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

DOI： 10.1109/BioRob60516.2024.10719795

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Other Link： https://dblp.uni-trier.de/db/conf/biorob/biorob2024.html#SuginoSONN24

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

DOI： 10.1109/SII58957.2024.10417700

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2024.html#TaharaSSNMN24

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

DOI： 10.1109/AIM55361.2024.10637007

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Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2024.html#HayamiSKNON24

Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Abstract

Because exoskeletal assistive devices are worn directly by a person, enhancing cooperation is important. However, existing assistive devices have problems in terms of their cooperation with human behaviors. This is because existing assistive devices are driven by estimating the wearer’s movement intention based on predetermined movement time and device angle information. Although these methods are expected to work as expected, in practice, it is difficult to achieve the expected behavior. Therefore, an assistance method is required to reduce such misalignment with time and misalignment between the device and wearer. Therefore, this study focused on the viscoelastic properties that generate force in response to movement and are expected to enhance coordination. In a previous study, the authors confirmed the effects of viscoelastic properties or an assistive device with variable stiffness. However, viscous characteristics during movement have not been considered. In this study, we aimed to improve the coordination by focusing on the viscous characteristics. The viscous torque outputs in response to the angular velocity are expected to be driven in response to actual human motion. In this study, the viscous torque was calculated as the product of the command viscosity coefficient and the joint angular velocity and was applied to a lower-limb exoskeleton-type assist device equipped with a magneto-viscous fluid brake and a planetary gear mechanism. In addition, a viscous command that changes the torque according to speed (proposed method), a time command that changes the output value according to the passage of time, and an angle command that changes the command value according to the angle information of the device were applied to the assist device, and surface EMG measurements and command signals were compared. The target movement was a seated movement, and the left and right vastus medialis and semimembranosus muscles were measured. More than half of the subjects showed a decrease in myopotential for five subjects for all three command methods, confirming the effectiveness of the viscous command.

DOI： 10.1186/s40648-023-00262-y

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Other Link： https://link.springer.com/article/10.1186/s40648-023-00262-y/fulltext.html

Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2023.p0180

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

DOI： 10.1109/SII55687.2023.10039173

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2023.html#TerayamaONON23

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

DOI： 10.1109/SMC53992.2023.10394610

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Other Link： https://dblp.uni-trier.de/db/conf/smc/smc2023.html#IshidaSN023

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

DOI： 10.1109/ISIE51358.2023.10227941

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Other Link： https://dblp.uni-trier.de/db/conf/isie/isie2023.html#SawahashiMSNON23

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

DOI： 10.1109/SII55687.2023.10039470

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2023.html#OshimaSONN23

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

DOI： 10.1109/IECON51785.2023.10312418

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2023.html#ObaSONN23

Authorship：Corresponding author   Language：Japanese   Publisher：THE VIRTUAL REALITY SOCIETY OF JAPAN  

Various haptic devices for application to virtual reality have been developed. Most of them have to be stationary on a desk, thus users cannot move around. To overcome this shortcoming, we propose a wearable force feedback device that uses air jet. In this paper, a prototype for hand position guidance which is able to provide force in any direction is developed, and its performance to guide the wearer’s hand is evaluated by experiments.

DOI： 10.18974/tvrsj.27.3_264

CiNii Research

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Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

With the diversification of robots, modularization of robots has been attracting attention. In our previous study, we developed a robot that mimics the principle of human joint drive using a straight-fiber-type pneumatic rubber artificial muscle (“artificial muscle”) and a magnetorheological fluid brake (“MR brake”). The variable viscoelastic joints have been modularized. Therefore, this paper evaluates the basic characteristics of the developed Joint Module, characterizes the variable viscoelastic joint, and compares it with existing modules. As basic characteristics, we confirmed that the Joint Module has a variable viscoelastic element by experimentally verifying the joint angle, stiffness, viscosity, and tracking performance of the generated torque to the command value. As a characteristic evaluation, we verified the change in motion and response to external disturbances due to differences in driving methods through simulations and experiments and proved the strength of the variable viscoelastic joint against external disturbances, which is a characteristic of variable viscoelastic joints. Based on the results of the basic characterization and the characterization of the variable viscoelastic drive joint, we discussed what kind of device the Joint Module is suitable to be applied to and clarified the position of the variable viscoelastic joint as an actuator system.

DOI： 10.3390/act11030089

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/RO-MAN53752.2022.9900630

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Other Link： https://dblp.uni-trier.de/db/conf/ro-man/ro-man2022.html#ShimodaFMONN22

Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/SII52469.2022.9708865

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Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2022.html#MatsuiOTNON22

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

DOI： 10.1109/IECON49645.2022.9968554

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#SawahashiTMONN22

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

DOI： 10.1109/IECON49645.2022.9968815

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#SuzukiSNON22

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

DOI： 10.1109/IECON49645.2022.9968757

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#OkuiNKSNN22

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

DOI： 10.1109/IECON49645.2022.9968625

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#OshinoTNON22

Publishing type：Research paper (international conference proceedings)   Publisher：Springer  

DOI： 10.1007/978-3-031-15226-9_50

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Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#ObaON022

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

DOI： 10.1109/IECON49645.2022.9968915

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Other Link： https://dblp.uni-trier.de/db/conf/iecon/iecon2022.html#MasudaSKONN22

Publishing type：Research paper (international conference proceedings)  

Continuous mixing and conveying technologies for processing solid-liquid mixtures and highly viscous fluids are required in the manufacture of food and medicine. A device featuring such a technology, namely the peristaltic continuous mixing conveyor, has been developed by the authors previously. This device, imitating the movement of intestines, is capable of mixing and conveying content by inflating a rubber tube using air pressure. Herein, we aim to estimate the degree of mixing of the contents via machine learning using data from pneumatic factor sensors installed in this device. However, the low measurement accuracy of these sensors when dealing with compressible fluids makes the mixing degree estimation difficult. Therefore, in this study, to improve the measurement accuracy of the sensing system, we installed an accelerometer that could directly measure the behavior of the rubber tube inside the device without any contact with the contents being required. Upon operation of the device with various objects within it, the sensor angle of the rubber tube was obtained from the accelerometer values for each input. The sensor angle at steady state after air supply was 22.5° greater for the rigid bodies than for the mixtures of powder and liquid. For the powder-liquid mixtures, a linear relationship was demonstrated between the percent concentration of mass and the sensor angle at a steady state. The results suggest that the content of the device can be determined with greater accuracy by using the attitude angle obtained from the accelerometer than from the conventional pneumatic factor sensors.

DOI： 10.1109/AIM46487.2021.9517474

Scopus

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Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

In this paper, the prototype of the assistive suit for lower limbs was developed. The prototype was based on an assist method with joint stiffness and antagonized angle control. The assist method comprises a system consisting of a pneumatic artificial muscle and a pull spring, which changes the joint stiffness and the antagonized angle to correspond to the movement phase and aims at coordinated motion assistance with the wearer. First, the characteristics of the developed prototype were tested. It was confirmed that the measured value of the prototype followed the target value in the relationship between torque and angle. In addition, there was hysteresis in the measured value, but it did not affect the assist. Next, the evaluation of standing-up and gait assist by measuring electromyography (EMG) of the knee extensor muscle was conducted using the prototype. In all subjects, a decrease in EMG due to the assist was confirmed. In one subject, the maximum decrease rate at the peak of the EMG was about 50% for standing-up motion and about 75% for gait motion. From the results of these assist evaluations, the effectiveness of the assist method based on the joint stiffness and antagonistic angle control using the prototype was confirmed.

DOI： 10.3390/act10010017

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J-GLOBAL

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Authorship：Corresponding author   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/ACCESS.2021.3112614

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

DOI： 10.1109/ICIT46573.2021.9453629

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Other Link： https://dblp.uni-trier.de/db/conf/icit2/icit2021.html#YamanakaKANY021

Authorship：Corresponding author   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2020.p0209

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/RoboSoft48309.2020.9116058

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Other Link： https://dblp.uni-trier.de/db/conf/robosoft/robosoft2020.html#WakamatsuIHAMKN20

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

DOI： 10.1109/RO-MAN47096.2020.9223612

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Other Link： https://dblp.uni-trier.de/db/conf/ro-man/ro-man2020.html#YamadaAWFNK020

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

DOI： 10.1109/RO-MAN47096.2020.9223476

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Other Link： https://dblp.uni-trier.de/db/conf/ro-man/ro-man2020.html#TanakaOONN20

Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2020.p0863

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

DOI： 10.1109/AIM43001.2020.9158972

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Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2020.html#SatoMIYONN20

Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2020.p0138

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ICAR46387.2019.8981664

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Other Link： https://dblp.uni-trier.de/db/conf/icar/icar2019.html#KimuraSKONN19

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

DOI： 10.1109/ICARM.2019.8833897

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Other Link： https://dblp.uni-trier.de/db/conf/icarm/icarm2019.html#DaiLONN19

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

DOI： 10.1109/AIM.2019.8868604

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Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2019.html#KashimaAKNYKN19

Event date： 2023 　 　

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Event date： 2023 　 　

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Event date： 2022.9 　 　

Language：Japanese  

Various haptic devices for application to virtual reality have been developed. Most of them have to be stationary on a desk, thus users cannot move around. To overcome this shortcoming, we propose a wearable force feedback device that uses air jet. In this paper, a prototype for hand position guidance which is able to provide force in any direction is developed, and its performance to guide the wearer’s hand is evaluated by experiments.

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Event date： 2022 　 　

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Event date： 2022 　 　

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Event date： 2022 　 　

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Event date： 2022 　 　

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Event date： 2022 　 　

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Event date： 2022 　 　

Language：Japanese  

In recent years, force feedback devices have been developed to improve the reality of VR experiences. However, most of the general force feedback devices target the upper limbs. By realizing force feedback to the lower limbs, it will be possible to realize an experience in VR space that cannot be achieved by force feedback to the upper limbs alone. The authors have clarified the perceptual characteristics of the human dropping sensation in order to present force feedback to the lower limbs. In this study, we developed a wearable force feedback device that can present the sensation of dropping in VR space.

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Event date： 2021 　 　

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Event date： 2021 　 　

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Event date： 2021 　 　

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Event date： 2021 　 　

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Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2021.html#OshinoWMNON21

Event date： 2021 　 　

Language：Japanese  

We proposed herein a method for estimating the mixing state of the contents of a peristaltic continuous mixing conveyor simulating the intestine, developed for mixing and conveying powders and liquids. This study serves to improve a previously proposed method for estimating the mixing state using a logistic regression model with the pneumatic factor sensors installed in the device as inputs. To improve the estimation method, we changed the method of acquiring training data and labeling in the learning model. Moreover, comparison of the estimation accuracy and the result of the proposed method was better than that of the previous method.

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Event date： 2021 　 　

Language：Japanese  

There are many force feedback devices that focus on upper limbs. However, in the real world, not only the upper limbs get force feedback. So, the authors consider that rendering force sensation to the lower limbs as well will further improve the sense of immersion in the VR space. Therefore, the authors attempt to develop a wearable lower limb force feedback device that enables user to move around in wide area. In order to render the sensation of dropping in the VR space, the authors have been evaluating the sensation of dropping in humans as a first step of the device development. Based on the evaluation results, the authors determined the required specifications of the device.

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Event date： 2021 　 　

Language：Japanese  

In this paper, we proposed the application of a device using a variable viscoelastic joint for training and rehabilitation. By varying the antagonistic angle of the device with respect to the human motion, the training effects with different loads were verified. The proposed device can switch between training and rehabilitation by changing the antagonistic angle. However, the training effect using the variable viscoelastic joint has not been confirmed yet. Therefore, we measured the muscle potential during the movement when the antagonistic angle of the device was changed. As a result, the value of the EMG increased as the angle of the knee joint and the antagonistic angle of the device during the movement increased. It was confirmed that the variable viscoelastic joint can be applied to training.

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Event date： 2021 　 　

Language：Japanese  

The mixing and transporting process of a solid–liquid mixture and a high-viscosity fluid is separate batch processes, leading to an increase in maintenance costs and disposal costs. To achieve continuous mixing and transporting process, the authors have developed a pneumatic peristaltic mixing conveyor based on the movement of transporting bolus in the intestinal tract. The proposed conveyer is possible to mix and transport with one device continuously, however, it has not been studied to mix and transport at the same time like the actual intestine does. In this paper, we proposed a congruence which is able to continuously switch between segmental and peristaltic movement in order to achieve a continuous mixing and transporting.

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Event date： 2021 　 　

Language：Japanese  

In the inspection of sewage pipes, it is necessary to prepare a pipeline map in order to efficiently identify the damaged areas, which are often lost so it is necessary to prepare a pipeline map at the same time as the inspection. The authors have previously developed a peristaltic robot for sewer pipe inspection and have estimated the pipe shape using IMU sensors. However, the accuracy of the estimated map was not enough to be put into practice. In this study, we try to improve the estimation accuracy by measuring the information of the position and orientation of the start and end points of the pipeline to constrain the estimated pipeline shape. The authors represent the pipe geometry with only three parameters, and the correction is performed by iterative calculation using the inverse Jacobian matrix.

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Event date： 2021 　 　

Language：Japanese  

In a virtual reality (VR) space, wearing a head-mounted display can help with the visualization of objects, however, users cannot experience realistic tactile sensations. Recently, several force feedback devices have been developed, including wearable devices that use straight-fiber-type pneumatic muscles and magnetorheological fluids. This allows the devices to render elastic, frictional, and viscous forces during spatially unrestricted movement. Nevertheless, there are two problems. One is that there were items with low scores in the subjective evaluation regarding the discrimination of device weight and force magnitude. The other is the inability to handle many bilateral upper limb movement tasks. Therefore, this study aims to develop a device that can handle movements that interact with both arms.

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Event date： 2021 　 　

Language：Japanese  

Pneumatic artificial muscles are advantageous owing to dynamic stiffness. However, the drawback of this is their poor controllability. In this paper, a reinforcement learning-based control system using a real robot is proposed to improve controllability. The proposed system is aimed to generate dynamic motion patterns that utilize the body structure and variable stiffness characteristics. We propose a reinforcement learning-based realistic drum-playing robot, and confirm its effectiveness through experiments.

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Event date： 2021 　 　

Language：Japanese  

In transporting LP gas tanks, the load of workers is high due to handling heavy LP gas tanks. In previous studies, the physical load of workers when handling LP gas tanks was not evaluated quantitatively. This study aimed to evaluate the physical load in handling the LP gas by motion capture system and muscle potential. In this paper, a posture with carrying on the shoulder the LP gas tank was evaluated from the viewpoint of load torque of joints, muscle potential, and compression force of intervertebral discs.

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Event date： 2021 　 　

Language：Japanese  

Various haptic devices for application to virtual reality have been developed. Most of them have to be stationary on a desk, thus users cannot move around. To overcome this shortcoming, we propose a wearable force feedback device that uses air jet. In this paper, a prototype for hand position guidance which is able to provide force in any direction is developed, and its performance is evaluated by experiments.

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Event date： 2020.9 　 　

Language：Japanese  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I030644635

Event date： 2020 　 　

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Event date： 2020 　 　

Language：Japanese  

In this paper, a prototype of a joint in which a pneumatic artificial muscle and a tension spring are antagonistically arranged (one-sided spring antagonized joint) was developed, and the basic characteristics of the prototype were evaluated. The relationship between the torque and the angle of the prototype showed that torque increases as the angle increases (or vice versa). It was also found that the joint stiffness and the antagonized angle changed with each applied pressure. From these results, it was confirmed that the prototype showed the same behavior as the theoretical one-sided spring antagonized joint.

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Event date： 2020 　 　

Language：Japanese  

In the inspection of sewer pipes, it is necessary to identify the damaged part, and a pipe diagram is indispensable, but it is often dissipated and many pipe maps do not exist. Therefore, it is required to create pipeline diagrams. Therefore, the authors used an IMU sensor that measures three-axis acceleration and three-axis angular velocity, and corrected the cumulative error that occurred at that time by using the traveling characteristics of the earthworm's peristaltic motion, which is a periodic motion of progression and stopping. We tried to measure the pipe length and the pipe shape. In this report, we conducted a basic evaluation experiment to measure the pipe length with high accuracy, and investigated the effectiveness of this method.

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Event date： 2020 　 　

Language：Japanese  

There are many force feedback devices that focus on upper limbs. However, in the real world, not only the upper limbs get force feedback. Therefore, the authors attempt to develop a wearable lower limb force feedback device that enables users to move around in wide area. However, there is a limit to the size of a device worn by human, and it is difficult to present an acceleration equivalent to gravitational acceleration with a wearable type device. Therefore, the authors proposed a method of giving a descent acceleration smaller than the real world and evaluated the sensation of falling of humans.

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Event date： 2020 　 　

Language：Japanese  

In recent years, more than half of Japanese workers have suffered from back pain. In previous studies, the author developed a flexible, high-power lumbar support assist suit "AB-Wear" to solve this problem. AB-Wear helps the user movement and reduces lumbar muscle fatigue. However, the breastplate consisted of a rigid plate, which caused the wearer to feel pain and pressure. In addition, it took time to put it on. In this study, we changed the wearing method to improve the wearability, and developed a breastplate using a flexible material to reduce the pressure. The EMG of the erector spine muscle during the lifting motion of the developed breastplate was equivalent to the conventional breastplate. In addition, the developed breastplate reduced the local pressure on the human body compared to the conventional breastplate, the pressure when wearing the developed breastplate was dispersed.

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Event date： 2020 　 　

Language：Japanese  

By using a thin McKibben muscle as an active thread, fixed part of an assist suit that can automatically obtain compression. In this paper, applying the fitting mechanism with the thin McKibben muscle to the thigh fixing part of the lower limb assist suit and comparing the fitting mechanism with the conventional fixing method are reported.

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Event date： 2020 　 　

Language：Japanese  

At work sites, observation-based posture assessment is mainly used to quantify the workload. This method is to manually categorize and score the posture at the time by the pre-standardized posture points. Therefore. This method has a problem that the motion speed of the worker is not considered. The study of Manabe（2004）showed that the hip joint torque increases as the motion speed increases at the squat motion. The authors considered that the change of joint torque by motion speed could be added to the observation-based posture assessment as a weight. In this study, we measured the shoulder and elbow joint torques during three kinds of upper limb lifting with different motion speeds. The joint torques did not change significantly with different motion speeds. Therefore, it is not necessary to add the joint torque of the upper limb to the observation-based posture assessment as a weight.

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Event date： 2019 　 　

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Event date： 2019 　 　

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Event date： 2019 　 　

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Event date： 2019 　 　

Language：Japanese  

Movement of ankle and pneumatic compression to lower limb are able to increase the blood flow, and effective for DVT prevention. However, people with neuromotor disabilities can not move their ankle, and pneumatic compression can cause nerve palsy of fibula. Therefore, we proposed the device which can provide both passive movement of ankle and pneumatic compression to lower limb. In this paper, a prototype driven by pneumatic actuators is developed, and a change of blood flow with the prototype is evaluated.

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Event date： 2019 　 　

Language：Japanese  

In this paper, an assistance method that controls the joint stiffness and antagonized angle using variable elastic elements is proposed. The proposed system changes the joint stiffness and antagonized angle so that they correspond to the phase of movement, and performs movement assistance in cooperation with the wearer. As a structurally variable configuration of stiffness and antagonized angle, a joint structure in which an artificial muscle and tension spring are antagonistically arranged is proposed. A mathematical model of one side spring antagonized joint is proposed and its characteristics is examined.

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Event date： 2019 　 　

Language：Japanese  

Low back pain is an important international health problem. Factors of back pain have a burden on the lumbar region due to the handling of heavy objects. The Japanese Ministry of Health, Labor and Welfare recommends Squat Lifting as a method with less load on the waist. However, Squat Lifting is not used much because it has a large workload. Therefore, we aimed to develop a power assist suit for spreading Squat Lifting. In this paper, we first describe a device with a knee joint extension mechanism by a leaf spring and its problems in a previous study. Next, we propose a sliding mechanism as a solution. Then, a three-dimensional motion analysis for determining the necessary assist torque during Squat Lifting will be described. Finally, we will explain the leaf spring characteristic test which determines the specification of leaf spring.

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Event date： 2019 　 　

Language：Japanese  

In the upward work, the workers need to keep the upper limbs with their own muscular strength and the work burden is large. The authors developed a supporting device using a self-weight compensation mechanism to reduce the burden on the upper limbs during upward work. However, there were wearers who felt strange about the wearing feeling, because there was not designed according to the physique of the wearer. In this study, we had the subjects of various physique wear the device, and investigated the relationship between the physique and the wearing feeling at shoulder joint movements. As a result, the subjects with greater shoulder width felt difficulty moving and small in size in the movement in the direction of ir/er. The influence on the ease of motion and size feeling was small in direction of flex/ext and add/abd.

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Event date： 2019 　 　

Language：Japanese  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I029781904

Event date： 2019 　 　

Language：Japanese  

Pneumatic artificial muscles have characteristics that are not found in motors such as lightweight and flexible. However, it is difficult to accurately sensing of state due to large deformation during operation and nonlinearity. To solve the problem, authors focus on a piezoelectric wire sensor which can sense change of shape. In this paper, we investigated the output characteristics of the piezoelectric wire sensor when changing collision speed, load and contact surface shape for sensing of artificial muscle. Results show that while the collision speed and the output are in a proportional trend, the load and the contact surface shape have less influence on the output.

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Event date： 2019 　 　

Language：Japanese  

The high fashionable appearance is given priority in high heeled shoes design. The comfort during wearing high heeled shoes is low. Especially the impact at heel contact during walking with high heeled shoes is larger than low heeled shoes. In this research, we proposed high heeled shoes with suspension that is composed of leaf springs for more comfortable high heeled shoes. The proposed heel parts with suspension can absorb the impact at heel contact by deflection of leaf spring. We confirmed that the proposed high heel had the smoother shock at heel contact compared with ordinary high heeled shoes.

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Event date： 2017 　 　

Language：Japanese  

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Event date： 2017 　 　

Language：Japanese  

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Event date： 2013.3 　 　

Language：Japanese  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I024609283

Event date： 2012 　 　

Language：Japanese  

Large deformation of human feet during walking causes difficulty in foot-shoe fitting. We measured the standing foot shape using a 3D digitizer, and recorded movements of 20 small circular markers attached to anatomical landmarks of the foot surface using a motion-capture system. The standing foot shape was then fitted to the marker movements, thereby enabling simultaneous estimation of detailed joint motions and foot-surface deformation during walking. By applying this method to capture foot motions when wearing a transparent sandal, we were able to estimate the foot surface’s dynamic deformation and the motions of principal foot bones. Although the results of ultrasonic measurements show that the markers on the foot surface shifted 6 mm to the direction of the longitudinal axis of the cuneiform bone when raising the heel, we confirmed that this skin displacement does not affect the calculation of joint angles. We measured foot deformation of both a bare foot and a foot with a 50-mm-high heel. Although the joint configuration changes with heel height, we found that the relative motion between the midfoot and forefoot segment during the stance phase, which was caused by the deformation of the longitudinal arch, was similar between barefoot and high-heel walking. In addition, the pattern of highly deformed and little-deformed regions of the foot surface was similar.

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Event date： 2011 　 　

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Event date： 2010 　 　

Language：Japanese  

Pumps, one of the most popular types of ladies’ shoes, have a good appearance. However, they sometimes slip off from the heel in walking due to their short insteps. In this study, we attempted to mitigate the slippage of pumps by applying dynamic foot deformation to make them fit better during walking. From the results of gait analyses, we found that the slippage occurred before heel-off. In this period, because the plantar arch is extended, the navicular bone is bulged and the length around the ball-jointed girth is stretched. Therefore, we propose a mechanism for decreasing the slippage using a stiff line, which can fasten the topline of the pumps by applying the stretch of the ball-jointed girth. We tested this by arranging a line between the inner and outer leathers of the pumps, starting from the ball-jointed girth to the topline like a figure-of-α. Using a prototype with of line mechanism, we measured the slippage for 10 feet of 9 female subjects. As a result, for all subjects, the slippage significantly decreased approximately 23% at 50% of the gait cycle. Furthermore we confirmed endurance of the effect after daily use.

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Event date： 2007.11 　 　

Language：Japanese  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I9300459