Currently, there are many things that support the daily life of Upper limb handicapped person such as artificial hands, but very few things that support elaborate movements such as sports. Therefore, I focused on the underarm throw used in boccia and thought that reading the important parameters of the throw would lead to support. In this study, we investigate data on body parts related to important parameters in pitching. If it becomes possible to estimate the pitching intention from this result, it is considered that it will lead to the support of the upper limb handicapped person.

The purpose of this study was to reveal the effects of using the jelly-type protector on the gripping force and the performance in ball-throwing. The nail works to catch the force from given the finger pad and plays the important role of physical exercise. However, the nail problems such as flat nails and spoon nails have been reported in these days, so that it is necessary for the approach to prevent them. It seems that a jelly coat on the fingernails qualitatively affects the gripping force. From the above, we measured the relationship between the fingernails strain and the gripping force with 3 conditions (no-jell, 3layered jell and 5layered jell on their fingers of their dominant hands). In this study, bidirectional strain gauges are mounted on radial and ulnar side of each finger and gripping force sensor were made for acquiring the gripping force in each finger. As a result, it was apparent that the jelly-type protector decreased the strain of fingernails by making a multilayer on it.

In order to consider the trajectory of the Turbojav, a wind tunnel test was performed using Magnetic Suspension and Balance System (MSBS), and the longitudinal three-component force was measured. The flight trajectory of the Turbojav was calculated from the measured aerodynamic force, and the throwing conditions were optimized using NSGA-II. It was found that the point where the flight distance of the Turbojav strongly depends on the initial speed and the point where the optimum release angle is around 40 deg are similar to those of the competition spear. On the other hand, the Turbojav had a large pitching moment, so the angle of attack during flight tended to converge to 0 deg, and it was found that the flying distance was less affected by the initial angle of attack compared to the competition spear. Based on these facts, in the Turbojav practice, the main focus should be to provide a larger initial velocity at a projection angle near 40 deg, and by throwing consciously at an angle of attack near 0 deg, the flight distance will be maximized. It can be a useful exercise for the Javelin sport as well.

In this study, our purpose was to develop a method to analyze the presence or absence of contact between the ball and the fingertip during the ball release phase of the throwing motion in American football, and verify its validity. Further, using the fingertip contact analysis method developed in this study for the throwing motion analysis, we tried to analyze the contact between the ball and the fingertip during the release phase. In the developed method, the presence or absence of contact is analyzed using only the position coordinates acquired by the motion capture system. The fingertip contact analysis boundary positioned at a distance of each fingertip thickness from the ball surface is formulated into a mathematical expression. If the marker attached to the fingertip is located closer to the ball surface than the boundary, it is judged as contact. The validity of the developed method is verified by simultaneously measuring the simple action of touching the ball with the fingertips and releasing it using a motion capture system and a high-speed camera, and comparing the contact frame analyzed by the developed fingertip contact analysis method with the contact frame visually judged from the image of the high-speed camera. Since the difference was within two frames before or after, the developed method is considered appropriate as a method of performing fingertip contact analysis. When using the developed method in the throwing motion analysis, since the order in which the fingers left the ball was the same, and the intervals between the fingers’ departure from the ball showed a similar tendency in all the four throwing attempts by the same subject, it is suggested that this method is valid as a method to obtain the fingertip contact analysis characteristics in the release phase of throwing motion.

The objective of this study was to investigate influences of the operability on the structure of a competition wheelchair using a manipulability which was obtained from an inverse dynamics analysis. The simulation model was represented by restraining the contact area between the frame and seat of the wheelchair and the body model. The body model was constructed by decreasing strength of trunk muscle. Wheelchair models were constructed by varying the range of axle positions. A hand manipulability α was defined as the angle between the tangential vector of the wheel and the major axis of manipulating force ellipsoid which was available for evaluating a robot arm, and the α was calculated from the posture of the upper limb. This study investigates the relationship between the α and the posture of upper limbs with change of the structure of a competition wheelchair to evaluate the operability. As a result, a few of axle positions have a strong effect on the α which tends to depend on the posture of upper limbs at the beginning of push phase. Therefore, the α has a possibility of evaluating the structure of a competition wheelchair with a view to improve the performance of the wheelchair operation.

Recently, in the field of sports, studies have been actively conducted to collect and analyze human behavior data from various sensors for assisting exercise. However, there are very few studies targeting disabled subjects. The purpose of this study was to suggest a model for oxygen intake estimation in driving a wheel-chair using a wearable device and to assist the exercise of wheel-chair users. The suggested model estimated the heart rate transformed from the data of 3-axis sensors using machine learning. The sensors were attached to the undercarriage of the wheel-chair. Input to the suggested model were acceleration toward a driving direction, lateral acceleration and heart rate. The suggested model estimated the heart rate every 12s. When the suggested model was applied to oxygen intake estimation during normal driving of the wheel-chair, it was confirmed that estimation was possible within 1.83 ml/ml/kg mean absolute error.

Measurements were made using a three-dimensional motion analysis device and a body pressure distribution measurement device to improve driving efficiency of a Single-Hand-Operation Wheelchair by setting the seat surface angle. The results showed that the angular change of the torso was larger on the other 5 seating surfaces than on the 0° planar surface, while the angular change of the arms tended to be smaller on the other 5 seating surfaces. In the seating pressure measurement, there was a significant difference in the wobble of the center of the pressure at the pitch down 10°. The results showed that the diagonal up-and-down direction and the pitch down 10°seating surface reduced the angular change of the arm joints, indicating that the robot may be effective for shoulder, elbow, and hand movements, which are prone to joint disorders.

Since wheelchair tennis players sprint a short distance frequently, it is necessary to evaluate the pushing motion and the propulsion performance of the wheelchair in the pushing motion. In this study, the multibody dynamics simulation model of a human and a wheelchair was constructed for the evaluation without any experiments. The human and wheelchair were defined as rigid body links. In the human model, eight joints (waist, thorax, right and left shoulders, right and left elbows and right and left wrists) had one or three degrees-of-freedom and the other joints had no degree-of-freedom. The wheels and casters in the wheelchair model had one degree-of-freedom to rotate so that the wheelchair ran straight. In order to represent sitting, a constraint force was defined between a point in the pelvis and a point in the seat. In order to represent grasping the handrim, virtual spring and damper forces were defined between a point in the hand and a point in the handrim. The contact force between the wheels and the ground was defined by using an existing tyre model. The pushing motion by a skilled player was measured and put into the model. A simulation in which the wheelchair ran on the ground was conducted. As a result, it was confirmed that the wheelchair propelled forward with acceleration.

In this study, we used two types of badminton competitive wheelchairs, backrest made of the same material as the mainframe and a new one. The purpose of this study is to evaluate the difference in wheelchair performance and wheelchair operability of athletes. The motion in driving was captured and analyzed using the three-dimensional motion capture system. Subject was a representative from Japan. This experiment led to the following result; when comparing different backrests, there was no difference in the average maximum speed, and the speed tended to increase depending on the direction of travel. This result was thought that good for the subject’s dominant hand and habit for stroke direction.

This paper proposes an estimation method of 3D posture in a double-leg circle on a pommel horse using an inertial and magnetic field sensor. A motion of double-leg circle on a pommel horse is conducted mainly 2-axis rotational motion, and the motion is kept the spinning. The singular value problem is generated in the Euler angle-based 3D posture estimation. Therefore, we established the 3D posture estimation method using the two pair quaternion. This method estimates the quaternion about roll and pitch angles and the one about yaw angle. Furthermore, we conducted the Lissajous waveform drawing using the information of 3D posture information. The estimation method can avoid the singular value problem, and it is not necessary for estimating the quaternion about yaw angle to use diagonal angle. Hence, the estimation method of 3D posture can be used for sports performance analysis by using inertial and magnetic field sensor.

The ball pitching machine (shooting machine) is used for practice of the ball game sports. However, there are few pitching machines that can throw a ball with a gyro spin, such as a football or rifle bullet, in which the axis of the ball spins in the same direction as the ball travels. In this study, we have developed a new baseball pitching machine with a launch mechanism that uses four rollers (two launch and two gyro rollers). From the results of the throwing tests, the pitching machine can throw the balls with a wide range of speeds from 22.2 m/s (80 km/h) up to 44.4 m/s (160 km/h) and all pitch types (no-spin, fastball, curveball, slider and gyroball) at any directions. The throwing accuracy of the pitching machine was higher than other current machines. By the throwing simulations, it was found that the spin performance of the developed pitching machine is further improved.

This paper proposes the estimation method of three-dimensional rotational axis in figure skating jump by iterated Extended Kalman filter and quaternion using inertial and magnetic field sensors. This method estimates the posture information to global coordinate system from the sensor coordinate system and the posture information to rotational axis coordinate system from the sensor coordinate system using the iterated Extended Kalman filter, and the direction component represented by quaternion was estimated by using inertial and magnetic field sensors. We conducted the measurement experiment the triple flip jumps and the quadruple salchow jumps by the high-level figure skater using inertial and magnetic field sensors, and we estimated the three-dimensional rotational axis in the triple flip and quadruple salchow jumps. These results indicated the change of rotational axis during jump by the normalized vector and the projection drawing calculated by the estimated three-dimensional rotational axis, and we indicated the high reproducibility in the triple flip jumps and the difference of characteristics by the difference in success of jump in the quadruple salchow jumps.

Consider the case where the robot hand and the object to be grasped are in point contact with friction between each contact point, and the contact force vector changes when an external force is applied.When an external force is applied to the object, the grasp is stable unless the contact force vector exceeds the friction boundary vector of the contact point, but if it exceeds the friction boundary vector, slippage is suppressed unless the internal stiffness is set. I can't do it and I can't keep track of it. However, it was confirmed that even if slip occurs by setting the internal stiffness, slip can be suppressed by returning the contact force within the friction boundary vector due to the change in internal force due to internal stiffness.Internal stiffness is an internal force that is difficult to see from the outside, and a force is generated according to the displacement between contact points.

As living things are called creatures, because they create movements, movements are essential in our life. And movements are also essential in machines, too, because we want them to work for us. Our world is changing rapidly. It is no more predictable, and it becomes a wide, open world without boundaries. When our world was closed with boundaries, we could apply mathematical approaches in a straightforward manner. So, control has been our basic idea in engineering. And what makes the problem further difficult is materials are getting softer and softer. So, direct interaction with the outside world increases its importance. Thus, haptics is quickly increasing its importance. But the octopuses which are on the opposite side on the evolution tree, because they are invertebrate, and humans are vertebrate. As the octopuses die immediately after their babies are born, they do not inherit knowledge from their previous generations. They live on their instinct alone. But they can negotiate any environments and situations and they can escape. This is because instinct is deeply associated with the strategic decision making. But when we look at the current engineering, we pay attention and efforts to improve particular technologies. Thus, our traditional engineering has been tactical. But to cope with the widely and frequently changes of environments and situations. We, humans, need such strategic decision making ss the octopuses are practicing. This paper describes the importance of instinct with special attention paid to movement coordination.

To create beautiful movements ins sports and smart and flexible movements in our daily life, we need to coordinate many body parts. But most of the movement researches study only movement control.

As muscles harden and move together with our skeleton, when we get close to the target object, our movement trajectory becomes fixed, so that we can apply mathematical approaches and control its movement. But in sports and in our daily life, we need to coordinate many body parts, because muscles move separately from skeleton. Thus, coordination plays an important role to create movements, but there are very few researches on coordination. As it involves a large number of dimensions, Euclidean Space approach we have been using up to now in control-based studies cannot be applied anymore. Even if we may be able to apply it, the curse of dimensionality emerges, and it cannot be processed. But if we observe babies, they learn to walk on their own instinct, and grow and learn how to cope with the real world. So, in this paper, Mahalanobis Distance-Pattern approach, a holistic performance indicator is proposed to help our instinct perceive the situation and to help us make a decision to move adequately or beautifully. This will contribute to creating beautiful movements in sports and in our daily life. As the etymology of sports indicates, i.e., sports mean pleasure, MDP Approach is expected to bring us enjoyment in sports and in our daily life.

Recently, human pose estimation using machine learning has been used in various fields. In the field of sports, human pose estimation has been applied to motion analysis and skill evaluation in baseball, tennis, soccer and other sports. In wheelchair sports, it is possible to derive an index to evaluate wheelchair skills by combining the pose estimation data of a human and a wheelchair. However, there are no reports of pose estimation including wheelchairs. The purpose of this study is to develop a pose estimation model that combines human and wheelchair from a RGB camera image. Based on the human pose estimation model, we retrain the model using a dataset that includes feature points of a human and a wheelchair, and evaluate the model. Furthermore, we proposed a method for detecting wheelchair push motion from pose estimation data, and evaluated it using a 3-axial accelerometer and video.

Friction between shoes and floor is crucially important in Ballroom dancing and in other types of dancing. Dancers feel sometimes that the floor condition is too slippery and in some other cases feel rather too sticky. In this study a simple mechanical model is presented for this friction movement and is analysed to obtain the adequate condition for the stable smooth dancing. The intended normal and tangential forces to the friction surface are matched to the smooth dancing movement and the resultant forces are derived from the mechanical model composed of the mass, spring and the friction coefficient which is a function of the relative velocity. The stability is examined with parameters in the friction analysis.

This study focuses on the landing of a grand jeté, focusing on the angular changes and the angular velocity of the three joints of the lower limb as the lower limb posture. The purpose of the study was to investigate the relationship between impact force and lower limb posture, and from a kinematic point of view by comparing the difference between the left and right lower limb three joint angles during landing. Eight female professional ballet dancers were subjects. The results showed a negative correlation between max FZ and ankle angle change and hip mean angular velocity, and a weak negative correlation between max FZ and hip angle change. However, there was no significant difference between the left and right leg landings. There was a significant difference between the angle of the hip joint at the moment of landing and the angle of the hip joint at max FZ. When a dancer lands on the right leg compared to the left leg landing, the dancer is likely to land with the lower leg posture extended until just before landing.

Korean traditional dances have been utilized for health program for the elderly and their effects of maintaining and promoting health have been verified through previous studies. This study conducted an interview on participants who experienced basic movements of Korean dances. In the interview, they were asked to answer their mental and physical states during the experience. The participants’ answers were analyzed by means of text mining. The purpose of this study is to clarify mental and physical effects and mechanism of the movements of Korean dance.

The objective of this study was to develop an evaluation index for the performance of a table tennis rubber with pimples structure and to investigate the effectiveness of the index by grasping effects of the index on the ball rebound behavior using finite (FE) element analyses. A porosity, which was defined as the ratio of the volume of pimples that depended on the pimple height and diameter and the distance between pimples, was proposed as the index for evaluating the rubber in view of the 3D shape of pimples structure. The FE model of the sandwich rubber which was composed of a rubber and foam layers was constructed with non-linearity, strain rate dependency, and energy absorption. The high accuracy of their material models has been confirmed by comparing with experimental results. Impact analyses were conducted using the developed models of ball and rubber with different porosity. The tendency of simulation results of the ball rebound behavior tended to change with a certain value of porosity. It is considered that the trend is due to the fact that the effect on the rebound behavior tends to be different between the case which the porosity changes in the range smaller or larger than the value. The porosity, which can express changes in the rebound behavior of the ball, has the potential of evaluating the rubber with pimples structure.

The effect of an impact on the human body is a major concern at contact sports such as football for safe playing. In particular, regarding head injury caused by a severe impact, it is necessary to investigate its injury occurrence mechanism and establish an accurate evaluation method. However, there is a big challenge to investigate the effect of an impact on the human body that an experiment with the human body is very difficult to carry out. In this study, based on the videos of the scene that a head injury occurred in a football game, we modeled the condition of its injury scene and analyzed the effect of the impact on the human body. We used three types of human body finite element model; Hybrid III normal model, Hybrid III fast model, and THUMS. In addition, we improved the analysis accuracy with Hybrid III fast model by remodeling the rigid elements of its back and neck. It was found that THUMS's impact propagation is relatively slow compared to both Hybrid III models. This is thought to be because THUMS has less rigid elements than Hybrid III finite element models. In order to improve the analysis accuracy, it is essential to film the football competition with a motion capture device and verify the validity of the human body finite element model.

In this research, we developed a "sledding type walking machine" that can prevent flail mainly in snowy areas by using a force sensor and an optical three-dimensional motion analysis device. Using the further developed walking machine, It was evaluated mechanically by an analyzer. Using the measurement data of the motion analysis device, the position of the center of gravity on the Z axis, the floor reaction force, and the moment applied to the knee obtained by applying Plug-in gait were measured. The position of the center of gravity was lower than that of normal walking, and it was confirmed that the floor reaction force decreased and each moment and reaction force decreased. Furthermore, the results with the wheel type walker were almost the same, and the validity of the sled type walker could be confirmed.

In the recent study, it was revealed that the throw trajectory is changed by speed, number of revolutions, rotation axis degree, the seam shape of the ball surface. We carried out the pitching experiment to the clarify the influence of the angle of inclination to the trajectory of the ball. The pitching test was carried out by 12 pitchers of the baseball club in the university. The IoT ball is used to measure speed, number of revolutions and angle of inclination. The trajectory of the ball measured it using a high-speed camera. The simulation performed the comparison with the serial photographs of high-speed camera. As a result, the throw trajectory changes laterally as the rotation axis degree. In other words, it was revealed that final positions of ball were different by the angle of inclination.

In baseball, there are many different types of balls thrown by pitchers. The changes in trajectory and velocity have a big impact on a game. In general, the trajectory of a ball depends on three factors: spin rate, an axis of rotation, and velocity. On the other hand, some trajectories cannot be explained by only 3 parameters, such as knuckleball behavior and two seam-fastball drop-offs. In this study, we have reproduced trajectories of rotating baseballs by using CFD analysis and evaluate the effect of seams on the ball on aerodynamics and movement of the ball. For the fluid computations around the baseball, we used a simulation code based on Cumulant-LBM. To evaluate the validity of the turbulence computation in the high-Reynolds number regime, we have reproduce the drag crisis and the negative Magnus effect. Firstly, fluid calculations were carried out for two different four seam pitches with different rotation rates. We have confirmed that the magnus effect has become larger and the trajectory changed as the rotation speed increased, as the rotation speed increased. Next, we have performed CFD analysis under two conditions where the velocity, rotation speed, rotation angle were equal and only the position of seams were different. We have found the relationship between seams and ball trajectory by checking trajectories. It is concluded that the two trajectories were very different, and the influence of seams on the aerodynamic characteristics and ball behavior.

The purpose of this study was to compare and evaluate the batting motion of skilled baseball players and unskilled novice. The batting motion, floor reaction forces acting on each foot and swing speed of 6 skilled baseball players and 6 unskilled novice were recorded using a motion capture system, two force plates and speed gun. The batting motion was divided into 4 phases: stance, pivot foot loading, swing(impact), and follow through. This study analyzed movement of the center of gravity, floor reaction force and joint moment during the batting motion, with comparison based on a player’s baseball experience. The result suggests that having a lower center of gravity is better, the footstep of batting is important.

In baseball, pitchers, at a wide range of levels are suffering from severe elbow injuries. To reduce the risk of developing elbow injuries, pitchers should find and grasp technical tips for minimizing the valgus stress. This technical improvement is not easily done primarily due to that the pitcher cannot self-recognize how large the valgus stress applied to the elbow joint during pitching. In this preliminary report, we present our first attempt to find a way to automatically estimate elbow joint valgus stress from the video-images taken by a cell phone. Pitching motions of four adults were recorded by a cell phone and a motion capture system simultaneously and the elbow valgus stress of each pitch was computed for both data sets with an inverse dynamics approach. The comparisons of the corresponding two sets of valgus stresses showed that the average difference was 14.75%. We also found that the error rate varies among the three pitches of the same pitcher. In the future, as a further improvement in accuracy, we plan to analyze the factors of the pitching form that increase the error rate. We also plan to verify the accuracy of various pitchers with different heights, weights and baseball experiences.

The purpose of this study was to investigate the changes in the bat-motion generation mechanism in baseball tee batting at different hitting points during induced speed analysis of baseball whole-body batting motion. The whole-body with bat was modelled as a system of 16-rigid linked segments. One male experienced baseball player, who has 10-year experience and was right-handed hitter, performed a baseball tee batting. He was instructed to hit a teed ball set at his belt height and placed at 3 locations (inside, center and outside) toward the net as strong as possible placed in 3 directions (left, center and right). The motions were captured with a motion capture system, and kinetic data were measured with 2 force platforms and an instrumented bat. The results obtained in this study showed that the flexion-extension torque at the knob-side shoulder joint showed large positive contribution rather at inside ball batting than that at outside ball batting, and that the flexion-extension torque at the knob-side elbow joint was negative contributor to the generation of bat head speed rather at inside ball batting than that at outside ball batting when focusing on upper-body.

This research is about the shape of a sports prosthesis. More than half a century has passed since the first Paralympic Games in 1960. During that time, the record and competitiveness of prosthetic leg runners in sports for the disabled have improved. Improving the technology of sports prosthesis is helping to improve the competitiveness of sports for the disabled.The stress and displacement of the sports prosthesis are analyzed with the finite element method analysis software. It turns out that sports prostheses have spring-like characteristics. We used the stiffness ratio for this result. In addition, we examined how the sports prosthesis could be deformed to have more spring-like features. We found an area to be reinforced from the displacement. As a result, we created a new shape of sports prosthesis. And the prosthesis has a big spring-like feature. In this way, this research aims to optimize the shape of the sports prosthesis.

Transfemoral prosthesis users are easy to fall during running because prosthetic knees for running do not have flexion lock function during stance phase. Therefore, the purpose of the present study was to propose a passive mechanism of transfemoral prosthetic knee to prevent unintended knee flexion during running. The proposed mechanism has a single axis for prosthetic knee flexion–extension. Knee flexion lock function was realized with the force on knee joint along the long axis of the shank part (ground reaction force), and we showed statics of the mechanism of the function. The mechanism limits only flexion and allows extension during the stance phase. During the prosthetic swing phase, it rotates flexion and extension. These functions of the proposed mechanism were verified using a rough prototype. The intact participant with a simulated thigh socket and the prototype performed level walking. As a result, when teeth of the spur gear and stopper in the mechanism were engaged, the knee joint produced extension moment without knee flexion as we designed. Smooth flexion and extension of the prosthetic knee were observed during the swing phase.

The objective of this study was to identify a range of the running-specific prostheses which contributed to its rebound characteristics by investigating the relationship between the strain distribution and the rebound characteristics. The blade with random and point patterns on the surface was photographed using two synchronized high-speed video cameras to quantify the dynamic strain and displacement responses of the blade. Strain responses were calculated by differentiating the distribution of displacement which was quantified by recognizing random patterns in the high-speed images using the digital image correlation method. Vertical and horizontal impact loads were measured with a load cell attached on the impactor and the bending strain responses, respectively. As a result, the strain responses on the hindfoot tend to have a greater effect on the impact load than that on the forefoot, and the load tends to increase as the maximum value of the strain decreases. The ratio of velocity, which is defined as one of the rebound characteristics, also tends to increase with the impact load. This trend suggests that the deformation of the hindfoot contributes to the rebound characteristics of the blade and it may be effective to suppress the deformation of the hindfoot for increasing the rebound characteristics.

Although athletics sprinters with transradial amputation/deficiency can wear arm prosthesis in competition, there have been few researches focusing on arm prosthesis for running and little is known about the effect of arm prosthesis on running motion. In order to investigate the muscle loads when running with forearm prosthesis, the basic musculoskeletal model of a runner which consists of whole skeleton and muscles of trunk and upper extremity was constructed in this study. A trial musculoskeletal analysis with the arm swing motion created manually was conducted. As a result, it was found that the muscle activities of biceps brachii became large when the upper arms pointed downward. In addition, the arm swing motions of the athletes with unilateral transradial amputation wearing forearm prosthesis were measured by the optical motion capture. In the near future, the parameters of the musculoskeletal model will be changed in order to represent the runner wearing forearm prosthesis, and muscle activities of the upper extremity will be calculated by a musculoskeletal analysis with the actual athletes’ motions.

In Japan in recent years, due to the declining birthrate and aging population and the declining working population, factory automation and remote work are progressing. Along with this, it has become necessary to grasp the positions of people and objects. In this research, I focus on indoor position measurement and examine position measurement by wireless LAN. We will verify by the following two methods. One is a method called Triangulation. This method uses position estimation using the relative positional relationship from a reference point whose position is known. This time, we used two wireless LANs and conducted an experiment assuming that the arrival angle is known. In this method, the area to be estimated is divided, data is collected for each divided area, and the position is estimated with reference to the learning data. The accuracy of Triangulation was about 16 cm to 389 cm. In the scene analysis, an error of 3 to 19 squares (about 150 cm to 300 cm) was found in the 50 cm x 50 cm square. From this result, it was found that the position estimation by Triangulation is more accurate. However, if there is an obstacle between the wireless LAN and the receiver, we think that is not the case. In the future, we plan to improve the accuracy and conduct experiments that combine the above two methods.

Dozing driving is the main cause of traffic accidents. In addition, from previous studies, sensory vibration stimulation corresponding to brain waves (β waves) is effective for arousal. In this study, we developed a wearable vibration device to prevent drowsiness while driving and evaluated the scale of drowsiness. In addition, it is effective to give vibration when the arousal level drops. Therefore, in order to detect signs of sleep, we also examined changes in arousal levels .The subject were healthy person of Ichinoseki National College of Technology. The experimental equipment is a wearable heart rate sensor (Union Tool）, a shaking table (IDEX Co.), Brain Activity Monitor(Hb133)(Astem) and a haptic reactor Hybrid Tough Type (Alps Alpine). The subjects were vibrated with a vibration device, and drowsiness was measured by subjective evaluation with KSS and evaluation of autonomic nerves using a heart rate sensor. The autonomic nerve measurement showed a tendency for the LF / HF value to increase. On the other hand, in the subjective evaluation, the awakening effect by vibration was not obtained. Also, no signs of sleep could be detected from the oxyhemoglobin concentration and heart rate. It is necessary to change the experiment method and experiment again.

Makeup is an essential part of a woman's daily life. Most women wear make-up every day and remove it before going to bed. However, when they are tired, they sometimes go to bed without removing their makeup. Wearing make-up at bedtime not only leads to dullness and stiffness of the skin due to the accumulation of unwanted dead skin cells, but also causes the skin to lose its elasticity and sagging. Therefore, if we can remove makeup automatically and without hassle, we can remove it and keep the skin clean even when it is tired. Although research on devices for applying make-up has been conducted, no research has been done on devices for removing make-up. Therefore, we develop a device to remove make-up on behalf of fatigued women. The purpose of this study is to automate the act of removing make-up to solve skin problems and keep the skin clean. Based on previous research on make-up application devices, we review the mechanism and improve the performance of our previously developed device. Specifically, a camera module is added to the device we have made so far, and the state of the makeup is evaluated by image processing. This system uses a USB video class (UVC) camera and a PC (personal computer) to detect the state of the applied make-up based on the differences in the face images before and after applying it.

Since heavy objects are transported in the factory for a long time and repeatedly, the physical load is applied and may cause injury. In such a work environment, to reduce the load, it is devised to avoid lifting up, and the movements performed by humans are often limited to holding, turning, and lifting down. In this work environment, the authors have been conducting research on method for supporting forearms in holding and lifting down heavy loads with braking mechanism. In this research, we focused on the air compressor installed in many factories and worked on the development of an inflatable structure device. During holding a heavy load, the inflatable structure is expanded to increase the rigidity and support the load of heavy objects. In lifting down the heavy load, the lifting down speed is suppressed by limiting the air that flows from the inflatable structure. As a result of the device experience, the possibility of the load reduction effect has been found in the trapezius and biceps, focused on EMG.