Many care-givers for bedridden people cannot go out easily. To reduce this problem, we have developed a tele care network system with hoist trolley robot. The robot conveys some drinks for bedridden person. Using this system Care-giver can control robot from remote place talking with bedridden person like video phone. We developed mobile care terminal using cell phone, so care-giver can control robot from most place in Japan. For network system, we used common object request broker architecture(CORBA). Using CORBA, developer can extend system easily, so we can use many robots in this system. Then we tested the performance of this system. On remote terminal, the feedback delay on control robot was less than82.7ms, and the bandwidth which system required was1.6Mbps. On mobile terminal, the frame rate of movie from camera was0.36 frames per second(fps), and the feedback delay was about7seconds. We think that care-giver can control robot smoothly in broadband network system from remote terminal, and care-giver can confirm that robot works sequentially from mobile cell phone terminal.

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A light source, which produces many bright spots and can change its number dynamically, was developed two ways. One was with a computer simulation, and the other was an experiment employing a rotating discwith a white-light laser. These light sources were applied to optical stimulation of the human cerebrum, and the strength of the cerebral reaction was measured using optical topography(OT). The primary findings were that, (1)Younger subjects(20's)were most sensitive, followed by middle-aged subjects(50's), and finally senior-aged subjects(60's), (2)Oxygenated hemoglobin exhibited an increasing tendency in response to optical stimulation, whereas deoxygenated hemoglobin showed little changeable tendency, (3)The rotation period of the disk, and thus the flickering speed of the light spots, at T=2. 4s presented stronger stimulation, while stimulation decayed at a longer period T=4. 8s in the case of the experiment, but vice versa with the light source produced by computer simulation.

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This paper describes a novel real-time velocity pattern generation system for power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support vehicle for elderly people and disabled people, however, it is required to further improve the driving performance such as the ride quality and safety. The proposed system can flexibly generate various velocity patterns with bounded jerk and acceleration values based on the human input torque information in order to improve the ride quality and safety. Some experiments show the effectiveness of the proposed control system.

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