecting the focus deviation of the object moving in the microscope field and by controlling the piezo element installed on the objective lens. Because the cell appears to be black and white depending on the distance from the focal plane in the light microscopy, we detected both cells in the image processing. We succeeded in capturing a bacterial cell that repeats straight swimming and random direction changes in the field of view for more than 10 seconds.
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徳山 健太, 大久保 宏紀, 伊東 明俊
セッションID: 1A1-E17
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We have been investigating how to use Paramecium for bio-micromachines. Paramecium was controlled by the weak electrical field by applying their negative galvanotaxis. In our previous paper, we succeeded controlling paramecium very stably for over 100 laps along the star-shaped target route in the vertical plane pool. We also succeeded to transport the object by using Paramecium. The transportation efficiency, however, was very bad due to the paramecium’s soft and fluid dynamic round body. Therefore, we tried to make the operation tool for paramecium. In 2005, we succeed to attach the washer-like shaped operation tool made of polypropylene film. The attachment technic of operation tool, however, is very difficult and we could not reproduce the condition of wearing the operation tool with paramecium with keeping the physiological activity. In this report, we reproduce this condition by improving the attachment apparatus, procedure and observing camera resolution.
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片桐 涼太, 釜道 紀浩
セッションID: 1A1-E18
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
The purpose of this study is to develop a variable friction device that can be mounted on a mobile robot. The change in friction is created by moving protrusions in and out. A dielectric elastomer actuator is applied to construct a thin device. In this paper, as basic verification, selection of protrusions materials, prototyping of the variable friction device, and its verification were conducted.
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吉村 駿之介, 鈴木 天馬, 板東 正祐, 勇崎 颯太, 河原塚 健人, 岡田 慧, 稲葉 雅幸
セッションID: 1A1-E19
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We propose a design method of a kangaroo robot that integrates bio-mimetic and analytical techniques. Based on the characteristic body structure of kangaroos, such as their powerful legs and flexible tails, we constructed a life-size, high-output, and flexible robot driven by wires. We also conducted individual motion experiments using the hind legs and tail of the developed robot, as well as a jumping experiment from a three-point landing using both hind legs and tail.
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村山 志揮, 入澤 宏太朗, 福原 洸, 石黒 章夫
セッションID: 1A1-E20
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
The Plesiosauria are a group of aquatic reptiles lived from the Late Triassic Period into the Late Cretaceous Period. They were unique because they evolved four large wing-like flippers almost always identical in size and shape. Due to this unique body structure, it has been assumed that plesiosaurs may have performed a unique swimming style. However, the locomotor patterns of plesiosaurs are yet to be understood. To reconstruct their locomotion, we develop plesiosaurs-like robots and aim to understand the role of plesiosaurs trunk and verify plesiosaurs swimming stability through robot experiments. In this paper, we focus on the relationship of inter-flipper and trunk coordination in plesiosaurs locomotion because previous studies have verify flipper coordination without plesiosaurs trunk.
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福原 洸, 天池 隼斗, 郡司 芽久, 増田 容一, 多田隈 建二郎, 石黒 章夫
セッションID: 1A1-E21
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Carnivoran mammals (e.g., lion and bear) utilize their forelimbs as locomotors and manipulators depending on situations (e.g., walking and feeding). We call such body parts exhibiting situation-dependent functionality “polysemantic body” and expect a new design principle for versatile robots. In this study, we focus on pronation-supination motions of the carnivorous forearm and measure the torsional stiffness of an Asiatic black bear’s forearm with altered vertical load for body support. The results suggest that the interlocking mechanism via the superficial muscles realizes the vertical load-dependent torsional stiffness.
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坂口 正道, 吉村 基
セッションID: 1A1-E22
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We have devised a table tennis training system that can visually feed back the evaluation of the trainee’s receiving technique using live-action hitting images in VR space. In this paper, we describe the outline of the system and the results of the evaluation experiment.
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中田 凜太朗, 田村 雄介, 平田 泰久
セッションID: 1A1-E23
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
Knowing one’s own movement and form in a sport, and getting close to the ideals, is essential for improvement in that sport. In cycling, pedaling motion and upper body posture are especially important for the rider to understand. Pedaling measurement methods are widely available. On the other hand, there is no easy way for riders to know their upper body posture. Therefore, we estimate upper body posture by using sensors that can be mounted on a bicycle. In this study, we measured the load on the handle and estimated the upper body posture based on the load. We created neural network models with the load as the input and the joint angle of the upper body as the output. The estimation accuracy was high when the model was based on personal data, but there was a problem with estimation accuracy when the model was based on other people’s data.
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山本 希帆, 佐藤 大祐
セッションID: 1A1-E26
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In this paper, we have simulated and analyzed a forward jump motion using our proposed method of generating and controlling whole-body motion based on angular momentum distribution, and evaluated the effect of arm swing movement on the whole-body motion from the results. Consequently, two important points become clear. One is that by utilizing the arm swing movement controlled by the reference values of the spatial acceleration and the rate of change of the system angular momentum at the tips of both hands, it is possible to generate an appropriate posture to tilt the upper body forward in the preliminary movement before takeoff without giving the desired value directly to the waist. The other is that the ground reaction force and the joint torques at the hip, knee, and ankle joints around the y-axis of each leg are reduced by the condition of slightly negative system angular momentum at takeoff.
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神 孝典, 小林 泰介, 松原 崇充
セッションID: 1A1-E27
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In this study, Passive Dynamics Autonomous Control (PDAC) is handled within the framework of model-based reinforcement learning to achieve footpstep planning. By introducing a double support phase into PDAC, the amount of conserved quantities are adjusted to stabilize gait control. Afterwards, neural networks are used to learn the transition of the conserved quantities depending on the footstep and their target values as a dynamics model. Using the dynamics model obtained from the learning, it is possible to execute the footstep planning considering the states of multiple steps ahead. In the experiment, when a desired goal position was given, the behavior of the robot approaching the goal position was confirmed within the range in which walking can be stabilized.
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田崎 勇一
セッションID: 1A1-E28
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
A new design of bipedal walking robot that utilizes 6-dof parallel link mechanism for each leg is proposed. Reducing the weight of the legs is a crucial requirement for realizing rapid walking and fall avoidance involving multiple stepping. The parallel link design enables embedding all leg actuators in the torso and thereby significantly reduce the weight of the legs. The result of basic kinematic analysis of the proposed leg mechanism is reported.
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姫野 智弥, 真壁 佑, 矢野倉 伊織, 岡田 慧, 稲葉 雅幸
セッションID: 1A1-F02
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
If a robot has multiple mobile functions and can use them according to the environment, the robot can adapt to more various environments. There are two main modes of locomotion on land: legs and wheels. In this research, by constructing a wheel-mounted humanoid, we clarify the elements necessary for Cthe design of the body system which has multiple locomotion and the realization of such robot behavior. As an experiment, walking and wheel movement, morphological transition depending on the environments, a task using both arms was conducted. The results of this research show that the compact wheel layout and motion decision based on environmental information.
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小西 将徳, 小島 邦生, 岡田 慧, 稲葉 雅幸, 川崎 宏治
セッションID: 1A1-F03
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In order for a humanoid robot to balance on the movable ground, balance feedback control in response to its unpredictable movement is required. However, feedback control in response to ground movement has the following two issues, (A) Interaction between the ground dynamics and the balance control may cause vibration. (B) The balance control may rather deteriorate the stability due to the response delay. To solve these problems, this study proposes the support foot acceleration term in the walking stabilizer and gives its gain by considering the following two conditions, (A) Avoiding steady-state vibration in a two-mass linear inverted pendulum model on an arbitrary ground, and (B) reducing the influence of inertial forces resulting from the delay of ZMP feedback. Experiments with a life-size humanoid JAXON verified the steady-state vibration phenomenon and improved the stability of acceleration and deceleration when boarding the Two-Wheeled Scooter.
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森 勝也, 池田 篤俊
セッションID: 1A1-F04
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
For effective acquisition of motor skills, proper internal force control is important in addition to posture. Although motion capture systems and force plates are generally used to measure and evaluate movement, accurate measurement of internal force is difficult. We aim to establish a method to measure mechanical properties and estimate internal force by analyzing bone-conducted sound propagating through the body. In this paper, we report on the measurement of vibrations propagating through the upper arm when the ball strikes the racket in the tennis volleying motion, and the differences depending on the grip of the racket and the degree of skill of the subject. The experimental results indicate that there is a difference in the vibration characteristics between experienced and inexperienced players.
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代田 和輝, 柏木 昭彦, 木口 量夫, 西川 鋭
セッションID: 1A1-F05
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In this research, we developed a device that suppresses dorsiflexion of the wrist in the backhand action of table tennis and verified that the device improves the movement form of the player. To test the device, an evaluation experiment was conducted with four subjects in the experimental group and four subjects in the control group. Comparison with the control group revealed that all but one of the three subjects in the experimental group tended to suppress wrist motion when wearing the device and to swing while utilizing their elbows. When the device was removed, the three subjects tended to move their wrists less than before and to swing with their elbows, indicating an improvement in their form.
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―リアクションステップがレシーブ対応動作に与える効果の検証―
趙 健博, 相原 伸平, 田中 翔太郎, 岩田 浩康
セッションID: 1A1-F06
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In badminton, the effectiveness of the reaction step (RS), which accompanies three-dimensional movement of the center of gravity, has been reported to improve receiving skills. RS is a technique to acquire the elastic force of the leg muscles and tendons by jumping lightly to quickly move the center of gravity. However, at present, the evaluation is limited to the laboratory environment, so a system that can measure the center of gravity during play is required. The purpose of this research is to develop the above system and to verify the effect of RS on the receiving motion.
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作農 匠海, 山口 友之
セッションID: 1A1-F07
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
This study focuses on the pressure distribution on the skateboard surface, which is considered to have a significant influence on skateboarding, and aims to develop a system to support beginners in acquiring skills by providing feedback on the gap between failure and success in skateboarding. In this paper, we report on the development of a resistive pressure distribution sensor, the evaluation of the sensor, and the characteristics of different levels of skateboarding skill through experiments. As a result of the experiment, it was found that there is a big difference between experienced and inexperienced skateboarders in the magnitude of the blurring of the center of pressure (COP) in the straight motion of skateboarding.
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松本 陵汰, 大竹 博
セッションID: 1A1-F08
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
The objective of this research is to develop a flapping flying robot that can achieve bird-like flight using helium gas-infused airfoil-shaped balloon wings. Wings must have an airfoil shape in order to generate lift by flapping its wings. However, the wing becomes heavy when it has a skeleton to achieve the airfoil shape. In this research, we used aluminum balloons filled with helium gas to create airfoil-shaped balloon wings similar to actual bird wings, and tried to measure lift and thrust and perform flight experiments.
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小ノ澤 義伸, 矢木 啓介, 森 善一
セッションID: 1A1-F09
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We develop a small jump robot that mimics a unique joint of some small creatures. Issus coleoptratus nymphs have a gear-like mechanism on the hip joint to synchronize the rapid leg motion for stable jump and snapping shrimps can close their claw instantaneously because of the energy storage function of the claw joint structure. We adopt these principles of motion generation. Moreover, to enhance the performance, we employ an additional spring-latch mechanism and a structural elastic leg. Integrating these ideas, we first design a simple jumping mechanism and then install an actuator and battery for releasing the latch. The experimental results show that the developed jump mechanism jumps up to about 270 cm with maintaining posture. Also, the jump robot equipped with the actuator performs the jump of 135 cm, which means that the robot achieves a compatible takeoff speed with the best record of Issus coleoptratus nymphs.
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古澤 典大, 早田 圭之介, 松久 直司, 高橋 英俊, 石上 玄也, 小川 純, 浅井 誠
セッションID: 1A1-F10
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
A biomimetic jellyfish robot was fabricated using ionic polymer-metal composite (IPMC) actuators. To mimic the curved shape of jellyfish, the robot was heat-treated to obtain a permanent hemispherical initial deformation. The shape and swimming behavior of this underwater robot is based on the shape of a species of oblate jellyfish known for its high locomotor efficiency. IPMC was used as the actuator to propel the jellyfish robot by contracting the bell. The robot was fabricated with a single IPMC and the electrode portion was minimized to reduce the robot's size and weight. Furthermore, to increase the amount of bending of the IPMC, eight different etching methods were tested on the Nafion film and optimized by comparing them with the amount of bending of the generated IPMC. As a result, the IPMC etched by laser surface processing showed the largest amount of bending and the bending angle exceeded 90°.
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保科 潤, 村山 友太, 中田 敏是, 劉 浩
セッションID: 1A1-F12
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
It has been reported that flying organisms like birds and insects have wind-sensing organs on their body surfaces that help them predict and control their body posture before being affected by wind gusts. This study developed a wind sensor that is inspired from the deflection of birds feathers due to the effect of wind during flight. The bird-inspired wind sensor is composed of a rectangular film with a magnet and reacts with a Hall sensor in the wing to obtain a voltage variation depending on the deflection. The study evaluated the characteristics of the wind sensor on a flying robot in a wind tunnel. The results demonstrated that the wind sensor value fluctuates just prior to stall, indicating that detecting stalls prior to attitude changes by wind disturbances may lead to improved flight stability.
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ロボット実験室でできる省スペースの解剖法
増田 容一, 郡司 芽久, 福原 洸
セッションID: 1A1-F13
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
The inability to see, touch, and feel the inside of an animal is a major obstacle for engineers who are fascinated by living organisms Because there are many challenges for engineers who are not accustomed to performing dissections, such as hygiene, odor control, and space allocation. In this paper, we present a recipe for the dissection of meat in engineering laboratories for engineers who are interested in the structure of animal bodies.
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髙橋 景虎, 恩田 一生, 阿部 一樹, 渡辺 将広, 多田隈 建二郎, 昆陽 雅司, 田所 諭
セッションID: 1A1-F15
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
In this study, a linear mechanism with variable stiffness that can extend, contract, and rotate in three dimensions is proposed and realized in principle. The previous studies have allowed for variable stiffness in two axes of extension, contraction and joint rotation, but only on a two-dimensional plane, and there have been no reports of such a mechanism that can operate in a three-dimensional space. If a variable stiffness mechanism that can extend, contract, and rotate in three dimensions is realized, it will be a new technology that can be used not only as a variable stiffness element, but also for applications such as posture maintenance assistance. In this study, the desired variable stiffness linear mechanism was realized using a circular joint based on a circular comb-like thin plate structure.
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横田 雅司, 高岩 昌弘
セッションID: 1A1-F16
発行日: 2023年
公開日: 2024/01/25
会議録・要旨集
認証あり
We developed two types of non-wearing power assist devices that allow the squat method. One is a pneumatic power assist device that uses a pneumatic actuator, the other is a passive power assist device that uses only springs. The support effect and muscle burden over time were evaluated using EMG and floor reaction force through lifting motion support experiments for these devices. From the experiment result, it was confirmed that the muscle burden of the subjects were significantly reduced, which prove the effect on one-side support using both non-wearing assist device. In addition, we measured the posture of the lifting motion by motion capture cameras, analyzed the lifting motion by a musculoskeletal simulator. Accordingly, We investigated the influence of the no-wearing type power assist device on one side support.
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