We have suggested an entertainment application system for children named as "Tangible Playroom". It has been designed as a basic system for future computer entertainment system. It uses a large floor screen, string based force display, "SPIDAR" and real-time physics simulator to realize our concepts, usual space, direct manipulation and emotional world. We have also developed a content software for Tangible Playroom named as "Penguin Hockey". It is a simple hockey game playing with A.I. penguins and snowman pucks. It has been presented for children's event. As the result, about 400 children had played it. This paper reports its development and technical details and results of questionnaire from players.

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This study is concerned with extraction of human regions in images in order to develop an image composition method. To extract human regions in color images, it is necessary to estimate human positions in advance. Therefore, we propose a method to estimate human positions.

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For augmented reality system using optical see-through HMD, its calibration needs to be performed in advance and requires user's six-times pointing in the previous method. In this paper, we evaluate the previous method in the experiments and then propose an approach to perform calibration with less-times pointing.

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A new sightseeing telescope which can be controlled by the tablets is created. The lens module includes two stepping motors to control focus and zoom. We attach a CMOS sensor to the lens module, and we use it as a UVC camera. We also create a case for the camera to control the horizontal/vertical directions of the camera. The commands from the tablets are sent to each motor via arduino, and the images from the camera can be seen on the tablet. The communications between the system and the tablet are realized by Wifi.

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Gait rehabilitation is conducted using treadmills or parallel bars. However, there are reports of those who can walk in a training room of a medical facility but cannot in other places. These are because real-life situations totally differ from gait situations in the training rooms in the presence of uneven ground and others cutting across in front of them, so gait rehabilitation is expected to be achieved based on daily living environments for each subject. In this paper, we suggest a walking rehabilitation system for every user.

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In recent years, with the increase of hemiplegia patients due to the sequelae of stroke, the burden on the therapist tends to increase. In order to solve this problem, rehabilitation robots are developed in the world. In our laboratory, we have been developing rehabilitation robots for patients with upper limb paralysis that are smaller and cheaper than existing robots. Also, we developed an application that incorporates a quantitative evaluation system for upper extremity function and an AR game to improve the patient's motivation. We made the robot wireless and made the whole system compact, examined a simple camera-calibration method for AR application.

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Gait rehabilitation is conducted using treadmills or parallel bars. However, there are reports of those who can walk in a training room of a medical facility but cannot in other places. These are because real-life situations totally differ from gait situations in the training rooms in the presence of uneven ground and others cutting across in front of them, so gait rehabilitation is expected to be achieved based on daily living environments for each subject. In this paper, we suggest a walking rehabilitation system for every user.

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　自動車の完全自動運転が実現するまでには，多くの自動車で不完全な自動運転状態が続くと予想される．この状態は，運転者の乗り物酔いのリスクを高め，交通事故を誘発する恐れがある．そこで本研究では，乗り物酔いの状態をビデオカメラ映像に基づいて客観的に判断するための技術開発を目的とした．

　従来の研究では，計測量として心電図信号や光電脈波信号がよく用いられてきたが，簡単な計測には不向きである．一方，身体の皮膚の映像から得られる映像脈波を用いれば，ドライブレコーダやスマホだけで乗り物酔いの状態を把握できるようになる可能性がある．実験では，レベル4の自動運転車（https://www.softbank.jp/sbnews/entry/20230425_01）を使用し，3名の同乗者を被験者として，顔の動画，心電図，耳朶脈波，血圧，血中酸素濃度を計測した．主観的な参照量として動揺病評価用アンケートと，乗り物酔いを誘発するためのスマホのブロック崩しゲームを課した．

　算出した生理指標を走行前後で比較し，乗り物酔いの状態が把握できるかどうかを検討した．その結果，走行前に比較して乗り物酔いの主観評価値が増加し，いくつかの生理指標に差が見られ，それらの差はゲーム中にさらに増大した．ただし，差のある生理指標の種類は一定ではなかった．映像脈波の走行中の計測は困難であるが，停車時のデータに基づく客観的評価が期待できる．

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In late years tests called the CBT where I used a computer for by information technology and the network technology that developed spread. However, the knowledge examinations such as TOEFL or the Kanji Aptitude Test are often found, and these do not advance in the skill examination. Therefore, toward the CBT of the skill examination, I analyze the skill as the part. I set a problem for forward upward circling and, using an electromyograph, an acceleration sensor, the data of the camera, wrestle with the analysis of a necessary skill.

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The point which should be paid attention in discussing the safe driving of the vehicle is driving force between the tire and the road. Therefore, it is very profitable to know the road state as the advanced safety driving support system, and is done a variety of reports as a road state estimation method in recent years. However, the research paper which considers adaptability corresponding to the change in the road has been still little. Then, this paper proposes the system which can more quickly react to the road change than a past methodology by predicting and estimating beforehand the change in the road where a vehicle runs using the visual information from the vehicle.

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産業用ロボットは絶対位置決め精度を保証しておらず指令通り位置決めを行うことが困難である．また剛性やティーチングの煩雑さから切削加工への適用例は非常に少ない．本研究では，産業用ロボットの持つ非線形な固有の座標系を把握し，これに基づき工具経路を補正することで精度を向上させることにした．そのために，ARマーカとカメラを用いたロボット手先位置の取得方法について検討する．

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This paper describes an unconstrained gait measurement method by using a mobile robot as one of a service for perceiving human's health. Human's gait is measured based on heel recognition by the mobile robot equipped with a camera. The mobile robot detects target person's heels from obtained images using particle filter, and calculates relative positions of heels compared with own odometry information to estimate strides and walking speed while tracking a target person. Experimental results show a usefulness of proposed method by comparison of estimated value with actual measured value.

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