ROBOMECH Journal

http://www.robomechjournal.com/

List of Papers (Total 82)

Shoulder joint contact force during lever-propelled wheelchair propulsion

The aim of this study was to obtain quantitative results about shoulder contact force during wheelchair lever propulsion when the gear ratio of the lever propulsion mechanism is changing. The effect of the gear ratio on the shoulder contact force was investigated for few different wheelchair loading. For the experiments we designed a special mechatronic wheelchair simulator that...

Social interactive robot navigation based on human intention analysis from face orientation and human path prediction

Robot navigation in a human environment is challenging because human moves according to many factors such as social rules and the way other moves. By introducing a robot to a human environment, many situations are expected such as human want to interact with robot or humans expect robot to avoid collision. Robot navigation modeling have to take these factors into consideration...

Development of an elbow-supporting device to assist standing-up motion

In modern-day Japanese society, which is an aging society, an important issue is how to maintain the physical strength of elderly people. There are many studies to develop devices assisting with standing-up motion, because standing-up motion is a most important motion in daily life. Most of these studies suggested the devices to be placed in front of user’s body or be used on the...

Active modification of the environment by a robot with construction abilities

Field robots are widely used to accomplish a variety of tasks in many different fields. However, setting of the locomotive ability of these robots at the design phase may prevent the traversal of unknown rough terrain. To address this shortcoming of existing robots, we designed a robot that is able to modify its environment by using polyurethane foam to construct auxiliary...

Circulation-controlled high-lift wing for small unmanned aerial vehicle

Small unmanned aerial vehicles (SUAVs) have recently attracted considerable research and development interest owing to their small size, portability, and limited operational risk. In SUAVs, the Reynolds number Re is typically very low because they are small and fly at low speeds. The Reynolds number strongly influences the airfoil performance, and at Re = 105, the lift-drag (L/D...

Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and its step climbing strategy

In this study, a novel step climbing method for a five-wheeled wheelchair, composed of a manual wheelchair and an active-caster drive system, has been proposed. Because the active-caster has the same configuration as a passive caster, an arbitrary velocity can be generated by controlling its wheel and steering shafts. Thus, the motion of the proposed wheelchair can be controlled...

Mobile follower robot as an assistive device for home oxygen therapy – evaluation of tether control algorithms

Home Oxygen Therapy (H.O.T.) is a medical treatment for severe lung diseases in which the patients are supplied concentrated oxygen. This paper investigates the use of a follower robot as a support device for H.O.T. patients, consisting of a two-wheeled differential drive robot connected to the user by tether. Two different control algorithms were studied using dynamic simulation...

The robot that can achieve card magic

We succeeded in developing a robot that can play a card magic for the first time in the world. The robot can complete a magic by quickly switching the first-card-dealing and the-second-card-dealing. This paper is composed of three parts where one is the design of the robot by referring human motion, the second is the mechanics of the card manipulation by utilizing a simplified...

Remote temperature monitoring device using a multiple patients-coordinator set design approach

This paper aims to develop a prototype for a web-based wireless remote temperature monitoring device for patients. This device uses a patient and coordinator set design approach involving the measurement, transmission, receipt and recording of patients’ temperatures via the MiWi wireless network. The results of experimental tests on the proposed system indicated a wider distance...

Two-way least-incision transformable end-effector forceps for robot-assisted surgery

In laparoscopic surgery, smaller incisions produce good clinical results for patients. Therefore, there is a great need to develop thinner instruments for use in laparoscopic surgery. However, thinner instruments have smaller end effectors that limit the functionality of the instruments. To address this problem, we previously developed a new type of forceps that uses a least...

View-based teaching/playback for robotic manipulation

In this paper, we study a new method for robot programming: view-based teaching/playback. The motivation of its development is to achieve more robustness against changes of task conditions than conventional teaching/playback without losing its general versatility. For proof of concept, the method was implemented and tested on a virtual environment. The method is composed of two...

Learning motion primitives and annotative texts from crowd-sourcing

Humanoidrobots are expected to be integrated into daily life, where a large variety of human actions and language expressions are observed. They need to learn the referential relations between the actions and language, and to understand the actions in the form of language in order to communicate with human partners or to make inference using language. Intensive research on...

Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot

Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is restriction of free motion of the forceps because of limited degrees of freedom by the trocar. Recently, many master–slave manipulators with a remote center-of...

Remote control system of disaster response robot with passive sub-crawlers considering falling down avoidance

This paper describes a remote control system for a crawler-type mobile robot with passive sub-crawlers. This system has a great advantage because it utilizes an essential compliant mechanism that allows the angle of the sub-crawlers to be adapted to the shape of the road surface. Its operation is extremely simple, and it is only necessary to control the movement direction and...

Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks

Background In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information...

Assessment of local muscle fatigue by NIRS - development and evaluation of muscle suit -

Although the machinery automation technology and robotics have made significant progress in making production and distribution easy and efficient, there is still a need for manual work such as nursing and other manufacturing work. Those work could possibly cause the work-related disorders. In order to reduce the risk of work-related injury or illness, we have been developing a...

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Central venous catheterization is associated with potential complications secondary to accidental puncture, including venous bleeding and pneumothorax. We developed a system that avoids these complications and simplifies the procedure using a robot to provide puncture assistance. We herein report a puncture experiment conducted in vivo in a porcine to evaluate the manipulator...

Realization method for a rearrangement task by multiple mobile robots in consideration of map errors

In this paper, we propose a realization method for a rearrangement task involving multiple movable objects and mobile robots. All of the objects are transported from their initial positions to goal positions. It is important for mobile robots to cope with map errors in order to execute tasks in a real environment. However, a rearrangement task is a very complicated process...

Study on grouser mechanism to directly detect sinkage of wheel during traversing loose soil for lunar exploration rovers

The rovers, which some researchers and agencies are developing, have many functions to sense a lot of information from peculiar environments like the lunar surface for localization, path planning and so on. On rough terrain, without artificial ground maintenance, like the lunar surface, the rovers avoid obstacles by using sensors, which they have. However, if the rovers traverse...

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided needle insertion for breast tumor treatment or biopsy. We previously developed a preloading-based needle insertion method, which consists of a preloading phase and an insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a...

Proposition and evaluation of a collision detection method for real time surgery simulation of opening a brain fissure

In neurosurgery, opening a brain fissure allows an operator to access to the basis cranii and to treat a disease part safely, but the operator is required highly sophisticated techniques. In order to develop a neurosurgery simulator enabling surgeons to train themselves for opening a brain fissure procedure, it is required to detect collision between a thin instrument model and a...

Whole-body tactile sensing through a force sensor using soft materials in contact areas

A force/torque sensor is a useful tool for detecting an external force acting on a robot. Techniques to detect a contact position from a single force/torque sensor have also been developed, but these have used rigid materials in the contact areas. In terms of safety, the material should have shock-absorbing characteristics. Hence, this paper investigates the use of a urethane...

Flexible microscaffold facilitating the in vitro construction of different cellular constructs

This paper presents a flexible microscaffold to facilitate the fabrication of different cellular constructs which could be used as the building units for the construction of a larger tissue with a complex structure. The device consists of a 6×6 array of membrane actuators, made of Polydimethylsiloxane. The superiority of membrane actuators helps preventing the leakage of culture...

A vision system with wide field of view and collision alarms for teleoperation of mobile robots

Vision systems are an important component to teleoperate mobile robots. We previously proposed a vision system with a wide field of view by combining the camera images of two cameras. This paper describes the features of our vision system that are useful for teleoperation, and we propose attachment devices for our system. The proposed devices are used to visualize the risk of...

Estimation of the friction force during the needle insertion using the disturbance observer and the recursive least square

Needle insertion can be performed with the aid of an ultrasound (US) image. Detecting the position of a needle in a US image requires considerable technical expertise. To detect whether the needle has reached the target, the physician usually relies on physically sensing the amount of force being fed back from the tip of the needle to their fingertip. The goal of our research was...