著者

吉川 雅博 田口 裕也 阪本 真 山中 俊治 松本 吉央 小笠原 司 河島 則天

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.32, no.5, pp.456-463, 2014 (Released:2014-07-15)

参考文献数

14

被引用文献数

1 2

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At present, there are body-powered hooks and myoelectric prosthetic hands that trans-radial amputees can use for work. Though the body-powered hook has good workability in detailed works, the design of the hook spoils its appearance and the harness impairs the feelings of wearing. The myoelectric prosthetic hand has a natural appearance similar to the human hand and intuitive operability with a myoelectric control system. However, it is high cost and heavyweight. Because of these problems, many amputees use cosmetic prostheses especially in Japan. In this paper, we report a low-cost and lightweight electric prosthesis with three opposed fingers considering functionality and design. A simple mechanism to control fingers by a linear actuator contributes to satisfactory workability, lightweight, and low cost. A control system using an inexpensive distance sensor allows intuitive operability as the myoelectric sensor at low cost. A socket is easily removable so that users can wear properly as the situation demands. It has a sophisticated appearance as a tool and can be produced by a 3D printer. The total weight of the hand and socket is 300[g]. Evaluation tests utilizing Southampton Hand Assessment Procedure (SHAP) demonstrated that developed prosthesis was effective to operate light objects for daily use.

著者

山口 優

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.950-955, 2013 (Released:2014-01-15)

著者

渡辺 哲陽

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.30, no.9, pp.849-852, 2012 (Released:2012-12-15)

参考文献数

4

著者

多田隈 建二郎 多田隈 理一郎 井岡 恭平 妻木 勇一

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.30, no.6, pp.611-620, 2012 (Released:2012-08-15)

参考文献数

25

被引用文献数

3

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As ordinary dual-axis driving mechanisms in X–Y directions, for example, commercially available X–Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism, which has hampered efforts to achieve suitably fast and smooth driving motion due to the inertial force effect. It is also difficult to achieve a small and slimline driving mechanism with such overlapping two-stage structure. In these ordinary two-stage driving mechanisms, the motion of the X–Y stage can be disturbed by the cords of the upper actuator. In this research, we have considered the abovementioned problems, and propose a new omnidirectional driving gear mechanism that enhances its driving area from the normal X–Y plane to convex and concave curved surfaces respectively, and even various combinations of both. The smoothness of basic omnidirectional motion and effectiveness of the driving method of this proposed omnidirectional driving gear mechanism have been confirmed with several experiments involving our setups.

著者

森 武俊

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.27, no.6, pp.617-621, 2009 (Released:2011-11-15)

参考文献数

30

被引用文献数

1 2

著者

仲平 依恵

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.40, no.2, pp.130-132, 2022 (Released:2022-03-17)

参考文献数

5

著者

湯口 彰重 豊田 真行 趙 崇貴 吉野 幸一郎 高松 淳 中澤 篤志 小笠原 司

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.41, no.10, pp.893-896, 2023 (Released:2023-12-21)

参考文献数

13

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Analyzing time-series changes of the contact surface by touching is important to elucidate the touching skills of Humanitude as one of the pervasive multimodal comprehensive care methodologies. However, the transparent flat plates to capture contact surfaces used in the previous studies are far from the actual surfaces of care receivers because the surfaces of humans consist of curved shapes. In this paper, we propose a Frustrated Total Internal Reflection (FTIR) sensing system using a transparent curved plate for the purpose to capture contacting state by using a surface more similar to the human body. We evaluate the equivalent performance between data from the proposed FTIR sensing system and an FTIR sensing system using a transparent flat plate by calculating time-series contact areas and the quantitative indices representing theHumanitude's touching motion. Through these experiments, we conclude that the proposed system can obtain the same data quality for the contact areas and the indices as the FTIR system using the flat plate.

著者

大平 英樹

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.40, no.1, pp.10-13, 2022 (Released:2022-01-17)

参考文献数

13

被引用文献数

1

著者

持橋 大地

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.40, no.10, pp.863-866, 2022 (Released:2022-12-24)

参考文献数

11

著者

金子 健二 金広 文男 森澤 光晴 三浦 郁奈子 中岡 慎一郎 原田 研介 梶田 秀司

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.28, no.7, pp.853-864, 2010 (Released:2012-01-25)

参考文献数

42

被引用文献数

7 6

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The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158[cm] tall and weighing 43[kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the project overview, the design process, mechanical features, and electrical features with specifications of HRP-4C.

著者

津田 尚明

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.35, no.1, pp.55-61, 2016 (Released:2017-02-15)

参考文献数

18

被引用文献数

1 2

---

Participation in collaborative projects is regarded to be one of the necessary activities for universities and colleges. Furthermore, participation of students in such projects is expected to be effective from the view of an engineering design education and social implementation education. Collaborative projects are usually carried out by several stakeholders, and they are required to be managed properly based on their interests. However, they tend to be managed by trial and error, because each stakeholder has different circumstances and different purposes. In this paper, stakeholder analysis was introduced and applied to two social implementation education projects that were carried out in the author's college. One is a management of a lecture where a speaker was invited from another college, and the other is a management of developing a mascot robot for a regional festival. The results from the stakeholder analysis and the author's cognition were compared. As a result, it was confirmed that the stakeholder analysis has a potential capability of a management of projects of social implementation education.

著者

滝田 好宏

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.38, no.9, pp.789-792, 2020 (Released:2020-11-21)

参考文献数

9

著者

葭田 貴子

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.38, no.1, pp.23-27, 2020 (Released:2020-01-16)

参考文献数

18

被引用文献数

1

著者

衣笠 哲也 大谷 勇太 土師 貴史 吉田 浩治 大須賀 公一 天野 久徳

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.27, no.1, pp.107-114, 2009 (Released:2011-11-15)

参考文献数

31

被引用文献数

8 5

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In the past decade, search type rescue robots have been focused on. Most robots took “linked mobile track” type such as snakes, so as to obtain high quality against unknown irregular surfaces. However the linked mobile track has some joints and sometimes they shut in some debris and stuck on it. In addition, many links increase total weight of robots and control complexity. In the paper, we propose a new type mobile mechanism, Flexible Mono-Tread Mobile Track (FMT) and develop a prototype called “Rescue mobile Track No.2 (RT02) WORMY”. The prototype consists of a flexible chain and a vertebrae like structure. Moreover, we investigate its performance against the irregular surfaces.

著者

津村 賢宏

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.41, no.5, pp.457-458, 2023 (Released:2023-06-22)

参考文献数

8

著者

安達 弘典 岡田 聡 松崎 謙司

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.36, no.6, pp.395-398, 2018 (Released:2018-08-15)

参考文献数

5

被引用文献数

1 2

著者

浅野 悠紀 溝口 弘悟 上月 豊隆 茂木 陽太郎 白井 拓磨 浦田 順一 中西 雄飛 岡田 慧 稲葉 雅幸

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.32, no.10, pp.887-894, 2014 (Released:2015-01-15)

参考文献数

14

被引用文献数

1 1

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Human knee joint has a yaw-axis rotational DOF and a locking mechanism called screw-home mechanism(SHM). We focus on this mechanism and implement it to a musculoskeletal humanoid through hardware design. In this paper, we first explained human knee characteristic of SHM and joint range of motion. Next, we explained hardware design and implementation method of the mechanism. As an evaluation of our developed knee joint, we checked the function of SHM from viewpoint of moment arm of the yaw rotational axis and the yaw angle displacement during squat motion. Lastly, as unique and integrated motions that involve the use of yaw DOF derived from SHM, we made several motion achievement including humanlike twisting squat, heel move motion and switch pedals, under a condition of contacting environment. This result demonstrates human mimetic rotational DOF of knee contributes motion achievement.

著者

山本 純也 東 和樹 小山 佳祐 清川 拓哉 万 偉偉 原田 研介

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.41, no.6, pp.569-572, 2023 (Released:2023-07-27)

参考文献数

14

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To extend the paralyzed fingers of a stroke victim with hemiplegia, we have proposed a low-dimensional control system for a robotic finger which can grasp an object between the robotic finger and the paralyzed human fingers. In this study, we newly propose an extra finger that can face multiple fingers with low-dimensional control. This can be realized by adding a rotational joint for moving the base of the robotic finger where it is controlled by the common low-dimensional synergy controller. Experimental results showed that the proposed extra finger could realize 33 grasping postures and 4 peg manipulation patterns.

著者

吉田 優太郎 林 亮 舛屋 賢 高木 賢太郎 有田 輝 田原 健二

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.41, no.6, pp.573-576, 2023 (Released:2023-07-27)

参考文献数

8

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A Straight Twisted Polymeric Fiber Actuator (STPFA) has attracted attention as a new rotational actuator because it is soft, lightweight, silent, and inexpensive. It can rotate when heating, and be back when cooling. However, it is difficult to improve the response, especially in the cooling phase when using natural cooling. In order to improve the response in natural cooling, antagonistical actuation is one of the effective methods. However, the diactivated-side actuator generates a disturbance-like torque when the other-side actuator is activated due to its passive torsional spring-like characteristics. In order to realize the antagonistical actuating module using a pair of rotational-type STPFA, in this paper, the models are constructed that can estimate the torque generated at both ends of an antagonistically arranged rotational STPFA from the change in heater resistance. A sensorless output torque control method is proposed for the total torque obtained as the difference between the torques at the two ends using the proposed STPFA models. The effectiveness of the proposed method is demonstrated through fundamental experiments using a prototype module.

著者

中野 吏 吉川 雄一郎 浅田 稔 石黒 浩

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.27, no.7, pp.814-822, 2011 (Released:2011-11-15)

参考文献数

26

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In this paper, we propose a method for simultaneous learning of multi-modules for joint attention: gaze-driven attention and word-driven attention. Inspired from child language acquisition, mutually exclusivity bias is utilized for mutual facilitative learning both in an intra- and inter-module manner by extending a modified Hebbian learning rule. Experiments on a human-robot interaction and on the computer simulations, we analyzed that the proposed method enabled mutually facilitative learning of a mapping for gaze-following and a label-to-object mapping by which the learner performs multimodal joint attention with its caregiver. Finally, through a computer simulation resembling mother-infant interaction, we argued a possibility of the proposed learning mechanism as a constructivist model for infant's cognitive development.