著者

山田 泰之 風間 祐人

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 2021 (ISSN:24243124)

巻号頁・発行日

pp.2A1-D08, 2021 (Released:2021-12-25)

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During overhead work, workers need to keep raising up upper limb weights. In that working posture, it is necessary to keep the arm with its own weight of approximately 2 to 4 kg. It is considered to be a cause of fatigue of arms and back. Therefore, in this research, we attempted to reduce the fatigue of the upward work by the weight compensation mechanism that balances the elastic force of the spring and their arms weight. It can compensate for their arms weight by the force of the spring in various postures of the arm at the time of work by using lightweight and highly accurate weight compensation mechanism authors developed. Furthermore, a horizontal multi-linkage mechanism that follows the movement of the shoulder and arm of a human is used. In this way, it is completely pure mechanical and simple structure without a motor and battery, and it can be expected effective in all upward works. The mechanism of self-weight compensation and the degree of freedom and parameters of the link mechanism were studied. For practical use, we discussed how to achieve both a simple structure, work movement followability, and mass productivity.

著者

浅見 優之介 伊藤 弘大 堀江 亮太 多田 充徳

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 2021 (ISSN:24243124)

巻号頁・発行日

pp.2P1-L01, 2021 (Released:2021-12-25)

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In this study, we developed an EEG-based MR game based on the hypothesis that games can be made more interesting by reflecting the psychological state read from the EEG. The genre of the game was shooting. We designed the game in such a way that the size of the aim in the game is linked to the EEG feature value, and that focusing increases the EEG feature value and shrinking the aim increases the hit rate. The β/α ratio was used as the EEG feature, and we sought an effective way to introduce the β/α ratio into the game. By setting a threshold value using the average value of the β/α ratio of the subjects, and by performing a moving average process that divided the values above and below the threshold value, we were able to manipulate the size of the aim as desired with a probability of about 80%.

著者

斎藤 諒 三浦 純

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 2021 (ISSN:24243124)

巻号頁・発行日

pp.1P2-G03, 2021 (Released:2021-12-25)

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Recently, many public facilities have been promoted to be barrier-free. In such a situation, an accessibility map that indicates areas that are drivable and areas that are not drivable, such as steps and slopes is very effective for wheelchairs and strollers. This research focuses on viewpoint planning for autonomous 3D measurement by a mobile robot in order to create an accessibility map. For efficient 3D measurements, the viewpoint planning should be done to reduce the size of unknown regions. We plan viewpoints based on the frontier, which is the boundary between the known and the unknown regions. We verify the effectiveness of the proposed method in simulation and by a real robot environment.

著者

増田 殊大 杉松 治美 小島 淳一 西田 祐也 巻 俊宏

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 2021 (ISSN:24243124)

巻号頁・発行日

pp.1A1-B03, 2021 (Released:2021-12-25)

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Most of the conventional hydrophones (underwater microphones) use PZT ceramic as the material, and there are problems such as variation in sensitivity, the necessity of high-magnitude amplification and high cost.We developed and evaluated a low-cost, easy-to-use MEMS hydrophone that is waterproof and pressure-resistant while maintaining the bandwidth of a commercially available MEMS microphone.

著者

田島 貴一 矢木 啓介 森 善一

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 2021 (ISSN:24243124)

巻号頁・発行日

pp.2P3-I01, 2021 (Released:2021-12-25)

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We have developed an impulsive motion generator mimicking Alpheus brevicristatus. Alpheus brevicristatus can close their claw at the speed that generates plasma shock waves in water. We employ their unique joint structure called the cocking slip joint and design an artificial actuation mechanism with a passive elastic element to induce the impulsive motion through storing and releasing the elastic energy; rather than adopting their musculoskeletal structure as it is. Our design approach allows the developed device to generate the impulsive motion repeatedly by a single actuator with a small actuation force compared with the stored elastic energy, which is verified through experiments.