This paper discusses a proposed two-finger gripper for robot human cooperation, which can be a key for future assistive technology. The gripper consists of two soft fingers having a total of ten degrees of freedom. A two-finger gripper was chosen because humans perform many tasks using only two fingers and its control is simpler than a three finger hand, for robot human cooperation. The control system of the gripper was designed based on human control characteristics so that it is human friendly. An experiment was carried out in which two humans performed a task and based on it an impedance model is approximated. A dynamic control system was then designed incorporating the human impedance characteristics. During grasping both the internal forces and the motion forces applied by the fingers are simultaneously controlled. Hence, the robot can stably grasp an object and also follow the human motion. Finally a two-finger robot human cooperation simulation was carried out to demonstrate the effectiveness of the proposed control method.

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In order to develop cardiopulmonary devices for long-term use, it is important to evaluate hemolytic performance and erythrocyte trauma prior to hemolysis. Traumatized erythrocytes in those devices have the possibility of thromboembolic complication and hemolytic anemia. However, the effect of these devices on erythrocyte damage has evaluated only with free-hemoglobin concentration. In the observation of erythrocyte configuration with SEM(Scanning Electro Microscope), we found that erythrocyte configuration changed discocyte to stomatocyte prior to hemolysis during erythrocytes were subjected to shear stress. The purpose of present study is to investigate the morphological changes adapted to optical scattering density(OSD). Bovine blood sample was subjected to shear stress of 3.3 Pausing a rotational viscometer for 0, 30, 60 and 90 min and respective samples were collected. The OSD was measured around a capillary tube while He-Ne leaser(543.5nm)irradiated the flowing the blood sample in the tube. The hemolysis in the blood sample was measured by spectrometric method. In resultants, there was no increment of hemolysis in the all tests conditions. OSD was obviously increased under less than 1. 5deg of scattering angle(p<0.05)when the duration of shear stress was more than 60 min. Therefore, we considered that the OSD was affected by the morphological changes of the erythrocytes, which could be an indicator of the erythrocyte damage prior to hemolysis.

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Recently, to solve problem of the hemolysis and the thrombus in the artificial internal organs, the analysis and design of the artificial internal organs don't depend on trial and error, and it is done by the fluid mechanics-like technique. It becomes a fixed quantity with the relations of the hemolysis and a shear stress, the thrombus and the blood flow velocity etc. But, it will proceed with the examination about the influence of the micro flow from now on.

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