著者
門脇 拓也 丸山 三智佳 早川 智彦 松澤 直熙 岩崎 健一郎 石川 正俊
出版者
特定非営利活動法人 日本バーチャルリアリティ学会
雑誌
日本バーチャルリアリティ学会論文誌 (ISSN:1344011X)
巻号頁・発行日
vol.24, no.1, pp.23-30, 2019 (Released:2019-03-31)
参考文献数
15

Recently, many interactive video display devices using body movement as input have been developed. However, their intrinsic latency before the resulting images are displayed creates a discrepancy between the visual information to the user and the physical sensation. This research aims to investigate the impact on user performance and latency perception when there is latency between the user's physical input to the system and the visual feedback. We developed a video latency control system to film the user's hand movements and control the latency when displaying the video (The standard deviation is 0.38 ms). The minimum latency of the system is 4.3 ms, hence this enables us to investigate the performance and latency perception in unknown low latency range. Using this system, we conducted experiments wherein 20 subjects performed a pointing task based on Fitts' law to clarify the effect of video latency, particularly for low latency. Experimental results showed that when the latency is over 24.3 ms, it begins to be sensed more easily by the user and the performance begins to decrease. This result will be applied to determine a standard limit for video latency in interactive video devices.
著者
羽田 勝 布袋屋 啓子 石川 正俊 斎賀 明彦
出版者
一般社団法人 日本顎関節学会
雑誌
日本顎関節学会雑誌 (ISSN:09153004)
巻号頁・発行日
vol.9, no.1, pp.92-107, 1997-06-20 (Released:2010-08-06)
参考文献数
18
被引用文献数
2

楽器演奏が顎関節症の原因となるか否かについては, 必ずしも明らかでない。そこで, 本研究では音楽学部 (366名) と一般学部 (191名) の全学生を対象に演奏楽器の種類と顎関節症の臨床症状の有無や各種既往歴などについて横断的なアンケート調査を行い, 楽器演奏と顎関節症との関連について検討した。アンケート結果の分析に際しては, 音楽学部学生を声楽や管楽器などの演奏に口を使用する口使用群 (116名) と, 鍵盤楽器, 弦楽器や打楽器などの口を使用しない不使用群 (250名) に分けて検討した。その結果, 以下のような知見が得られた。1. 顎関節症の主要3徴候の発生頻度には, 各被験群間で差がなく, 何れの群でも関節雑音の発生頻度が最大であった。2. 口使用群では, 2つ以上の症状を保有する複症者の割合が3年生までは低かったが, 4年生で著しく増加し, 他の被験群よりも有意に高い頻度であった。3. 口使用群の複症者の割合は, 声楽を専攻する学生で有意に高く, リード楽器では複症者や3徴候を全て保有する重症者の発生がなかった。4. Bruxismについては, 各被験群の複症者や重症者において自覚するものが比較的多く, 症状を持たない無症者では少なかった。以上の結果から, 楽器演奏全般が顎関節症と関連を持つ訳ではなく, 声楽において関連性の高いことが示唆された。また, 口使用群ではBruxismがあると顎関節症を誘発する可能性の高いことが示唆された。
著者
尾川 順子 並木 明夫 石川 正俊
出版者
一般社団法人電子情報通信学会
雑誌
電子情報通信学会技術研究報告. NC, ニューロコンピューティング (ISSN:09135685)
巻号頁・発行日
vol.102, no.628, pp.73-78, 2003-01-28
参考文献数
17
被引用文献数
7

強化学習における割引率を学習進度によって調整することの有用性を示す.学習進度が浅いときには割引率を下げて即時報酬を重視し,学習が進むにつれて次第に割引率を大きくして,将来の報酬も考慮していくという戦略を提案する.また,学習進度の調整法として,指数的調整,TD誤差による調整,信頼度による調整を提案する.これをwindy gridworld 課題により検証する.
著者
石川 正俊 下条 誠
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.24, no.7, pp.662-669, 1988-07-30 (Released:2009-03-27)
参考文献数
13
被引用文献数
3 13

An imaging tactile sensor for the measurement of pressure distributions and a real-time tactile image processing system using the sensor are described.The sensor has a 64×64 array of sensitive sites using pressure-conductive rubber and electrodes on PC board. The scanning circuit of the sensor realizes precise and high speed scanning, 16.7ms per one frame, using a FET at every site for switching. As the output of this sensor is a video signal, pressure distributions can be visualized by a monitor TV and can be recorded by a video tape recorder.By connecting the sensor with a high speed image processor, tactile image processing has been realized. In this paper, showing some examples such as smoothing, contour, trace, and adaptation of tactile images, features of tactile image processing are definitely shown by comparing with visual image processing. This system is used as a developing system of tactile processing algorisms as well as for the measurement of pressure distributions of human body with beds or chairs in the field of human engineering.In this paper, the structure of the sensor and the architacture of the system are described and experimantal results are shown.
著者
下条 誠 牧野 了太 小川 博教 鈴木 隆文 並木 明夫 斎藤 敬 石川 正俊 満渕 邦彦
出版者
一般社団法人日本機械学会
雑誌
ロボティクス・メカトロニクス講演会講演概要集
巻号頁・発行日
vol.2002, 2002
被引用文献数
3

神経系を介して生体系と機械系を一体化しようとする試みは, 医用生体工学の中でも最も注目を浴びている領域の一つである。しかしながら, いまだ世界において実際に遠隔地にある外部機器と生体の感覚神経を接続し, 人工感覚を生成するシステムを作成した報告は全く見あたらない。本研究では, 遠隔地にあるロボットハンドを被験者がネットワーク経由で操作を行い, ハンドと対象物との接触情報を, 再度ネットワーク経由で被験者の触感覚神経を刺激することで, ハンドに加えられた感覚刺激を自分の手に感覚が加えられたものとして感じる事を可能とするシステムを開発し, 実験に成功した。本報告ではこの実験システムに関して報告する
著者
小室 孝 石井 抱 石川 正俊 吉田 淳
出版者
一般社団法人電子情報通信学会
雑誌
電子情報通信学会論文誌. D-II, 情報・システム, II-パターン処理 (ISSN:09151923)
巻号頁・発行日
vol.84, no.1, pp.75-82, 2001-01-01
被引用文献数
39

本論文では, 高速ビジョンの特性を生かしたアルゴリズムを専用ハードウェア化することで画素数や速度の向上を図った新しいビジョンチップのアーキテクスチャを示す.また, 同アーキテクスチャに基づき, 0.6μmCMOSプロセスを使用し, 64×64画素を集積したチップを試作した.その動作報告を行う.
著者
小室 孝 鏡 慎吾 石川 正俊 片山 善夫
出版者
一般社団法人情報処理学会
雑誌
情報処理学会論文誌コンピューティングシステム(ACS) (ISSN:18827829)
巻号頁・発行日
vol.48, no.13, pp.106-116, 2007-08-15
参考文献数
18

超並列画像プロセッサの一種であるビジョンチップのプログラミングを容易にするために開発したビットレベルコンパイラについて報告する。本コンパイラは、(1) コード生成効率、(2) モジュールの再利用性、(3) ユーザ利便性の向上を目標に設計されており、C ベースの文法、並列演算と逐次演算の自動振り分け、任意のビット長に対する一般記法、ビットレベルコード最適化などを特徴とする。We report on a bit-level compiler which was developed for easy programming of a vision chip, that is a kind of massively parallel image processor. The compiler is designed aiming improvements of (1) code generation efficiency, (2) reusability of modules, (3) user convenience, and features C-based grammer, auto division of parallel and sequential processing, general notation of arbitrary bit-length, and bit-level code optimization.
著者
荒井 祐介 若林 憲一 吉川 雅英 奥 寛雅 石川 正俊
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.31, no.10, pp.1028-1035, 2013 (Released:2014-01-15)
参考文献数
16
被引用文献数
1 1

Recently, flagella and cilia have gathered attension since their important role in mammal cells and relation to genetic diseases of human were revealed. Chlamydomonas is one of the model organism of flagella and phototaxis research. The purpose of our research is to track a freely swimming individual Chlamydomonas cell to observe its flagella and whole body movement with dark field microscopy to investigate the phototactic reaction of Chlamydomonas. In this paper, a method for three-dimensional tracking of Chlamydomonas using high-speed visual feedback in dark field microscopy is proposed. The method was implemented to an existing microscope tracking system. It demonstrated successful three-dimensional tracking of a swimimng Chlamydomonas for several tens of seconds. The precisions of the 3D position measurement were estimated as ±1[μm] (XY) and ±10[μm] (Z).
著者
龍野 翔 早川 智彦 石川 正俊
出版者
特定非営利活動法人 日本バーチャルリアリティ学会
雑誌
日本バーチャルリアリティ学会論文誌 (ISSN:1344011X)
巻号頁・発行日
vol.22, no.4, pp.447-455, 2017 (Released:2017-12-31)
参考文献数
20

A supporting training system using a haptic device is considered to contribute more to motion learning than other stimuli that stimulate the human somatosensory system. However, the apparatus required for haptic stimulation is large, although the output is small. Electrical stimulation has been gaining attention in the field of human interfaces in recent years as a potential solution to this problem. Electrical stimulation is superior to existing haptic interfaces in that a large output can be generated using a few batteries, which can drive muscles to contract. Therefore, in this study, we developed a training system using electrical stimulation. This system teaches the amount of the rotation of arms, which is difficult to achieve by means of other haptic stimuli. We confirmed that the form in the rotation direction was successfully modified by using this system. The form was improved by 32% through electrical stimulation during training, and the form correction was achieved via the somatosensory system, which is difficult with the existing method. In addition, we verified that the skill was memorized in a short period of time and retained in the short term.
著者
奥村 光平 石井 将人 巽 瑛理 奥 寛雅 石川 正俊
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.49, no.9, pp.855-864, 2013 (Released:2013-10-16)
参考文献数
17
被引用文献数
5 1

In spite of high demands in a lot of industrial fields, it is viewed as difficult to capture a stuff flying at the speed of hundreds [m/s] order same as acoustic velocity. A high-frame-rate camera (≈10000 [fps]) is often adopted to observe it. However, this method gives us only a short-lasting recorded data. Furthermore, a quite short exposure time (≈ 5 [µs]) and regionally concentrated illumination are required in order to cut down a motion blur. In this paper, a measurement means specialized for such a high-speed object is proposed. A high-speed gaze controller, called Saccade Mirror keeps its camera gaze casting the matter while soaring. We successfully obtained the longer images with brightness and a little motion blur.
著者
龍野 翔 早川 智彦 石川 正俊
出版者
特定非営利活動法人 日本バーチャルリアリティ学会
雑誌
日本バーチャルリアリティ学会論文誌 (ISSN:1344011X)
巻号頁・発行日
vol.22, no.4, pp.447-455, 2017

<p>A supporting training system using a haptic device is considered to contribute more to motion learning than other stimuli that stimulate the human somatosensory system. However, the apparatus required for haptic stimulation is large, although the output is small. Electrical stimulation has been gaining attention in the field of human interfaces in recent years as a potential solution to this problem. Electrical stimulation is superior to existing haptic interfaces in that a large output can be generated using a few batteries, which can drive muscles to contract. Therefore, in this study, we developed a training system using electrical stimulation. This system teaches the amount of the rotation of arms, which is difficult to achieve by means of other haptic stimuli. We confirmed that the form in the rotation direction was successfully modified by using this system. The form was improved by 32% through electrical stimulation during training, and the form correction was achieved via the somatosensory system, which is difficult with the existing method. In addition, we verified that the skill was memorized in a short period of time and retained in the short term.</p>
著者
安井 雅彦 M. Sakti Alvissalim 山本 裕紹 石川 正俊
出版者
公益社団法人 計測自動制御学会
雑誌
計測自動制御学会論文集 (ISSN:04534654)
巻号頁・発行日
vol.52, no.3, pp.134-140, 2016 (Released:2016-03-25)
参考文献数
16
被引用文献数
1 3

Recently, the importance of 3D interaction is increasing. We realize immersive 3D environment based on eyeware-free 3D image and high-speed hand gesture interface. For the aerial image, we use a display technology called AIRR and the 3D high-speed handtracking and gesture recognition make it possible to manipulate the aerial image in high-speed. The system we integrated is called “AIRR Tablet” which recognizes hands or any other objects in high-speed beyond human perception. We achieved immersive input and output having a small delay. We can perform operations without any physical contact (Drag&Drop, Punch, Drawing, and Pinching).
著者
溜井 美帆 山田 雅宏 渡辺 義浩 石川 正俊
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.31, no.7, pp.712-719, 2013 (Released:2013-10-01)
参考文献数
16
被引用文献数
3 1

In recent years, there has been an increasing demand to digitize a huge number of books. A promising new approach for meeting this demand, called Book Flipping Scanning, has been proposed. This is a new style of scanning in which all pages of a book are captured while a user continuously flips through the pages without stopping at each page. Although this new technology has had a tremendous impact in the field of book digitization, page turning is still done manually, which acts as a bottleneck in the development of high-speed book digitization. Against this background, this paper proposes a newly designed high-speed, high-precision book page turner machine. Our machine turns the pages in a contactless manner by utilizing the elastic force of the paper and an air blast. This design enables high-speed performance that is ten times faster than conventional approaches and, in addition, causes no obstruction in the digitization process. This paper reports the evaluation of the proposed machine using various types of paper with different qualities. Our machine achieved high success rate when turning pages at around 300 pages/min, showing that it is a promising technology for turning pages at high-speed and with high precision.
著者
奥村 光平 奥 寛雅 石川 正俊
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.29, no.2, pp.201-211, 2011 (Released:2011-04-16)
参考文献数
19
被引用文献数
12 7

The purpose of our study is to realize an active vision capable of casting its gaze in any desired direction in ms-order. It is, however, difficult even if a vision sensor itself is controlled directly by high-speed actuators. Therefore, we propose a high-speed gaze control subsystem, called “Saccade Mirror.” Using this system and a high-speed vision, image sequences that each image has different direction of gaze in msorder has been successfully obtained. Measuring the frequency response of the gaze control, this result has exceeded the preceding study. That is to say, the utility of our proposal has been ascertained.
著者
妹尾 拓 高野 光浩 石川 正俊
出版者
一般社団法人 日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.31, no.3, pp.301-309, 2013 (Released:2013-05-15)
参考文献数
16

In this paper, dynamic biped locomotion is considered with the goal of achieving fast and dexterous leg motion. We propose a new movement principle for legged robots, which produces propulsive force using frictional asymmetry. The dynamic locomotion consists of sliding motion based on the kinematic constraint and jumping motion which enables to keep the maximum horizontal velocity. The dynamics of the 2-DOF biped robot is analyzed to obtain motion characteristics for developing a motion strategy. Experimental results are also shown in which a 2-DOF biped robot takes fast short steps repetitively with compensation of the landing time by high-speed vision.
著者
山川 雄司 遠山 渉 黄 守仁 村上 健一 石川 正俊
出版者
一般社団法人 日本機械学会
雑誌
日本機械学会論文集 (ISSN:21879761)
巻号頁・発行日
vol.84, no.858, pp.17-00364-17-00364, 2018 (Released:2018-02-25)
参考文献数
19
被引用文献数
2

Human motion is very flexible for performing various tasks but has low speed and low precision; therefore, support and assistance of human motion by robots is desirable in some situations. In this study, in order to achieve such functions, we developed a new portable module for accurately controlling the position of a human hand and constructed a high-speed, high-accuracy positioning control system using image tracking via a high-speed vision system. In order to evaluate its performance, we executed tracing tests of constant position, circular or linear trajectory. Finally, we performed the task of catching a falling small ball, as a significantly difficult positioning task. Although this task was nearly impossible to perform with the human hand alone, the success rate was dramatically improved by using the proposed method.