ROBOMECH Journal

http://www.robomechjournal.com/

List of Papers (Total 75)

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 ...

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 ...

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 for ...

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. The ...

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 new ...

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 ...

Consensus-Making Algorithms for Cognitive Sharing of Object in Multi-Robot Systems

Background Visual recognition in multi-robot systems is afflicted with a peculiar problem that observations made from different viewpoints present different perspectives. Hence, realizing cognitive sharing of the object among robots in an unconstructed environment has become challenging. To cope with these issues, we have proposed the Hierarchical Invariants Perception Model (HIPM) ...

Washing operation of a road surface washing mechanism for decontaminating radioactive substances

The Great East Japan Earthquake that occurred on March 11, 2011 resulted in the explosion of the TEPCO Fukushima 1st Nuclear Power Plant and the global dispersion of a large quantity of radioactive substances. A high radiation dose was particularly recorded in Fukushima prefecture several weeks after the accident, although the level is presently sufficiently low. However, ...

Move-it: a paperclip-shaped sensing and actuating system for sticky notes

We developed a paperclip-shaped motion-actuating system, named “Move-it”. With this system, users can add motions to sticky notes just by clipping it. This system is constructed by using clip-shaped devices that have sensors and actuators. The recognition system uses photo interrupter module as sensor. Each clip device can recognize which note it has been attached to by calculating ...

On-Chip Gel-Valve Using Photoprocessable Thermoresponsive Gel

Microfluidic chips are powerful tools for biochemical experiments. High speed and precise flow control can be achieved by using microvalves on a chip. Several types of microvalves that can be integrated into a microfluidic chip have been reported. Among them, gel microvalves have certain advantages over other valves because of their soft structure, which will contribute to prevent ...

Miniaturized load sensor using quartz crystal resonator constructed through microfabrication and bonding

Highly sensitive, wide-measurement-range compact load sensors are desirable for various applications, including measurement of biosignals, manipulation and stiffness measurement of cells, and so on. Conventional load sensors are highly sensitive but have relatively small measurement ranges. A load sensor using an AT-cut quartz crystal resonator (QCR) has superior characteristics ...

A survey on motion prediction and risk assessment for intelligent vehicles

With the objective to improve road safety, the automotive industry is moving toward more “intelligent” vehicles. One of the major challenges is to detect dangerous situations and react accordingly in order to avoid or mitigate accidents. This requires predicting the likely evolution of the current traffic situation, and assessing how dangerous that future situation might be. This ...

Development and evaluation of a system to assess the effect of footwear on the in shoe plantar pressure and shear during gait

In this paper, we propose a system to assess the effect of footwear on the in-shoe plantar pressure and shear during gait. In our previous study, we developed a system for measuring the plantar pressure and shear inside footwear using specialized shoes and insoles with sensors. In this study, based on the previous study, 1) we realized a method to measure directly the in-shoe ...