ROBOMECH Journal

http://www.robomechjournal.com/

List of Papers (Total 82)

Motion-blur-free video shooting system based on frame-by-frame intermittent tracking

In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control methods are applied alternately at hundreds of hertz, according to the open or closed shutter state of the camera. When the shutter is open, the target’s speed in images is...

Motion-blur-free video shooting system based on frame-by-frame intermittent tracking

In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control methods are applied alternately at hundreds of hertz, according to the open or closed shutter state of the camera. When the shutter is open, the target’s speed in images is...

Motion-blur-free video shooting system based on frame-by-frame intermittent tracking

In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control methods are applied alternately at hundreds of hertz, according to the open or closed shutter state of the camera. When the shutter is open, the target’s speed in images is...

Motion-blur-free video shooting system based on frame-by-frame intermittent tracking

In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control methods are applied alternately at hundreds of hertz, according to the open or closed shutter state of the camera. When the shutter is open, the target’s speed in images is...

Motion-blur-free video shooting system based on frame-by-frame intermittent tracking

In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control methods are applied alternately at hundreds of hertz, according to the open or closed shutter state of the camera. When the shutter is open, the target’s speed in images is...

Slip-compensated odometry for tracked vehicle on loose and weak slope

Odometry is widely used to localize wheeled and tracked vehicles because of its simplicity and continuity. Odometric calculations integrate the wheel or track’s rotation speed. The accuracy of position thus calculated, is affected by slippage between the ground and the wheel or track. When traveling on a loose slope, the localization accuracy of the odometry decreases remarkably...

Development of an implicit method for directing weight shifting to the affected side in patients with stroke: a proof of concept study

Weight-shift training during stroke rehabilitation requires patient effort, potentially causing leg spasticity and anxiety, which disturb motor learning. The purpose of this study was (1) to devise an implicit guidance method for weight bearing that uses vibratory cues (and is therefore low exertion) and (2) to determine if the implicit guidance method is feasible. The first...

Optimization of orifice position in particle-excitation valve for proportional flow control

This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, and has the following advantages: small size, lightweight, high response and continuous airflow control. However, in our previous models, the relationship between the...

Complementary human detection and multiple feature based tracking using a stereo camera

A human detection and tracking method using a stereo camera is presented in this paper. Two human detection methods are independently implemented, and the results are combined to reduce misdetection and nondetection. The tracking step is based on particle filtering. In the data association phase, we introduce three features: distance, traveling direction, and color. The color...

Contamination-free non-contact wettability assessment system

Surface wettability is one of most important indexes for understanding the interfacial characteristics between a solid surface and a liquid, especially such physico-chemical properties as hydrophilicity and water repellency. Recently, non-contact wettability assessment by monitoring the behavior of liquid covering a sample surface by jet-flow application to the liquid has been...

Remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains

This paper presents a remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains to reduce the exposure dose to the doctors. Permanent brachytherapy is a treatment which involve implanting of radioactive Au-198 grains, and requires neither long-term needle insertion nor diet-restriction. This is its advantage over temporary brachytherapy...

Methods for quantitative studies of seafloor hydrothermal systems using 3D visual reconstructions

3D visual mapping of the seafloor has found applications ranging from environment monitoring and survey of marine minerals to underwater archaeology and inspection of modern artificial structures. However, the attenuation of light is significantly more pronounced in water than in air or in space, and so in order to obtain underwater images in colour, it is typically necessary to...

Wearable finger pad deformation sensor for tactile textures in frequency domain by using accelerometer on finger side

In this study, we set out to develop a method for estimating the fine and fast shear deformation of a finger pad, that is, the palm side of a fingertip, as it scans the surface of a material. Using a miniature accelerometer, we measured the acceleration at the radial skin, the deformation of which is accompanied by the shear deformation of the finger pad. Using a transfer...

Human-based framework for the assembly of elastic objects by a dual-arm robot

This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a dual-arm robot. The proposed framework is a combination of human movements to determine the overall assembly strategy and an optimization-based motion planner to generate the...

Modeling and control of electroadhesion force in DC voltage

In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electric field, even if the voltage difference between the plates is constant, electroadhesion force increases or decreases over time depending on the insulating materials. The...

Force sensor utilizing stiffness change of shape-memory polymer based on temperature

In this study, we propose a force sensor using a shape-memory polymer (SMP) whose stiffness varies according to the temperature. An SMP can be deformed above its glass transition temperature (T g) by applying a small load. A deformed SMP maintains its shape when cooled below T g and returns to its predefined shape when subsequently heated above T g. The reversible change in the...

Jam-free gear–clutch mechanism for load-sensitive step transmission in robotic joint

This paper introduces a novel gear–clutch mechanism that takes advantage of the difference between the directions in the reaction forces that occur during meshing and jamming to ensure jam-free engagement of the gears. The proposed mechanism is a more compact advancement of the previously developed linear rack-tilting clutch used to provide a step change in the reduction ratio...

Development of a rotational meshing actuator for in-home life support systems

For elderly and physically disabled people, support systems that assist their active daily life are as important as appropriate rehabilitation. We have designed a rotational meshing actuator for a life support system based on a mobile robot. The present paper explains the basic concept of the actuator and its design details. The actuator comprises a motor-controlled active...

Position and inclination control of a passive disk based on cyclic motion generation

We propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object’s orientation using an active plate. In the work, stable plate cyclic motion is designed and inclination control of the object is realized. However, the object’s position is not considered, so...

Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

This paper describes a skill assist method for sinusoidal motions using a semi-active assist mechanism through an energy control method. In a previous study, we had developed and verified the effectiveness of a power assist device with a semi-active assist mechanism and a control method for reducing loads during periodic motion. Here, we have developed a skill assist method as an...

Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer

Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this...

A signal hardware-in-the-loop model for electric vehicles

Recently, researches on electric vehicle are focused on motion control and state estimation. These works require a model that imitate a real vehicle as close as possible. We propose in this paper a signal hardware-in-the-loop model of electric vehicles that includes driving system and vehicle model running in real-time in dSPACE-DS1103 control card. All the required states of the...

A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots

A mechanism that allows a robotic arm to quickly grip various forms of objects at disaster sites will enhance the mobility of rescue robots by keeping their bodies stable and maintaining manipulability for target objects, such as debris. Such a mechanism requires the ability to quickly and omnidirectionally change arm postures toward the target and hold it in a stable manner...

Approach function study for concierge-type robot by model-based development with user model for human-centred design

Service robots are common sights in everyday life. The service robots are expected to provide useful services with a high degree of usability, and a high degree of user experience (UX) to users and other persons around the service robots. In addition, the human-centred design (HCD) is being used in various industries, and HCD can be used also in the service robot industry for...

Configuration of redundant drive wire mechanism using double actuator modules

A new wire mechanism called “redundant drive wire mechanism” (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler...