Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER INT PUBLISHING AG  

An innovative electric-powered glove system has been prototyped to support finger rehabilitation for people with motor impairment on their fingers after a stroke. This glove system is composed of a leather glove which has a unique actuation mechanism called an exotendon system, a muscle activity sensor is fixed on the upper forearm to detect user's efforts during finger exercises and a controller including a microcomputer and a drive unit. An evaluation has been conducted based on A-B design of a single subject study and it has been observed that finger exercises carried out using the prototyped glove system has effectively improved the finger functionality of a stroke patient.

DOI： 10.1007/978-3-319-08072-7_19

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Chewing number is related to incremental increases in body weight from 20 years of age in Japanese middle-aged adults Background: Eating habits are associated with both current obesity and incremental increases in body weight from young adulthood, but no study has focused on chewing number during meals among community residents. Objective: This study focused on the relationship between chewing number and incremental increases in body weight from 20 years of age. Methods: A total of 93 persons aged 35-61 years participated. The subjects were asked to set the device and record their chewing number during each meal on a particular day. They were also asked whether their body weight had increased by 10 kg or more since they were 20 years old. Results: The body weight of 28 subjects (30%) had increased more than 10 kg since the age of 20 years. Total chewing number showed a relationship with such body weight increases. The odds ratio of weight increments of more than 10 kg for the lowest tertile group was 4.6 [95% confidence interval (CI), 1.3-16.2] relative to the highest tertile group (Model 1). The odds ratio of weight increments for the lowest tertile group increased to 6.3 (95% CI, 1.6-25.4) in Model 2 and to 9.1 (95% CI, 1.7-49.8) in Model 3. Conclusion: Although this study was limited because it did not consider all risk factors, categorical chewing number was related independently to body weight increments of more than 10 kg from 20 years of age. © 2012 John Wiley & Sons A/S and The Gerodontology Society.

DOI： 10.1111/j.1741-2358.2012.00666.x

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PubMed

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Persons suffering from intractable disease like ALS (Amyotrophic Lateral Sclerosis) and spinal cord injury often show deterioration in muscular function. Some of these patients are obliged to use artificial respirators and cannot have verbal communication with others. In order to support their communication, there exist various input devices like touch sensor input devices, capacitance sensor input devices and also vision input devices. In addition, computer controlled environment is helpful for such patients. By developing proper computer controlled environment which is controlled by the proper input device, even the patient with serious disability can live sound life. Due to the infrared network system, the computer controlled environment could be well organized.

DOI： 10.1109/MSN.2013.94

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Language：English   Publishing type：Research paper (international conference proceedings)  

For elderly patients, dosing is crucial for their healthy life. Many of theme are requested to take medicine regulary without any mistake. To assist their daily drug dosing, a medication calendar to guide them is proposed. The calendar has 28 pockets, with reed switches attached on the back. With the use of a microprocesor the reed switch signal is read and used to guide the users with their drug dose with a voice command. © 2012 IEEE.

DOI： 10.1109/ICINIS.2012.95

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, Environmental Control System for spinal cord injured to support their living is proposed. A distinguished feature of this system is that an original image processing technique is introduced as a smart input device. In addition, infrared signal emitter and receiver system are developed to reduce the cables and devices around the bed. These two features established the well-organized nursing environment.

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Publishing type：Research paper (international conference proceedings)  

Persons suffering from intractable disease like ALS (Amyotrophic Lateral Sclerosis) and spinal cord injured present symptoms of muscular deteriorations. These patients are often obliged to use artificial respirators in the case the breathing action becomes impossible. It should be noticed that using the artificial respirator means that uttering voice is impossible. In order to support their daily lives, computerized environment is proposed, where various home electric appliances can be controlled by computer. Furthermore, the computer has original vision input device. A distinct advantage of this computerized environment is that the most of the home electric appliances needs no to be connected by the cables. © 2012 IEEE.

DOI： 10.1109/ICINIS.2012.96

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Language：English   Publisher：FUJI TECHNOLOGY PRESS LTD  

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Fifteen teams from six universities joined the competition, whose subject was "Health, care and communication aids for the elderly." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design.

DOI： 10.20965/jrm.2009.p0245

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This paper presents a load control method based on PIC microcomputer for a training machine suited to elderly people. The training machine allows the elderly people to maintain their physical ability through exercise close to ordinary motion that appears in daily life such as extending or flexing legs. The system configuration of the training machine and the muscle stiffness sensor used for human-machine interface are described. The hardware and software of the motor controller based on PIC microcomputer are introduced and the load control method with the control function of reverse current is proposed. Several experiments are conducted to evaluate the training system and the results indicate the effectiveness of the control system. © 2009 Inderscience Enterprises Ltd.

DOI： 10.1504/IJISTA.2009.028054

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Publishing type：Research paper (international conference proceedings)  

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Seventy-seven students of eleven teams from seven universities in the Kyushu area participated in the competition, whose subject was " Health care, life supporting and communication or other technical aids for the elderly or disabled." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design. © 2009 SICE.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

It is widely acknowledged that computer is powerful tool to improve the quality of life of the people with disability. One problem is how the user manipulates the computer using suitable input device designed for him or her. This paper proposes tow pointing devices based on vision for the people with disability as input devices. These devices detect the position of the marks attached on the users head. According to the head movements, computer cursor on the computer display is moved in two-dimensionally. A distinct advantage of these devices is that various strategies could be installed based on the situation of the users. The pointing device was applied to a drawing tool of the painting software for an patients successfully.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPIE-INT SOC OPTICAL ENGINEERING  

A robotic chair is developed to support mobility of elderly and disabled people living in the house where steep and narrow stair-ways are installed. In order to deal with such mobility problem the developed robotic chair has a compact original configuration. The robotic chair vertically moves by actuation of electric cylinders and horizontally moves by push-pull operation given by a care-giver. In order to navigate safely every action of the chair is checked by the operator. Up-and-down motions of the robotic chair on the stairway are executed through combinations of motor and cylinder actuations. Performance of the robotic chair was evaluated through two kinds of experiments. The excellent ability of the robotic chair could be confirmed through these experiments.

DOI： 10.1117/12.783963

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Due to the rapid increase of the population of elderly people, many countries have serious social problems. Technical approach is highly required to deal with such problems. One of serious problem can be found at nursing care of patients suffered by intractable disease like ALS (Amyotrophic Lateral Sclerosis) and cerebral infraction. They need intensive cares by care-workers. As a typical symptom of ALS patients their muscular functions deteriorate rapidly. In two or three years after the onset of the disease, patients are often obliged to use artificial respirators since even the breathing action becomes impossible. Once they start to use the artificial respirator, uttering voice becomes impossible. Therefore, communication with family and friends becomes difficult In this presentation activity to support daily lives of these serious patients in Nagasaki area are explained. We developed and offered communication system using original switching devices. These switches are developed considering individual symptom of the patients. Using the internet function of the system, the patients are able to join the social activity.

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Language：English   Publisher：AROB 2017  

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Language：English   Publisher：ELSEVIER SCIENCE INC  

Study objective: To test the hypothesis that the jaw closure using a pneumatic actuator device affect airway collapsibility and resistance during propofol anesthesia.
Design: Prospective, randomized study.
Setting: University-affiliated hospital.
Patients: Six male subjects were included in the present study.
Intervention: We used pressure-flow relationships to evaluate critical closing pressure (Paul-) and upper airway resistance in different conditions of body and head position. Anesthesia was induced and maintained with a propofol infusion, targeting a constant blood concentration of 1.5 to 2.0 mu g/mL to establish an adequate depth of anesthesia, with patients breathing spontaneously through a nasal mask. An air-inflatable pneumatic actuator was used to achieve jaw closure. Nasal mask pressure was intermittently reduced to evaluate upper airway collapsibility (passive P-CRIT) and upstream resistance under 4 different conditions: (1) neutral occlusion at 0-cm head elevation (baseline), (2) jaw closure at 0-cm head elevation, (3) neutral occlusion at 6-cm head elevation, and (4) jaw closure at 6-cm head elevation. Pour and upstream resistance under each condition were compared using 1-way analysis of variance. P < .05 was considered significant.
Measurements: The pressure and inspiratory flow at the subjects' nose mask were recorded. Polysomonographic parameters (electroencephalograms, electrooculograms, submental electromyograms, and plethysmogram) were also recorded.
Main results: The combination of 6-cm head elevation with jaw closure using the pneumatic actuator decreased upper airway collapsibility (P-CRIT approximate to -3.0 cm H2O) compared to the baseline position (P-CRIT approximate to -1.2 cm H2O; P = .0003).
Conclusion: We demonstrated that jaw closure using an air-inflatable pneumatic actuator device can produce substantial decreases in upper airway collapsibility and maintain upper airway patency during propofol anesthesia. (C) 2016 Elsevier Inc. All rights reserved.

DOI： 10.1016/j.jclinane.2015.10.016

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Language：Japanese  

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Language：English   Publisher：SPRINGER INT PUBLISHING AG  

A robotic device that allows a surgeon to operate a laparoscope by itself through commands based on the head and the jaw movements has been prototyped. This robotic device has a unique head-mounted interface to measure surgeon's head inclination angles in horizontal and vertical directions and detects the degree of contraction of temporal muscles that always acts under jaw movements by using sensors. Surgeons can easily operate the robotic device and control the area of scope view inside of the abdominal cavity through the head inclination angle and the voluntary effort of bite with back teeth during the surgical operations with both hands. The excellent operability of a prototype has been presented through an evaluation test under a simulated surgery task inside a training box. In addition, the high potential of the proposed system to make the surgeons possible to perform an extirpative surgery of cancer on gallbladder or liver under its own laparoscope operation through a test of an animal model.

DOI： 10.1007/978-3-319-43506-0_53

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Language：Japanese   Publisher：(NPO)日本小児外科学会  

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Language：Japanese   Publisher：(一社)日本小児外科学会  

【目的】今回我々は腹腔鏡下経皮的腹膜外閉鎖法(以下LPEC法)の腹膜-腹膜前筋膜深葉間の剥離操作(以下腹膜外剥離操作)の安全性向上を目的とした新規デバイスを開発した。新規デバイスはテフロンの外筒と手元のスイッチで構成され、既存のラパヘルクロージャーに装着し使用する。腹膜外剥離の際は針先先端を外筒に収納して鈍的剥離が施行可能である。本デバイスをラパヘルジャケットと命名し、安全性、有用性を検討した。【方法】9例の鼠径ヘルニア(男児4例 女児5例)に対しLPEC法施行時にラパヘルジャケットを使用した。両側の腹膜鞘状突起開存を4例に認め、13回の腹膜外剥離操作を実施。【結果】1回の腹膜外剥離操作に要した時間は女児症例で平均8.0分(4〜15分)、男児症例で平均10.3分(7〜13分)、鈍的剥離による血腫発生は認めなかった。本デバイスを用いたことによる有害事象は認めなかった。【結論】LPEC法の安全性向上を目的とした新規デバイスを開発し、臨床使用でその安全性と有用性を確認した。ラパヘルジャケットはLPEC法の安全性の向上の一助となり得る。(著者抄録)

DOI： 10.11164/jjsps.51.6_1030

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Language：Japanese  

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Language：Japanese  

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Language：Japanese   Publisher：(一社)日本作業療法士協会  

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)   Publisher：Fuji Technology Press Ltd.  

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Language：English   Publisher：SPRINGER  

Stroke survivors are typically affected by hand motor impairment. Despite intensive rehabilitation and spontaneous recovery, improvements typically plateau a year after a stroke. Therefore, novel approaches capable of restoring or augmenting lost motor behaviors are needed. Brain-computer interfaces (BCIs) may offer one such approach by using neurophysiological activity underlying hand movements to control an upper extremity orthosis. To test the performance of such a system, we developed an electroencephalogram-based BCI controlled electrically actuated hand orthosis. Six able-bodied participants voluntarily grasped/relaxed one hand to elicit BCI-mediated closing/opening of the orthosis mounted on the opposite hand. Following a short training/calibration procedure, participants demonstrated real-time, online control of the orthosis by following computer cues. Their performances resulted in an average of 1.15 (standard deviation: 0.85) false alarms and 0.22 (0.36) omissions per minute. Analysis of signals from electrogoniometers mounted on both hands revealed an average correlation between voluntary and BCI-mediated movements of 0.58 (0.13), with all but one online performance being statistically significant. This suggests that a BCI driven hand orthosis is feasible, and therefore should be tested in stroke individuals with hand weakness. If proven viable, this technology may provide a novel approach to the neuro-rehabilitation of hand function after stroke.

DOI： 10.1007/s10439-014-1066-9

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Language：Japanese   Publisher：(一社)日本作業療法士協会  

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Language：English   Publisher：IEEE  

An electric-powered hand orthosis has been developed to support daily activities of people with motor impairment in hand fingers. This system is composed of an orthotic part, a head-mounted interface to detect user's commands, and a controller. One major feature of this system is that the orthotic part is basically made of soft and lightweight materials only. It is expected that this feature allows users to frequently and continuously use the system in their daily life. A prototype has been made and tested. It was demonstrated that the system has an excellent operability and has promising performance to support daily activities of people with finger disability through the tests.

DOI： 10.1109/SII.2014.7028113

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Language：English   Publisher：Institute of Electrical and Electronics Engineers Inc.  

Continuous maintenance of an appropriate position of the mandible and head purely by manual manipulation is difficult, although the maneuver can restore airway patency during sleep and anesthesia. The aim of this paper was to examine the effect of head elevation with jaw closure using a remote-controlled airbag device, such as the airbag system, on passive upper airway collapsibility during propofol anesthesia. Seven male subjects were studied. Propofol infusion was used for anesthesia induction and maintenance, with a target blood propofol concentration of 1.5-2 μg/ml. Nasal mask pressure (PN) was intermittently reduced to evaluate upper airway collapsibility (passive PCRIT) and upstream resistance (RUS) at three different head and jaw positions, jaw opening position in the supine position, jaw opening position in the sniffing position with 6-cm head elevation, and jaw closure at a 6-cm height sniffing position. The 6-cm height sniffing position with jaw closure was achieved by an airbag device that was attached to the subject's head-like headgear. Patient demographics, (PCRIT) and (RUS) in each condition were compared using one-way ANOVA with a post hoc Tukey test. (P &lt
0.05) was considered significant. We also confirmed the effects of our airbag device on improvement of upper airway collapsibility in three obstructive sleep apnea patients in a clinical study. The combination of 6-cm head elevation with jaw closure using the air-inflatable robotic airbag system decreased upper airway collapsibility ((PCRIT ∼ -3.4)-cm H2O) compared with the baseline position (PCRIT ∼ -0.8-cm H2O, P = 0.0001). In the clinical study, there was improvement of upper airway obstruction in sleep apnea patients, including decreased apnea and hypopnea duration and increased the lowest level of oxygen saturation. We demonstrated that establishment of head elevation with jaw closure achieved by a remote-controlled airbag device using an inflatable airbag system can produce substantial decreases in upper airway collapsibility and maintain upper airway patency during propofol anesthesia and sleep.

DOI： 10.1109/JTEHM.2014.2321062

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Language：English   Publisher：Fuji Technology Press  

A prehension orthosis with a pneumatic actuator has been developed to compensate for the disability of cervical cord injury patients and support their daily activities. One major feature of this orthosis is that the user can continually pinch or hold a target object using a finely adjusted finger force. The movement and force applied to the fingers can be controlled by continuous instructional signals from the user through the activity of a command muscle, which is selected from among the muscles without functional impairment in the user's body. The level of muscle activity can be obtained by using an original sensor that detects the hardness of the target muscle through contact with the skin. The level of muscle activity can be estimated by the hardness information of the muscle. This sensor is easily fixed to a user's body by using an elastic belt and even works over clothing. Therefore, the user can wear the system very easily. This feature allows the system to be very user friendly. Users can handle fragile objects such as an egg or sculpted-glass by using this prehension orthosis because of its finger force control function. Excellent dexterity in the finger force control has been demonstrated through evaluation tests conducted with various subjects, including a spinal cord injury patient.

DOI： 10.20965/jrm.2013.p0973

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：三輪書店  

CiNii Books

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Other Link： http://search.jamas.or.jp/link/ui/2013091342

Language：English   Publisher：Nagasaki University  

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Language：English   Publisher：Nagasaki University  

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Language：English   Publisher：Nagasaki University  

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Language：English   Publisher：Nagasaki University  

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Language：English   Publisher：Levrotto&Bella - Torino - Italy E. C.  

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Language：English   Publisher：International Journal of Mechanics and Control  

The stability and drive principles of the robotic unicycle proposed in our previous paper were verified by experiments in this paper. The robot is accelerated or decelerated depending on location of the compound center of gravity of the body. Inclination in the roll direction is compensated with that in the pitch direction by rotating the robot due to reaction torque of the overhead rotor. Based on the proposed acceleration control rule, the robot can run with a specified velocity. Combining the acceleration control rule and a specified yaw angular velocity, the direction control rule is proposed. Using that rule, drive simulation of tracing a circle and "8" character was carried out. Role of the overhead rotor rotation is very important. The robot can perform motions dynamically similar to those in human riding a unicycle.

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Language：English   Publisher：LIPPINCOTT WILLIAMS & WILKINS  

Background: Head elevation can restore airway patency during anesthesia, although its effect may be offset by concomitant bite opening or accidental neck flexion. The aim of this study is to examine the effect of head elevation on the passive upper airway collapsibility during propofol anesthesia.
Method: Twenty male subjects were studied, randomized to one of two experimental groups: fixed-jaw or free-jaw. Propofol infusion was used for induction and to maintain blood at a constant target concentration between 1.5 and 2.0 mu g/ml. Nasal mask pressure (P-N) was intermittently reduced to evaluate the upper airway collapsibility (passive P-CRIT) and upstream resistance (R-US) at each level of head elevation (0, 3, 6, and 9 cm). The authors measured the Frankfort plane (head flexion) and the mandible plane (jaw opening) angles at each level of head elevation. Analysis of variance was used to determine the effect of head elevation on P-CRIT, head flexion, and jaw opening within each group.
Results: In both groups the Frankfort plane and mandible plane angles increased with head elevation (P < 0.05), although the mandible plane angle was smaller in the free-jaw group (i.e., increased jaw opening). In the fixed-jaw group, head elevation decreased upper airway collapsibility (P-CRIT similar to -7 cm H2O at greater than 6 cm elevation) compared with the baseline position (P-CRIT similar to -3 cm H2O at 0 cm elevation; P < 0.05).
Conclusion: Elevating the head position by 6 cm while ensuring mouth closure (centric occlusion) produces substantial decreases in upper airway collapsibility and maintains upper airway patency during anesthesia.

DOI： 10.1097/ALN.0b013e318223ba6d

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Language：English   Publisher：IEEE  

Neurological conditions, such as stroke, can leave the affected individual with hand motor impairment despite intensive treatments. Novel technologies, such as brain-computer interface (BCI), may be able to restore or augment impaired motor behaviors by engaging relevant cortical areas. Here, we developed and tested an electroencephalogram (EEG) based BCI system for control of hand orthosis. An able-bodied subject performed contralateral hand grasping to achieve continuous online control of the hand orthosis, suggesting that the integration of a noninvasive BCI with a hand orthosis is feasible. The adoption of this technology to stroke survivors may provide a novel neurorehabilitation therapy for hand motor impairment in this population.

DOI： 10.1109/IEMBS.2011.6091432

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Language：English  

Persons suffering from intractable disease like ALS (Amyotrophic Lateral Sclerosis) and spinal cord injured present symptoms of muscular deteriorations. These patients are often obliged to use artificial respirators once the breathing action becomes impossible. It is important to understand that using the artificial respirator means that uttering voice becomes impossible. For human being talking and discussing with friends using voice is necessary to enjoy his life with family and friends. In order to support their communication, a vision input device to use vision is proposed. A distinct advantage of this vision device is that the devices can be settled apart from the bed of the patient. The device is developed for patients who have ability to move his head intentionally. © 2011 IEEE.

DOI： 10.1109/ICMT.2011.6001809

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Language：English   Publisher：4th Asia International Symposium on Mechatronics  

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Language：English   Publisher：4th Asia International Symposium on Mechatronics  

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Language：English   Publisher：The Society of Instrument and Control Engineering  

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Language：English   Publisher：The Society of Instrument and Control Engineering  

An electrical prehension orthosis is under development to support daily activity of cervical spinal cord injury patients. The prehension orthosis has an electric motor to open/close user's fingers, the second and the third fingers, toward a thumb fixed at opposite position. The prehension orthosis also has a unique interface for controlling it. The interface is a sensor to detect deformation (swelling) of human body surface. In this study this sensor is used to detect activity of mastication muscle. The activity of mastication muscle can be obtained by using this sensor because the mastication muscle always swells as it acts. The sensor is fixed at the user's head by using a belt and detects user's efforts for chewing. User can operate the electrical prehansion orthosis through gentle chewing even at the bimanual-handling tasks. Excellent operability of fingers has been demonstrated by a target user. The details of the system and results of evaluation tests are reported in this paper. © 2010 SICE.

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Language：English   Publisher：計測自動制御学会  

An assistive device is developed to help the peoples with disability to have a self-supporting life. This device uses two motors to lift up the user's arm and to bend the elbow joint. The force can be easily adjusted by the electric motor control. The control mode can be selected based on the user's ability. An original human interface to use a muscle activity sensor is introduced to enable the human friendly operation of the assistive device. © 2009 SICE.

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Language：English   Publisher：計測自動制御学会  

An innovative glove system actuated by electric motors has been developed to restore finger functions for disabled people. This glove system is composed of a leather glove having external tendons built-in, an actuation unit and a sensor to detect user's intentions for finger operations. Fingers are operated by actuation of the thin tendons made of polyethylene. The driving force of the tendon is transferred to the glove from the actuation unit by using bowden cables. It was demonstrated that the glove system can drive user's paralyzed fingers. The details of the system and results of the evaluation experiments are reported in this paper. © 2009 SICE.

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Language：English   Publishing type：Research paper, summary (international conference)   Publisher：AMER THORACIC SOC  

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Language：English   Publisher：3rd Asia International Symposium on Mechatronics  

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Language：English   Publisher：IEEE  

An advanced training machine is proposed for elderly people to maintain their lower limb strength. The training machine allows users to have a safe and effective training through exercise during standing up motion. The standing up ability by using own legs is the most important for elderly people to keep the level of their quality of life because they would be confined to bed if they lose the standing up ability. The training machine automatically adjusts loading level based on user's muscle activity to provide effective and safe training. The detail of control system, mechanical design and sensing device to monitor user's muscle activity is described. Several experiments have been conducted to evaluate the proposed training system.

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Language：English   Publisher：IEEE  

A new treatment apparatus for Sleep Apnea Syndrome (SAS) has been proposed. Objective Sleep Apnea (OSA) is the most common case of the SAS. Airway of OSA patient is frequently obstructed during sleep because of tongue swallowing. This apparatus is composed of a pneumatically actuated flexible vest and a controller including an air pressure control unit. The flexible vest has sensors to detect airway obstructions and two airbags to conduct head tilt -chin lift maneuvers that are needed for airway establishment. It was demonstrated that the proposed treatment apparatus successfully detects the airway obstruction and automatically establish the airway by conducting the chin lift-head tilt maneuvers.

DOI： 10.1109/ICCAS.2008.4694430

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Language：English   Publisher：IEEE  

Structured surfaces are often employed to enhance physical properties of metal products. Dimples are usually generated on metal surface by a ball-end milling with a combination of tool movements in horizontal and vertical directions. It is important to note that only horizontal tool movements of ball-end milling with high feed rate can also generate the dimpled surface. Authors already proposed a technique to generate desired dimple shape on the metal surfaces using a machining center. Following the technique, decorating process of the metal surface has been achieved. In the generation processes deformation of the dimples is observed. The deformation of the dimples is considered using numerical model and the mechanism to cause the deformation is analyzed. In the experiment decorations are successfully achieved with various shapes of dimples on a metal surface by using a sub-millimeter ball-end mill.

DOI： 10.1109/ICIT.2008.4608539

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Language：English   Publisher：SPIE-INT SOC OPTICAL ENGINEERING  

Authors have been developing a powered glove for people suffering from paralysis on their fingers to support their daily activity. Small air cylinders are used as actuators for this glove. Pneumatically-driven system has high advantages in case soft actuation is preferable. However, there are some problems to be solved in the pneumatically-driven system if the system is supposed to be used in our daily life. Huge air compressor is needed and solenoid valves emit loud sound for example. These problems are hurdles to commercialize the powered glove. To solve these problems authors have developed a new actuation unit by integrating an electric cylinder and an air cylinder. This actuation unit has advantages of both the electric actuation and the pneumatic actuation. Its advanced grip control ability has demonstrated through several experiments. The experimental results are reported in this paper.

DOI： 10.1117/12.783875

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Language：Japanese  

CiNii Books

J-GLOBAL

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Language：English   Publisher：IEEE  

A robot chair is developed to support mobility of elderly and disabled people living in the house where steep and narrow stairways are installed. In order to deal with such mobility problem the developed robot chair has a compact original configuration. The robot chair is vertically moved by actuation of electric cylinders and horizontally moved by push-pull operation given by an attendant. In order to navigate safely every action of the chair is checked by the operator. Up and down motions of the robot chair on the stairway are executed through combinations of motor and cylinder actuations. Performance of the robot chair was evaluated through two kinds of experiments. The excellent ability of the robot chair could be confirmed through these experiments.

DOI： 10.1109/ICCAS.2007.4406762

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Language：English   Publisher：IEEE  

Authors are developing a rotorcraft with autonomous controller for the remote sensing of agricultural fields. Accurate position sensing is essential to the development of the autonomous control system. One major method for the position sensing is to use the image processing technique. Among the image processing techniques labeling processing is most practical and is widely used for detecting the position of target objects. The labeling technique often requires high computing performance. In order to make our remote sensing system available at various practical fields, our labeling technique should be realized in compact system with enough processing speed. In this study, a FPGA based compact vision sensor to achieve fast labeling procedures is proposed. A feature of our vision sensor is that labeling process is simplified and fastened by introducing the horizontal center line information on behalf of contour data of the target objects. Therefore the performance of the processing speed and memory usage are enhanced. Due to our original technique, real-time labeling process could be achieved on the FPGA based compact vision sensor. Through several experiments, the excellent performance of the prototyped vision sensor on target detection was demonstrated.

DOI： 10.1109/ICCAS.2007.4406890

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Language：English   Publisher：IEEE  

A robot chair is developed to support mobility of elderly and disabled people living in the house where steep and narrow stairways are installed. In order to deal with such mobility problem the developed robot chair has a compact original configuration. The robot chair is vertically moved by actuation of electric cylinders and horizontally moved by push-pull operation given by an attendant. In order to navigate safely every action of the chair is checked by the operator. Up and down motions of the robot chair on the stairway are executed through combinations of motor and cylinder actuations. Performance of the robot chair was evaluated through two kinds of experiments. The excellent ability of the robot chair could be confirmed through these experiments.

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Language：English  

An advanced physical training machine for the elderly is proposed. This machine has a self-tuning loading-level function based on the muscular condition of the user. The loading force is generated by an electric motor. A controller calculates the proper loading force for the user at every moment based on the user's muscle activity level. Muscle activity is measured by a muscle stiffness sensor, which was developed as a man-machine interface in a wearable device to assist a disabled person's body motions. By using this sensor, a reliable measurement of muscle activity is available, and the easy installation does not disturb the user's body motions. An experimental training machine was prototyped, and its excellent abilities in both controlling the loading force and measuring the muscle activity throughout the periods of the training is demonstrated. The experimental results are reported in this article. © ISAROB 2006.

DOI： 10.1007/s10015-005-0379-z

Scopus

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Language：English  

An advanced physical training machine for the elderly is proposed. This machine has a self-tuning loading-level function based on the muscular condition of the user. The loading force is generated by an electric motor. A controller calculates the proper loading force for the user at every moment based on the user's muscle activity level. Muscle activity is measured by a muscle stiffness sensor, which was developed as a man-machine interface in a wearable device to assist a disabled person's body motions. By using this sensor, a reliable measurement of muscle activity is available, and the easy installation does not disturb the user's body motions. An experimental training machine was prototyped, and its excellent abilities in both controlling the loading force and measuring the muscle activity throughout the periods of the training is demonstrated. The experimental results are reported in this article. © ISAROB 2006.

DOI： 10.1007/s10015-005-0379-z

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Language：Japanese  

DOI： 10.9746/sicetr1965.42.982

CiNii Books

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In this article a system to detect the physical behavior of bedridden elderly people is proposed. This system is used to prevent elderly people from falling down and injuring themselves. The basic idea of our approach is to measure the body movements of the person using an acceleration sensor. Based on the data measured, dangerous actions are recorded and warning signals to the care workers are generated via wireless signals. A feature of the system is that the sensor is compactly assembled as a wearable unit. Another feature of the system is that it adopts a simplified wireless network system. Owing to its network capability, the system can monitor the physical movements of many patients. The applicability of the system is now being examined at hospitals. © ISAROB 2006.

DOI： 10.1007/s10015-005-0378-0

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Language：English  

In this article a system to detect the physical behavior of bedridden elderly people is proposed. This system is used to prevent elderly people from falling down and injuring themselves. The basic idea of our approach is to measure the body movements of the person using an acceleration sensor. Based on the data measured, dangerous actions are recorded and warning signals to the care workers are generated via wireless signals. A feature of the system is that the sensor is compactly assembled as a wearable unit. Another feature of the system is that it adopts a simplified wireless network system. Owing to its network capability, the system can monitor the physical movements of many patients. The applicability of the system is now being examined at hospitals. © ISAROB 2006.

DOI： 10.1007/s10015-005-0378-0

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Language：English   Publisher：IEEE  

In the field of providing safe and effective equipment for physical training appropriate adjustment of loading levels for the targeted users is very important. Most training machines to date offer only fixed and coarse load adjustment. This paper details an advanced leg muscle training machine that has an intelligent load control system. The load control is provided by monitoring the user's muscular condition by means of a muscle stiffness sensor as well as pressure being exerted on the machine. The loading can then be adapted continuously to optimally suit the user's needs. The prototype demonstrated that the proposed machine has excellent load control abilities providing effective and safe training using dynamic load control and automatic restriction of loading levels based on the user's muscle contraction levels.

DOI： 10.1109/IECON.2006.347975

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Language：English   Publisher：IEEE  

An innovative sensor is developed to evaluate hardness of human soft tissue. This sensor provides easy and accurate hardness measurements based on a unique sensing mechanism. Hardness of soft materials is often evaluated by using international standards of hardness such as IRHD (International Rubber Hardness Degree) and durometer hardness. However the conventional scales based on these standards requires a stable pressuring condition to the target. Therefore, these scales cannot be used for targets that are in motion or targets that require quick measurement such as human muscles during exercises and a liver exposed at a surgery. The prototyped sensor has a compact body and allows continuous hardness measurement with an arbitrary pressing force. This sensor always monitors the force exerted on the sensor and automatically eliminates the unintended effect from the fluctuation of the pressing force. Therefore, continuous time series of the hardness data is real-timely available. This paper reports results of a test as well as the detail of the mechanism and data processing technique of the latest version of the sensor.

DOI： 10.1109/ICSENS.2007.355487

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Language：Japanese   Publisher：日本理学療法士協会  

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Language：English   Publisher：Institute of Control, Robotics and Systems  

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Language：English   Publisher：SPIE-INT SOC OPTICAL ENGINEERING  

In this paper we propose a platform that is applicable to low altitude remote sensing. Basic idea of the platform is based on the model helicopter. On big difference from the conventional model helicopter is that our platform has four main rotors. Furthermore, vision control strategy is introduced so that operator can use the platform without any specialized intensive knowledge.

DOI： 10.1117/12.664497

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Language：English   Publisher：IEEE  

We have designed the Ultrasonic Muscle Activity Sensor as a small sensor device, and the sensor can be built in the Sensor Suit for human machine systems. Measuring a change of the ultrasonic in muscles with this sensor, we have shown it's possible to estimate muscle force. In this study, we aim to design the algorithm that estimates the joint torque of knee with ultrasonic muscle activity sensor. Beside, in order to attain the generality of sensor suit, we also aim to examine the influence of constitutional differences, such as a physique index and a rate of body fat. Furthermore, we tried to obtain the basic data in order to the construction of system which can adjust individual difference.

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Language：English   Publisher：IEEE  

The authors have developed innovative soft sensor suits embedded with electromyogram (EMG) and a variety of sensors for measuring human muscle activities. The sensor suits serve as a man-machine interface for human power amplification. This paper focuses on the EMG part of the sensor suits to study the fundamental issue of torque estimation based on the sensor readings. An innovative auto-calibration system is developed in this study based on multi-regression analysis and neural networks, where an universal database, rather than individual database for each operator, is proposed and as a result, the calibration time is dramatically decreased. The calibration system can also compensate for sensor positioning errors. In the end, the sensor suits are applied as a man-machine interface for a soft power amplifier composed of artificial muscles. The artificial muscles are successfully controlled using the torque information estimated by the EMG sensor suits. The relation between torque estimation errors on sensor suits and maneuverability of power amplifier is experimentally verified.

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Language：English   Publisher：SPIE-INT SOC OPTICAL ENGINEERING  

Two kinds of advanced training machines for the elderly people were proposed. One was for the stooping/stretching motion, and the other was for the stretching astride motion. The proposed training machine adopted power-assisting technology for safe and effective training for elderly people. As the interface between user and the system, Muscle Stiffness Sensor(MSS) and Step Force Sensor(SFS) were used to measure muscle activity level and load to lower limb.

DOI： 10.1117/12.664241

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Language：English   Publisher：人工生命とロボット国際学会  

DOI： 10.1007/s10015-004-0286-8

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Language：English   Publisher：Institute of Control, Robotics and Systems  

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Language：English   Publisher：Institute of Control, Robotics and Systems  

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Language：English   Publisher：Institute of Control, Robotics and Systems  

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Language：English   Publisher：Hunan-friendly Welfare Robot System Engineering Research Center  

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Language：English   Publisher：Hunan-friendly Welfare Robot System Engineering Research Center  

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Language：English   Publisher：Institute of Control, Robotics and Systems  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

人間の全身に渡る動作を計測する為に, センサを内蔵した着衣方のセンサスーツを開発し最適なセンシングアルゴリズムを構築する研究である。本稿では筋肉の状態を測る超音波センサの高性能化を報告する。

DOI： 10.1299/jsmermd.2003.84_3

J-GLOBAL

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Language：English   Publisher：IEEE  

Recently, many researchers are studying and developing various kinds of man-machine systems. Especially, a wearable robot, such as an exoskeleton power suit, is one of the most remarkable fields. In this field, more accurate and reliable sensing system for detecting human motion intention is strongly required.
In most of conventional man-machine systems, torque sensors, tactile pressure sensors and EMG sensors are utilized in a man-machine interface to detect human motion intention. These sensors, however, have some limitations. For example, it is hard to install and secure torque sensors on the joints of a human body. It is not easy to correlate the data from a tactile pressure sensor to the human motion intention. Although the EMG sensor can detect human motion intention, the sensor system is complex and expensive, and suffers from electric noise.
We have been developing an innovative sensor suit which, just like a wet suit, can. be conveniently put on by an, operator to detect his or her motion intention by noninvasively monitoring his or her muscle conditions such as the shape, the stiffness and the density. This sensor suit is made of soft and elastic fabrics embedded with arrays of AEMS sensors such as strain gauges, ultrasonic sensors and optical fiber sensors, to measure different kinds of human muscle conditions. In the previous paper, the muscle stiffness sensor for detecting musclar force was developed according to the fact that the muscle gains its stiffness as it is activated Its sperior performance was reported through experiments in which the sensor was applied for the assisting device for the disable.
In this paper, the ultrasonic sensor disk is proposed as one of the sensor disks embedding the sensor suit. This sensor is based on an original principle and noninvasively detects activity of specific muscle. It is clear that the square of ultrasonic transmission speed is in proportion to the, elasticity of the object and in inverse proportion to the density. It is estimated that the elasticity and density of the muscle increase or decrease as the muscle is energized. Then, it is hereby expected that the muscular activity is measured by the ultrasonic sensor. In this study, the feasibility of an ultrasonic sensor for detecting muscular force is shown through experiments.

DOI： 10.1109/ROMAN.2003.1251860

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Language：Japanese  

J-GLOBAL

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Language：English   Publisher：Institute of Control, Robotics and Systems  

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Language：Japanese   Publisher：一般社団法人日本機械学会  

We have been developing the wearable human poweramplifying device. In order to correctly control the amplifying system, innovative sensors to recognize human motion are required to fubricated. In this paper, we propose the ultrasonic muscle power sensor by which human muscle power is directly measured. Trial manufacturing, experimental results and effectiveness of the proposed sensor are reported.

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Language：English   Publisher：SPRINGER-VERLAG LONDON LTD  

Remarkable advances in robotics and intelligent technology have made unmanned production realisable. Based on the off-line robot concept proposed in our first paper, an offline robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulating and resolving production troubles. A virtual pilot plant for production composed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed and tests for production simulation have been undertaken. In this paper, autonomous navigation of the developed robot in the virtual pilot plant is investigated Then a search for faulty parts in a parts feeder using the developed real-time image ex-traction method is carried out.

DOI： 10.1007/s001700070048

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Language：English   Publisher：SPRINGER-VERLAG LONDON LTD  

Remarkable advances in robotics and intelligent technology have made unmanned production realisable. Based on the off-line robot concept proposed in our first paper, an offline robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulating and resolving production troubles. A virtual pilot plant for production composed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed and tests for production simulation have been undertaken. In this paper, autonomous navigation of the developed robot in the virtual pilot plant is investigated Then a search for faulty parts in a parts feeder using the developed real-time image ex-traction method is carried out.

DOI： 10.1007/s001700070048

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Language：English   Publisher：Proc. 2nd International Workshop on Advanced Mechatronics  

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開発した筋収縮センサの衣服の上から筋活動量を検出可能なセンサの特徴を活かし、利用者に負担が少ない新しい腰痛予防装置を試作した．試作機の機能検証試験の結果を報告する．

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Language：Japanese   Presentation type：Poster presentation  

本研究では軽度の手指麻痺者のADL 改善を目的と|rn|して革製の手袋をベースとする電動把持装具の開発|rn|に取組んだ。開発した装置を1 名の対象者に適用し、自宅での長期使用による臨床評価試験を実施した結果、本装置の利用により対象者のADL を向上させうることが示された。

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Language：Japanese   Presentation type：Poster presentation  

片麻痺者の上肢機能回復訓練を支援する電動グローブの開発に取組み、医療機関での臨床試験を通してリハビリ効果の評価を実施した。被験者1名による臨床評価試験で、優れたリハビリ効果が示された。

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開発した電動式把持装具が頸髄損傷者の就労機会拡大に寄与しうるかどうかの基礎的検討を目的として実在する2種類の業務を取り上げ、就労シミュレーション実験を実施した。職種によって有効である可能性が示された。

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Application no：(US)16/500485  Date applied：2018.4.2

Announcement no：WO2018/186348  Date announced：2018.10.11

Applicant (Organization)：学校法人中央大学

Application no：特願2019-511230  Date applied：2018.4.2

Announcement no：再公表2018-186348  Date announced：2020.5.28

Registration no：特許第6875755号  Date registered：2021.4.27 

Applicant (Organization)：学校法人中央大学

Application no：特願2017-074761  Date applied：2017.4.4

Announcement no：特開2018-175030  Date announced：2018.11.15

Registration no：特許第6896266号  Date registered：2021.6.11 

Applicant (Organization)：学校法人中央大学

Application no：特願2017-074765  Date applied：2017.4.4

Announcement no：特開2018-180648  Date announced：2018.11.15

Registration no：特許第6883848号  Date registered：2021.5.13 

Applicant (Organization)：学校法人中央大学