As one of the human skills on daily works, we know a handling work that gives regulated slippage for laminated sheets. The handling work is operated in various forms, such as picking out one sheet from laminating papers, counting the number of sheets or bills, and around various materials like as paper sheets, bills, cloth sheets of every size. In this paper, the mechanism for sliding the regularly laminated sheets is observed qualitatively, and is expressed as a sequence of some brief elemental functions. Then, we understand the skill of the various forms seen in the real world as diversity of means to realize those elemental functions. Furthermore, in the process of extended deployment of looking for what can be used as a realization mean of a elemental function, it showed a new possibility that the regulated slippage can be given for the towel or cloth laminated sheets between which we do not see any slippage on daily life. This is shown an example of the validity of the qualitative understanding of skill and its extension.

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In this paper, a countermeasure of pattern formation phenomena by using dynamic absorbers is investigated experimentally. An experimental equipment of a single degree-of-freedom pattern formation system with a pair of contact rotating rolls and a dynamic absorber are made. The experimental results are compared with the analytical results using approximated characteristic roots. According to the results of the experiments without a dynamic absorber, it is confirmed that the relation among the natural frequency of the system, the polygonal number and the rotating speed agree with the analytical results qualitatively. According to the results of the experiments using a damped dynamic absorber, the delaying effect of pattern formation is confirmed. Also, a good quantitative agreement between the experimental and analytical results is confirmed. According to the results of the experiments using an undamped dynamic absorber, it is confirmed that damping of a dynamic absorber is necessary to delay pattern formation phenomena.

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Subsynchronous vibration of high-pressure steam turbine is one of the difficult problems to improve the reliability of power plant. Extensive work has been done to prevent the low frequency vibration of high-capacity steam turbine and most of the problems were practically solved (1). In the future, we must build up theoretical approach to design a new turbine operating under the steam condition of high-temperature and high-pressure. To design such an advanced steam turbine, it is necessary to solve the effect of partial admission on control stage of the steam turbine. This paper describes the experimental results from the scale model of the steam turbine and theoretical analysis of destabilizing forces. In theoretical analysis, destabilizing forces that take partial admission into consideration were analyzed. As a result, it was clarified that large destabilizing force was generated in partial admission condition and the destabilizing force varied periodically by the instant rotor position. In experimental study, we designed the new inlet seal for the prevention against the vibration. From the experimental result that increase of total flow rate leads the system stable, we showed the effectiveness of new inlet seal. And we paid attention to the step-up that is the step between blade and nozzle. As a result, it was experimentally proved that the step-up had a large influence on the rotor stability.

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A mechanism of a squeaking noise due to a friction between a photoreceptor drum and a cleaning blade in a laser printer is presented in this paper. We have already revealed the oscillation is one of a coupled mode flutter via a friction. Then, we try to formulate a nonlinear amplitude equation of unstable vibration due to a coupled mode flutter as following steps. At first, we formulate a nonlinear equation of coupled vibration including the nonlinear component of an external force. Then, we reconstruct the nonlinear equation that consists of only unstable modes via an adjoint system. Secondly, we solve the nonlinear equation by the method of multiple scales, then, we reveal displacement of two modes when the self-excited vibration becomes steady state. Finally, we formulate an amplitude equation by combination of displacements of unstable mode and eigenfunctions given from eigenvalue analysis results, and then we inspect a validity of the led equation by comparing the calculation results of the experiment about some modified blades.

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This paper is concerned with the development of an efficient algorithm for the numerical solution of the fractional differential equation (FDE). The numerical integration of the FDE requires significant computational cost, because the fractional convolution integral included in the fractional derivative, requires O(N²) operations for N points calculation. The kernel of the fractional integral has singularity and consequently excessive small time-step near the singularity is needed to secure the high precision in the numerical calculation. This difficulty is solved by means of a new computational procedure for fractional derivative by introducing the variable trasformation from the physical time to the power time which is newly defined in this paper. The proposed algorithm is used to solved the nonlinear FDE. Computational results are compared with those by the former method (Nasuno and Shimizu, JSME (C), 2006). The proposed method shows remarkably higher performance than the former one.

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A fast computational method is proposed to calculate nonlinear vibration characteristics for elastic blocks supported by plural nonlinear concentrated springs using finite element method. The restoring force of the springs is expressed as power series of displacement. Finite elements for the nonlinear springs are added to the nodal force of elastic blocks modeled by linear solid finite elements. Further, the discretized equations in physical coordinate are transformed into nonlinear ordinary coupled equations using normal coordinate corresponding to linear natural modes. First, the proposed method for the case having plural nonlinear springs is verified. Next, as a numerical example, influences of Young's modulus on nonlinear frequency responses for the elastic blocks with nonlinear springs are demonstrated.

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Although there are a large number of technical papers on vibration of shallow shells, all the previous papers have dealt with shallow shells with uniform curvature to avoid difficulty arising in the variable curvature analysis. Recent products, however, require various surface designs of thin panels from the viewpoint of industrial design, for example, in the fender and door panel designs of commercial vehicles. The present study proposes an analytical method to deal with vibration of shallow shells with non-uniform curvature. An interpolating function is introduced to represent the required surface shape and the corresponding curvature is derived as a function of the position (x, y). The obtained curvature is substituted into the total potential energy of the shell, and the process is shown to derive a frequency equation in the Ritz method. Numerical examples show the effects of non-uniform curvature on the natural frequencies and mode shapes.

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In this paper we examine inexpensive implementation of active noise control (ANC) systems for one-dimensional duct based on experiments carried out on the ventilation system installed in a real house. Two types of time-invariant low-order controllers are compared : One is based on the conventional adaptive filter (the filtered-U recursive LMS algorithm) in which the coefficients are fixed by the stationary values. Another is obtained by a robust control method (sampled-data _??__∞ control). The experimental results show the advantage of the robust control method.

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Active noise control based on the sum of the squared sound pressure and the squared sound pressure gradient is proposed, while the most popular control systems of the past have relied on the squared sound pressure alone. The sum of the squared sound pressure and the squared sound pressure gradient is more uniformly distributed than the squared sound pressure throughout an enclosed sound field, therefore the performance of the proposed control system is less sensitive to error sensing location. Numerical results for control systems based on the squared sound pressure, the energy density, and the sum of the squared sound pressure and the squared sound pressure gradient for a rectangular enclosure are presented. It is found that the proposed method can achieve more attenuation of the global potential energy than the others, since the sum of the squared sound pressure and the squared sound pressure gradient measurement is more capable of observing acoustic modes.

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In this paper, an optimality condition for a sound pressure minimization in an enclosure is considered. The sound pressure in a frequency domain is expressed by scalar product of a structural frequency response function (FRF) and an acoustic FRF. Therefore, the optimality condition is that the amplitude of the sound pressure is zero when structural FRF and acoustic FRF are orthogonal. And reducing the sound pressure, it is needed to reduce amplitude of FRF's or a cosine between them. From this viewpoint, a contour plot which shows optimal state of the sound pressure minimization is introduced. And a novel optimization approach based on the optimality condition is proposed.

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Equipment of sound absorbers mid-air in the duct is an effective countermeasure for anti acoustic resonance in tube bundles of heat exchangers. Its design method, including the number or placement of absorbers in the duct space for efficient performance, was developed based on acoustic FEM. Here, the acoustic characteristics of absorbers, such as effective bulk modulus, loss factor or density of the air within the absorbers are needed. These parameters are evaluated by flow resistance method or impedance tube method. Complex eigenvalue analysis with acoustic FEM is executed which yields the increase of modal damping ratio by the equipment of absorbers. In order to verify the above-mentioned method, the acoustic experiment with the scale model of coal-fired boilers was conducted and experimental and analytical results are in good agreement. Finally this method was applied to the actual boiler plant and based on these results, it was confirmed that the proposed method is the effective countermeasure for the and acoustic resonance in heat exchangers.

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In this report, a method to estimate a non-linearity or a hysteretic characteristics in the vibration response of a structure, whose yield point is not specific and stiffness gradually decreases according to the increase of deformation, is examined. So, firstly, the vibration responses of single-degree-of-freedom system with various characteristics of restoring force are calculated. Secondly, the wavelet coefficients of the absolute accelerations are calculated with wavelet analysis. As the result, the average of the absolute value of the wavelet coefficients of level 1 of the absolute acceleration is found to tend to increase in accordance with the strengthening of the effect of hysteretic damping.

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This paper describes a new six-degrees-of-freedom (6-DOF) motion sensor system using multiple accelerometers. It has been important for measurement and attitude control of mobile robots and vehicles to measure inertial data. However, we have no generic sensor systems that can be installed in small mobile robots and vehicles and can be used to control precisely, and its measurement methods have been subjects of study. So, we propose a new general sensor system that enables installing in them. In our method, six linear accelerometers are arranged like a circumference at a difference position of three points or more, and acceleration signals acquired by each accelerometer are integrated and converted into 6-DOF acceleration. We analyze a stability of our system by simulation and experiment, and demonstrate availability of our system in the multi-degree-of-freedom motion.

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This paper investigates a calibration method of 6 DOF acceleration sensor system using multiple linear accelerometers. So far, it has been considered that a set of 6 DOF acceleration data is to be essential to its calibration. In this accelerometer system, 6 DOF acceleration can be resolved using the geometrical condition of 6 linear accelerometers. Therefore, the measurement error results from the alignment error of the 6 linear accelerometers. And so, we analyze the alignment error and give a caribration method to identify the error only using some limited linear accelerations (acceleration of gravity). This paper discusses its calibration method with experiments for our prototype 6 DOF accelerometer. The results show that the calibration using limited data is possible and has good performance.

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This paper proposes measurements of a 2-dimensional inclination angle of a mirror, and its distance to the mirror, using four infrared LEDs that are located around a position sensitive detector (PSD). The light of each LED is reflected by a mirror and focused on the 2-dimensional PSD through a lens. This method has many advantages. The mirror's inclination angle is able to be measured by two LEDs at opposed positions without having to depend on information about the distance to the mirror. Since the LEDs act as point sources of light, it is unnecessary to have to adjust the axis of light. This device has a simple structure, and the light itself is safe since the source is an LED, not a laser light. It was confirmed that the measurement accuracy of the inclination angle was less than 0.5 degrees in a wide range of -10 to 10 degrees and the result was sufficiently satisfied. This equipment can also measure the distance between the sensor and the mirror with an accuracy of 5 percent.

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To drive safely, it is effective to introduce the environmental recognition system such as the walker detector and the obstacle detector. It is, however, not preferable to show the driver all of information recognized by these systems, because it is difficult for the driver, especially for the elderly driver, to process too much information. Thus, it is necessary to eliminate the unnecessary information that displayed by the driving support system. It is considered that the oversight detection based on driver's gaze estimation will become powerful criterion for unnecessary information. The gaze position can be analyzed from both driver's head pose and gaze directions. This paper focuses on the head pose measurement technique in six degree of freedom. This technique is based on ICP registration between 3D face model made in advance and obtained shape data. ICP registration can achieve high accuracy alignment, but needs huge computational effort, in general. To solve this problem, this paper propose the introducing a reduction in volume of data based on pattern information in the image, coarse-to-fine search, and SIMD computing. Finally, it was confirmed that the proposed technique could measure in high accuracy by experiment.

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This paper presents the development of a sensor system for collecting tactile information. An active sensing system using the piezoelectric effect and the pyroelectric effect of a PVDF (Polyvinylidene Fluoride) film is proposed. First, as the pretest, the distinction examination of six fabrics with different textures is carried out through human tactile perception. Next, the proposed sensor system is fabricated. The sensor is made of a PVDF film and a soft rubber. The surface of the sensor can be heated through temperature control. The sensor is attached on the tip of a robot finger and the root of the finger is mounted on a linear slider. Two kinds of active sensing are introduced with human motions for tactile perception in mind. First, the heated sensor is contacted with an object and pyroelectric output signals are collected in order to obtain the information on tactile warmth. Next, the heated sensor is slid over the object and piezoelectric output signals are collected in order to obtain the information on feelings of vibration. Through the discussion about each sensing, three indexes representing features of the collected data are extracted and proposed as sensor outputs for the evaluation of tactile sensation. The measurement using the sensor system is done on the fabrics used in the distinction examination. Comparison with the results shows that the sensor system extracts features on feelings of vibration and warmth.

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The normal impact between a golf ball and a rigid steel target was studied using a high-speed video camera. Video images recorded before and after impact were used to determine the inbound and rebound ball velocities, the contact time, and the coefficient of restitution. The images during impact were also employed to analyze the deformation of the ball. The normal and lateral compression ratios of the ball were measured as a function of the inbound velocity. The result showed that the contact time and the coefficient of restitution decreased with the inbound velocity, while the opposite relation was obtained for the normal compression ratio. Displacement at the center of the ball was measured during impact to determine the instantaneous ball velocity and acceleration. Reaction force was evaluated by the product between the mass and acceleration of the ball. It was found that the force increased linearly with the inbound velocity.

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In this paper, we examine a new design method for delayed inverse systems using 2-delay digital control. The delayed inverse system for the sampled data system has a tendency to be unstable for limiting zero. Mita and Chida showed that stable delayed inverse system is designed by using 2-delay control, but this method is technical and its structure is a little complex. We propose a simple state space design method for stable delayed inverse system using 2-delay digital control. This design method has many advantages such as a simple structure and easy manipulation.

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In future planetary exploration missions, planetary robots are required to traverse over very rough terrain. On the lunar surface, there are covered with soils which are named regolith. Regolith is easy to slide. Any stack is easy to occur to the rovers which are running on the regolith. The mechanism, which occurs stacks, is not yet clear. Therefore, this paper investigates the kinematics behavior of lunar rovers with tire-soil traction mechanism. This traction mechanism shows two important parameters for running wheel on regolith. One is the effect of hardening. And the other is the effect of shearing. New wheel forms are designed by considering these effects. Some experiments using the proposed wheels are performed to observe the performance of traversability. Analysis of experimental results shows that to combine these two effects is effective.

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We have tried to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We so far reported our experimental results of dynamic walking on terrains of medium degrees of irregularity with quadruped robots Tekken 1&2. We design the mechanical system and the neural system by comparing biological concepts. The neural system model consists of a CPG (central pattern generator), stretch reflex center, other reflexes and responses. In this paper, we show the experimental result of turning motion on the irregular terrain as a voluntary movement of newly developed self-contained quadruped robot “Tekken 4”. Tekken 4 turns dynamically with a small turning radius by inclining the body toward the center of rotation. In addition, Tekken 4 autonomously adapts the phase difference between right and left legs by rolling motion feedback to CPGs so called “tonic labyrinthine response”. This response makes Tekken 4 be able to walk on the irregular terrain while turning.

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This paper studies the problem of inertia matrix identification using the adaptive state tracking control proposed by Ahmed et al. The singular perturbation method and the averaging method are applied to analyze the linearlized closed loop systems. Then a combination of periodic commands. PD gains and adaptive gains are established such that all estimates simultaneously converge to true values in local with a specified convergence rate.

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This paper proposed the model to estimate the load on the lumber vertebra considering not only the value presumed from posture but also the increased amount by Valsalva maneuver of extrapolating from the vital capacity. The pressure force can be estimated to be reduced by about 30% by the effect of the abdominal pressure by using the proposed model as said so far. From the error of the presumed value of ground reaction force from an actual measurement, it is thought that the presumed accuracy of the lumbar vertebra load using the proposed model is smaller than 10%. Furthermore, two operations with extreme start-on posture were compared on transition of the compressive force and shear force on the lumbar vertebra. It was brought out that a start-on posture signficantly affects the maximum load on the lumber vertebra. The result suggests that optimal start-on posture may be between two postures.

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This paper proposes a walking assist machine for the elderly or rehabilitants, which uses a spatial parallel link mechanism. Its flat steps move in parallel with the ground and can support the whole legs of a person including his/her soles. A prototype was developed, which was designed to assist the halfpower of walking. Its performance was evaluated by experimental load tests corresponding to the half weight of each leg. Furthermore, to confirm the validity of our supporting method, muscle activity of the leg while wearing the walking assist machine was evaluated by using the surface electromyography (EMG) and calculating the ratio of the integrated EMG (IEMG) with and without the walking assist machine. The experimental results show that the activities of the rectus femoris muscle and the tibialis anterior muscle were particularly decreased to approximately sixty percent by wearing the walking assist machine.

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A new spring type actuator is presented in which controls are possible by using usual control methods such as PID control. The actuator consists of a usual helical coil spring and a number of iron (ferrite) particle layers inside. The iron layers are made of silicon based adhesive material involving iron particles. The layers are pasted to the coil spring with a certain air gap between each layer. To achieve both extensive and compressive motions, a permanent magnet is attached to the top of the spring and electromagnet to the base, and the motion of the top of the actuator is controlled by electric currents in the coil of the electromagnet. A method of forming the actuator is presented, and its design formulae are presented. The present actuator works well under the control. Especially, the work area is large enough in spite of the size being small in comparison with other actuators.

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A tactile display using progressive surface acoustic wave (SAW) was proposed. A progressive SAW tactile display module was fabricated on trial. The display provides alternative shear forces to an operator's fingertip as stimuli. The forces propagate into the fingertip skin as vibration and are perceived as tactile sensation. To indicate roughness sensation, the display was controlled so that the vibration according to operator's action could be generated. The vibration was measured to indicate validity of the display and its controller. For demonstration, the module was installed on a PC mouse button. Using the mouse, operators could enjoy roughness sensation as if they would rub on a rough solid surface. We also discussed tactile display application for a computer interface. Another controller was built to express screen darkness. While dragging over the screen, the display could provide different roughness according to the darkness under the mouse pointer.

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This paper describes the support-equipment of operating a personal computer for users who have an obstacle on the regions of upper limb. The user wore a head set device with an angle sensor on the top of the head and a distance sensor in front of the mouth. Two-axis angle sensor could measure the roll and pitch angles of the head, and distance sensor was used to judge whether the mouth was opened or not. The mouse cursor operation was composed of cursor movement mode and click operation mode. Human operator could confirm the input mode by the indicator located near the CRT monitor. In the cursor movement mode, a mouse cursor could be moved according to the direction and magnitude of the tilted head angle. Opening the mouth for more than two seconds could start the click operation mode, and then click functions such as double click or drag actions were selected by the directions of head tilting. Moreover, the mouth open/close motions could support the mouse cursor positioning operation. In test operations, it was confirmed that the mouth operation decreased the number of head tilting times so that the physical burden of the operator could be lightened.

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Recently, the Light Rail Transit (LRT) is expected to become high-performance transit systems in cities. In the LRT systems, there are a lot of curves of small radius (up to 100 mR) because the LRT tracks lay on the automobile roads together. So, the requirement of the vehicle performance is expected not only running stability but also curving performance. In this research, in order to develop new LRT vehicles and clear the running performance, the curving simulation and the scaled model test are carried out. The curving performance of the LRT vehicles was calculated by the improved multi-body dynamics program A'GEM. The 1/5 scaled model test equipment of the LRT vehicles was developed using three roller-rigs. This test equipment is able to simulate the relative angles of body/body and body/bogie and bogie/wheel-sets by combining three roller-rigs. The advantage of it is to simulate the curving behavior of LRT vehicles.

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This paper describes the propulsion mechanism of a skateboard. We observed the behavior of a rider on a skateboard and built experimental apparatuses. Further we analyze the characteristic by using a two dimensional analytical model. Comparing experimental and analytical results we show that primary propulsion of a skateboard is given by twisting motion of a rider. Propulsion is influenced considerably by the phase difference between twisting motion and tilting the front and rear wheel axles, that is, torque acting on a skateboard and angle of the two axles.

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The present paper intends to provide a mathematical model which can precisely predict dynamic performances of a hydraulic poppet valve. In order to obtain fundamental knowledge about unsteady characteristics of a variable restrictor required to build a model, the following two measurements were conducted. First, in a poppet valve with its opening area fixed, pressure drops across and flow rates through the restriction were precisely measured in an oscillating oil flow. Examination of hydraulic impedances of the restrictor and how they depend on the amplitude of oscillatory flow rate revealed that both a kinetically induced differential pressure and a delay of a non-linear pressure loss against the flow rate characterize an unsteady poppet valve flow, just as that was the case with an unsteady orifice flow in a pipe. Second, the unstady relatioship between the pressure drop, the flow rate and the poppet displacement was examined on the basis of their waveforms measured in a pulsating flow ; these three quantities vary, not independently but in such a mutually-related way as describing a slender loop extending closely along the steady-state characteristic curve. The formerly proposed dynamic model of a poppet valve has been modified with these findings incorporated, proving to be able to predict properly the frequency response between the pressure loss across and the flow rate through a poppet valve, which the former model was unable to.

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It is important to clarify air flow induced bibration characteristics in hard disk drives in order to achieve ultra-high magnetic recording density. We studied flow induced flutter vibration in actual 2.5 inch HDD which has one disk and two magnetic heads. In this study, the disk flutter vibration as well as static pressure distribution between the top cover and disk were measured, changing the track following and seek modes of the magnetic head slider. From the experimental results, it was found that the disk flutter amplitude increases and its frequency decreases, when the magnetic head is operating on a disk. We also found that the mean pressure distribution was changed under various head operating conditions. As a result, it suggests that a disk flutter amplitude increase is due to the change of mean pressure distributions and disk flutter frequency decrease is caused by the effect of head-disk coupling vibration system.

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In the laser scribing of glass a thermal stress is induced into a glass plate by means of a CO₂ laser irradiation. The glass plate is then rapidly cooled down by water jet immediately after the irradiation. For the purpose of theoretical clarification of the factors ruling the crack depth and the scribable condition, the crack depth and the crack profile were observed for various values of the distance between heating area and cooling area. Furthermore, scribable conditions were acquired in laser irradiation experiments using a soda-lime glass plate having a thickness of 0.7 mm. On the basis of the scribable conditions obtained from the experiments, the thermal elasticity analysis was conducted by the finite element method, allowing the following findings to be obtained. The crack depth in laser scribing depends on the surface tensile stress in the cooling area and the compressive stress field immediately under the area. The scribable condition can be estimated from the maximum surface tensile stress in the cooling area and the maximum surface temperature.

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In this paper, we consider the stabilization problem of linear systems with time-delay at the input by using a sliding mode control. Sliding Mode Control (SMC) is a well-known robust control method for systems with model uncertainties and disturbances and a large number of the design methods for finite dimensional systems have been proposed. However there are a few design methods which are applicable for input-delay systems. To overcome the drawback, we analyze the stability of input-delay systems with switching inputs by transforming the systems into the equivalent systems with time-varying feedback gain. As a result, we show that input-delay systems cannot be asymptotically stabilized by the SMC with signal function. Then we derive a sufficient condition for asymptotic stability of the systems with SMC. Thereafter we propose a SMC design method for systems with uncertain delay at the input. The effectiveness of the proposed methods are illustrated by numerical simulations.

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This paper deals with a torque analysis of the generalized Oldham coupling. This is a cyclical varying speed coupling. The motion of the intermediate element disk is similar to that of the complicated “hula-hoop”. As a result, the input torque changes cyclically under the constant output torque. The motion of the intermediate element of the generalized Oldham coupling is analyzed in 1st report. In this paper, first the input torque is obtained theoretically. Secondly, the generalized Oldham coupling is designed and made for trial. Input torque is measured compared with theoretical one. Thus, the theoretical motion of generalized Oldham coupling is verified experimentally.

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An interfacial phenomenon has been investigated, which is caused by putting a droplet of surfactant solution at an oil-water interface. When a droplet of camphor solution is put into an oil-water interface, an “explosion phenomenon” occurs, in which the oil phase is broken with a phase transition within a short time, e.g. less than 1 s in a system. The explosion phenomenon is repeated by putting another droplet, due to the sublimation of camphor. By using the explosion phenomenon with camphor solution, an impeller with a diameter of 5 mm shows a rotational motion with a rotational speed of 1 000 rpm, in which a reaction force of a jet by camphor solution is utilized. The direction and magnitude of the force generated by the explosion phenomena is controllable by giving an asymmetry of wetting property to a solid surface of an object, even if the shape of the surface is symmetric. In order to acquire a directional force with the asymmetry of wetting property, the gap between the wetting-controlled solid surface and an oil-water interface must be in a range, e.g. ±0.7 mm for the present experimental system.

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As manufacturing activities have been widely globalized, it is becoming more and more difficult to respond to changes quickly. It is also important to take a positive stand against environmental issues to pursue the sustainability of the global environment without wasting resources related to production activities. The purpose of this paper is to establish a lifecycle-oriented design method of production systems. For this end, we have developed prototype system for life-cycle simulator, which is constructed by a demand scenario generation module and a simulation assessment module. We also conducted a simple comparative experiment taking two configuration plans for a transfer line and a cell line as examples in order to verify the effectiveness of this proposed technology.

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Bricks and blocks come to be used to the pavement and intersections etc., then a lot of small steps are arisen now, too. On such places it is difficult to find out textured paving block by visually handicapped person using percussion type cane. Therefore the new type white cane is designed which detects the steps condition using ultrasonic sensor installed grip part and draws the attention by the sound. In this research we designed a white cane that had the ancillary function in which it informed to the visually handicapped person's palm whether the block exists or not by the linear vibration actuator (it is called LOA). This cane has a characteristic which detect the color (yellow) of the textured pavement block in addition with the RGB color sensor while providing the function of the percussion typed cane. We made an example for trial purposes and the characteristic was examined. As a result we found that this cane assist the visually handicapped person to find textured paving block.

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