Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.compeleceng.2022.108040

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

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

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Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.cogr.2022.03.003

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

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

In order to obtain good control performance of ultrasonic motors in real applications, a study on the learning in intelligent control using neural networks (NN) based on differential evolution (DE) is reported in this chapter. To overcome the problems of characteristic variation and nonlinearity, an intelligent PID controller combined with DE type NN is studied. In the proposed method, an NN controller is designed for estimating the variation of PID gains, adjusting the control performance in PID controller to minimize the error. The learning of NN is implemented by DE in the update of the NN’s weights. By employing the proposed method, the characteristic changes and nonlinearity of USM can be compensated effectively. The effectiveness of the method is confirmed by experimental results.

DOI： 10.1007/978-3-030-70451-3_2

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Authorship：Corresponding author   Language：English  

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Publishing type：Research paper (international conference proceedings)  

In this research, to obtain satisfactory control performance of ultrasonic motor (USM) in position control, a hybrid intelligent method based on PID control using neural networks (NNs) combined with Artificial Bee Colony (ABC) algorithm is proposed. Using the proposed intelligent control method, the gains of PID control are auto-tuned to minimize the errors in position control. The proposed method is with simple structure and easy to be implemented in estimation. It is designed to compensate the nonlinearity and characteristic changes in position control. The proposed hybridization of NN and ABC makes the intelligent scheme superior in usefulness and effectiveness. In this paper, the control performance and effectiveness of the proposed method were confirmed and studied according to experimental results on an existing USM servo system.

DOI： 10.1007/978-3-030-46032-7_7

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Publishing type：Research paper (international conference proceedings)  

In this paper, a scheme of intelligent control method using differential evolution (DE) type neural network (NN) for Ultrasonic Motor (USM), which is expected to be applied on a meal-assistance robot. Owing the application of USM in the robot designed with orthogonal structure, excellent control performance in stability and safety with work quietness is expected. To obtain the high accurate control an optimization algorithm of DE was introduced to the NN type PID control for USM. The proposed intelligent method was investigated by the experiments on an existent USM servo system in this paper. The response of the proposed method with converngence of the proposed model was confirmed. With the proposed method, the servo of USM can be expected to use on meal-assistance robots and life support robots in medical and welfare environment.

DOI： 10.1109/IS3C50286.2020.00147

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

To support gaits for users with osteoarthritis of the knee, a novel portable functional electrical stimulation device is developed for walking motion modification. In the proposed device, a pressure sensor is installed under the center of the user's calcaneus to detect the initial phase of stance during the walking cycle, and electrical stimulation causes eccentric contraction of the quadriceps muscle, which contributes to shock absorption in the knee joint. According to experimental results, the effectiveness of the proposed device with high clinical value is confirmed.

DOI： 10.1109/GCCE50665.2020.9291832

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Publishing type：Research paper (scientific journal)   Publisher：Institute of Industrial Applications Engineers  

DOI： 10.12792/jjiiae.8.2.250

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

J-GLOBAL

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Society of Physical Therapy Science  

DOI： 10.1589/rika.35.283

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

DOI： 10.1109/taai48200.2019.8959824

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

DOI： 10.1109/taai48200.2019.8959888

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

DOI： 10.1109/taai48200.2019.8959824

CiNii Books

CiNii Research

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

DOI： 10.1109/gcce46687.2019.9015265

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

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Language：English   Publishing type：Research paper (scientific journal)  

Based on the scheme of predictive fuzzy control combined with neural network (NN) for pneumatic servo system, the learning of NN using Particle Swarm Optimization (PSO) is studied according to experimental investigation in this research. A group of positioning experiments using existent pneumatic servo system were designed to confirm the effectiveness and efficiency of the NN’s learning employing PSO in the imaginary plant construction for the pneumatic system in predictive fuzzy control. The analysis in the study was implemented comparing the results of traditional back-propagation (BP) type NN and the PSO type NN.

DOI： 10.1007/978-3-030-04946-1_32

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Language：English   Publishing type：Research paper (scientific journal)  

File： Camera_ready_manuscript_JTSS_A054.pdf

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Language：English   Publishing type：Research paper (scientific journal)  

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

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

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.12792/jjiiae.5.1.25

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.12792/jjiiae.5.1.18

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>An algorithm for a mobile robot that avoids collision with humans by slowing down and stopping in L-shaped corner is constructed in this research. First, experiments of collision avoidance of a human with another human while walking in an L-shaped corner are conducted, and the characteristic of avoidance behavior of the human is analyzed. We propose a collision avoidance motion of the mobile robot based on the results. Experiments in which a mobile robot avoids collision with a human and the human evaluates the generated motion of the robot using psychological evaluation are conducted. The effectiveness of the proposed method is clarified from psychological aspects.</p>

DOI： 10.1299/jsmermd.2017.1P2-L04

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.5136/lifesupport.28.85

CiNii Books

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Other Link： http://search.jamas.or.jp/link/ui/2017040087

Language：Japanese  

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

In this study, as a fundamental approach to realize orthotic device for patients with osteoarthritis of the knee considering screw home movement, bending and extension movements of lower thigh of able-bodied persons are analyzed and inherent screw home movement is examined. The analyzed extension movement of lower thigh with screw home movement is mathematically modeled and the structure of an orthotic device is proposed based on the model. It is confirmed by the simulation based on FEM analysis that the force acting on the leg when using the proposed orthotic device is helpful to realize normal screw home movement and valgus rotation, which is expected to be useful for patients with osteoarthritis of the knee.

DOI： 10.1299/jbse.16-00275

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Language：Japanese   Publisher：The Society of Life Support Engineering  

<p>In this study, an interface with which a human can obtain information on remote circumstances from a mobile robot using eye-gaze input is considered. With this system, information on the remote circumstances is acquired by a camera installed on the mobile robot, and an image is displayed to a user. The position of human attention in the image is recognized by the eye-gaze input system, and the orientation of the robot and camera is adjusted based on the recognition so that the position of human attention is at the center of the image, which means that the user can recognize his/her target easily. In the eye-gaze input system, particle filter processing is applied to detect the movement of the dark part of an eye (iris and pupil) to improve recognition by the system. The desirable movement speed of the image is examined through psychological evaluations while the orientation of the camera and the mobile robot is adjusted. The results show that desirable speeds exist for pitch and yaw angles. In addition, human experiments were conducted to recognize an object in remote circumstances using the proposed method and speeds. The results show that the trajectory of eye-gaze movement becomes smooth and the user can recognize the object easily, which shows the effectiveness of the proposed method.</p>

DOI： 10.5136/lifesupport.27.143

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Language：Japanese   Publisher：The Society of Life Support Engineering  

<p>In this report, we propose an inexpensive and handy system in which the direction of sight line of human is recognized under the construction of Raspberry Pi, open source hardware with embedded Linux, and proprietary camera module. For the differentiation of sight line of human, face, inner corner of the eye, pupil are detected from the image of the front face first, and the distance between human and camera and the direction of sight line is estimated from the analysis of them. When comparing the performance of the differentiation of the sight line in the proposed system with that in the general circumstance with personal computer, the results of detection are perfectly matched. In addition, it is confirmed that the differentiation of sight line can be done accurately within the distance of 1.0m between human and camera.</p>

DOI： 10.5136/lifesupport.27.138

J-GLOBAL

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese  

CiNii Books

J-GLOBAL

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this research, a mobile robot system moved by intuitive gesture instructions using the flick motion is suggested. The flick motion is commonly used in operating smart phones and involves sudden and rapid motion of the hand. One of the aim of this research is to move the robot quickly using this flick motion. At first, a flick motion is measured and the characteristic of the movement is analyzed. Next, a model to move a mobile robot in response to flick movement is proposed. In the model, the velocity of the hand is converted into virtual force, and the virtual force moves an object with virtual mass and viscosity. Another aim is introduction of a mechanism automatically switching the flick instruction and the following instruction. For the purpose, the switcher using the neural network is learned in advance to distinguish between the movement of the flick instruction and the following instruction. The experiment was conducted to examine the usefulness of the proposed system. As the results, flick instructions and following instructions were changed automatically and were able to operate a robot to the aim position comfortably.

DOI： 10.1299/transjsme.15-00035

J-GLOBAL

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Language：Japanese  

CiNii Books

J-GLOBAL

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Language：Japanese  

DOI： 10.1299/kikaic.79.2383

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Small-size embodied interaction robots are required for use in home. These robots are expected to shake hands with human to promote embodied interaction. Therefore, in this paper, we develop a small-size handshake robot system for a generation of a handshake approaching motion. The handshake approaching motion has two motions. The first motion is a handshake request motion that the robot stretches its hand to a human as requesting a handshake. The other motion is a handshake response motion in which the robot responds a handshake when the human requests a handshake to the robot. In this robot system, a human hand position is estimated by using an image processing which is combined with a 3D arm model, and handshake approaching motions are generated using the estimated hand position. The effectiveness of the small-size handshake robot system is demonstrated by sensory evaluation of these handshake approaching motions. © 2013 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.79.2383

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Language：Japanese  

DOI： 10.5100/jje.48.324

CiNii Books

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Language：English   Publisher：Japan Society of Kansei Engineering  

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the omni-directional mobile robot by rotating his or her head. The mobile robot can realize intended movement by following the movement of the laser spot on the floor. By projecting an instructive point to be followed by the mobile robot, the user can clearly recognize the relation between the direction being faced and the desired position of the mobile robot. In addition, the user can convey a motion trajectory to the mobile robot continuously. Kansei transfer function is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and autonomous motion mode to the target, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations.

DOI： 10.5057/kei.11.51

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Language：Japanese   Publisher：日本福祉工学会  

CiNii Books

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Publisher：The Japan Society of Mechanical Engineers  

A handshake is an embodied interaction to display closeness using physical contact. In the case of a handshake between a human and a robot, robots can now smoothly communicate and coexist with humans without eliciting feelings of aversion in humans. To enable such a handshake, we proposed a model that simulates a handshake approach motion by analyzing the human-human handshake motion. With this model, a robot generates a handshake motion when a handshake is requested by a human. However, embodied interaction between a human and a robot can be promoted if, instead, a robot requests a handshake from a human. Therefore, in this paper, we propose a handshake request motion model with which a robot requests humans for a handshake. In this model, a robot stretches its hand out to a human to request a handshake. Furthermore, a gaze presentation is generated based on the analysis of the handshake between humans. A handshake robot system with the proposed model is developed, and the effectiveness of the model is experimentally demonstrated.

DOI： 10.1299/kikaic.77.1429

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

A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and parameter adjustment mode for the Kansei controller, are considered. The effectiveness of the proposed system was discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147624

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Language：Japanese   Publisher：The Society of Life Support Engineering  

Accidents of electric carts by the elderly persons increase rapidly. One of the reasons of them is lack of recognition of risks in surrounding circumstance. To prevent such accidents, an automatic support system of driving electric carts is considered. In the proposed system, when a step or a gap in front of an electric cart is detected by a laser range finder installed to the cart, a method named "low speed mode", which changes the region between maximum speed and minimum speed into lower speed level, is introduced. Time margin for the operation to avoid upcoming risks can be expected using "low speed mode". Impressions of drivers to the speed change when shifting from normal speed mode to low speed mode are examined by the psychological evaluations. Furthermore, experiments are conducted to examine whether the speed change can play the role to warn the upcoming risks to the driver.

DOI： 10.5136/lifesupport.22.41

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Language：Japanese   Publisher：ライフサポート学会  

電動カートが前方にある道路の段差や溝、崖などに落下する事故を防止するため、電動カートの前方の段差をレーザーレンジファインダー(LRF)センサーにより検出し、搭乗者の操作に対して適切な速度調整を行う「微速モード」という支援方法を提案した。まず、周囲環境に存在する複数の段差障害物のLRFセンサーによる検出に関するアルゴリズムを構築した。次いで、通常速度から低速度域へ速度を移行することによる操縦支援法である「微速モード」の概念を提案した。実際の電動カートを用いた走行実験を行い、被験者に微速モードを体験してもらった際の効果を心理学的評価手法により検討した。その結果、微速モードのパラメータの組合せによっては心理的に好ましく、搭乗者に段差障害物の危険の接近を知らせる効果があることが明らかになった。

DOI： 10.5136/lifesupport.22.41

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Language：Japanese   Publisher：日本感性工学会  

An algorithm to produce handing motion from a robot to a human receiver is proposed in this paper. The algorithm includes three elements to generate cooperative motion of the robot to the human. The first is an introduction of a delay time into the start of robot&#039;s motion and its recovery. The second is a control law of the robot which is based on imitation of the motion of the human. The third is a trajectory generation to realize relative positional relation between the robot and the human at the moment of handing an object over. In addition, a system to support positioning of the robot to the desirable target position where handing over an object will be conducted to decrease human load is also introduced.

DOI： 10.5057/jjske.J11-090520-8

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

In order for a robot to co-exist and operate with humans, not only must the robot be safe for the humans but it must perform comfortable motions. In this research, we had humans and robots cross operating paths and focused on avoidance motions at the places where the two would collide had they been allowed to continue. At this time, we considered having only the robot avoid the collision by slowing and/or stopping. Evaluation experiments were conducted using computer graphics to clarify the affects that the distance between humans and robots and the acceleration of the robot.

DOI： 10.5057/jjske.J11-090520-11

J-GLOBAL

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Language：English   Publishing type：Research paper (scientific journal)  

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

Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. In human cooperative movement and supporting movement, motion trajectory changes with human feeling to the other. In this research, we propose an algorithm to generate the handing motion of the hander with politeness. The utility of the proposed algorithm is examined using computer simulation.

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

The characteristics of velocity adjustment, in response to instruction using degree adverbs, were examinedfrom the viewpoints of image and demonstration by human hand point to point motion. It became clear from the survey that imaginative amount of velocity adjustment to the degree adverb changed with the strength that the degree adverb implied. It was experimentally verified that the amount of velocity adjustment in human hand point to point motion also changed with the strength that degree adverb implied, and that the characteristics of velocity profile in point to point motion, that is, the bell-shaped velocity pattern and the velocity peak position in the movement time, did not change with the change of degree adverb. The relationship between the imaginative amount and the demonstrated amount showed almost linear when normalized with the result of "fast".

DOI： 10.5057/jjske2001.7.545

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Other Link： https://jlc.jst.go.jp/DN/JALC/00312570512?from=CiNii

DOI： 10.5057/jjske2001.7.701

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

In this research, an interface to instruct robots by the movement of the human head is presented. In the proposed interface, a robot moves in cooperation with the movement of the human head. The intersection point between the extension line of the head direction and a plane on which robots work is regarded as the instruction point and an interface system in which the robot follows the movement of the instruction point is constructed. In addition, the "Kansei" transfer function is introduced with its input being the instruction point and output being the reference point of the robot motion so that the cooperative movement of the robot can be smooth and acceptable to human psychology. The parameters of the "Kansei" transfer function are determined by the relative position of the robot to the human, and the distribution of the desirable parameters is expressed using B-spline surface. The effectiveness of the proposed interface is confirmed through the experiments.

DOI： 10.5057/ER080310-2

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

Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. The human&apos;s cooperative movement and support movement have changes in the generated trajectory with cherishing a desire. In this research, we propose an algorithm to generate the handing motion of the hander with psychological intention. The utility of the proposed algorithm is examined by adapting to the actual arm robot and by evaluating the generated motion psychologically.

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DOI： 10.11221/jima.59.214

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

In this research, an interface to instruct robots by the movement of the human head is presented. In the proposed interface, a robot moves in cooperation with the movement of the human head. The intersection point between the extension line of the head direction and a plane on which robots work is regarded as the instruction point and an interface system in which the robot follows the movement of the instruction point is constructed. In addition, the "Kansei" transfer function is introduced with its input being the instruction point and output being the reference point of the robot motion so that the cooperative movement of the robot can be smooth and acceptable to human psychology. The parameters of the "Kansei" transfer function are determined by the relative position of the robot to the human, and the distribution of the desirable parameters is expressed using B-spline surface. The effectiveness of the proposed interface is confirmed through the experiments.

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

For the realization of the motion of a robot holding an object out to a human, which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristics of the robot using voice instruction. Acurved path is considered as an adjustable characteristic of the motion in addition to the conventional characteristics such as velocityprofile, maximum velocity, and receiving point. The effectiveness of introducing the curved path is discussed in this research. Thecurved path is characterized by two parameters: one is the offset, which is maximum deflection from straight path, and the other is theposition of the offset. These parameters can be adjusted by the human using the voice instruction. It is clarified from the actualparameter adjustment by human subjects that the curved path is one of the important characteristics affecting human psychology, andthe desirable values of the offset and the position of the offset show individual differences.

DOI： 10.5057/jjske.8.207

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Language：Japanese   Publishing type：Research paper (scientific journal)  

Recently, cell manufacturing systems are being adopted at many factories. In such manufacturing systems, workers are required to retrieve various parts from different places during the assembly process. Therefore, it is expected that more effective manufacturing can be realized using automatic parts supply systems for the workers. One of the effective methods is a handing-over motion done by a robot as a method of automatic parts supply. The handing-over motion of the robot must not only be physically safe, but also psychologically comfortable. In addition, there are individual preferences for the most comfortable handing-over motion. In particular, when a robot hands over parts to a particular worker (co-operator), the motion characteristics of the robot should be the most comfortable for him or her. It is considered that a human-machine interface, via which the cooperator adjusts the motion characteristics of the robot, is necessary. Therefore, in this paper, we propose a human-machine interface which is used to adjust the motion characteristics for a handing-over robot system that supplies parts. Firstly, a prototype handing-over robot system in which the cooperator can adjust the motion characteristics of the robot (maximum velocity, peak of velocity profile and handing position) by a human-machine interface using a speech recognition is developed. Using this robot system, cooperators can realize the most comfortable handing-over motion by adjusting the motion characteristics of the robot. Then the differences between the motion characteristics of unskilled and skilled cooperators are analyzed using the robot system. From the analysis, we propose a human-machine interface giving consideration to the differences. Furthermore, a handing-over robot system that adapts the proposed human-machine interface was developed. The effectiveness of the proposed human-machine interface is demonstrated by evaluation.

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Language：Japanese   Publisher：特定非営利活動法人 日本呼吸器外科学会  

DOI： 10.2995/jacsurg.22.449_2

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Language：Japanese   Publisher：Japan Ergonomics Society  

In this study, the authors propose a handing robot system with a human-machine interface which is composed of a speech recognition unit. In this robot system, the motion characteristics of the robot, which are maximum velocity, peak of velocity profile, and handing position, can be adjusted by the voice orders in order to realize the most comfortable motion of the robot. In this human-machine interface, the cooperator can use adverbs in voice orders. This permits the cooperator to realize efficient adjustments, because the adjusting value of each motion characteristics is determined by adverbs. In particular, adjusting values corresponding to adverbs are estimated by fuzzy inference taking the ambiguities of human speech into consideration. Furthermore, the effectiveness of the proposed handing robot system was demonstrated by experiments.

DOI： 10.5100/jje.43.10

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, we propose an object-handing robot system with a multimodal human-machine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzuy inference in order to take into consideration the ambiguities of human speech.

DOI： 10.1299/kikaic.73.1408

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

A design is presented for acceptable handing motion of arm-robots utilizing a transfer function, that linearly transforms a synchronized trajectory to the hand movement of the receiver which is emotionally acceptable to human psychology. The transfer function is named the "Kansei" transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, an effective method is for robots to make their motions gentle when taking care of humans. First, the human motion of handing an object to another human constrained to a sagittal plane is analyzed and its features are extracted. Then, the possibility of applying the clarified features to the handing motions of a robot is examined. It is found that the movement characteristic of the hander can be approximated by linearly transforming the movements of the receiver, that is, the relationship of the two movements can be expressed by a transfer function. The second order lag element with suitable parameters is sufficient to describe the relationship. The parameters of the transfer function are experimentally determined and the resulting transfer function is tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers are realized by adjusting parameters in the transfer function.

DOI： 10.9746/ve.sicetr1965.43.946

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

In this study, we propose an object-handing robot system with a multimodal human-machine interface which is composed of speech recognition and image processing units. Using this multimodal human-machine interface, the cooperator can order the object-handing robot system using voice commands and hand gestures. In this robot system, the motion parameters of the robot, which are maximum velocity, velocity profile peak and handing position, can be adjusted by the voice commands or the hand gestures in order to realize the most appropriate motion of the robot. Furthermore, the cooperator can order the handing of objects using voice commands along with hand gestures. In these voice commands, the cooperator can use adverbs. This permits the cooperator to realize efficient adjustments, because the adjustment value of each motion parameters is determined by adverbs. In particular, adjustment values corresponding to adverbs are estimated by fuzzy inference in order to take into consideration the ambiguities of human speech.

DOI： 10.1299/jsmec.49.1033

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ASME-AMER SOC MECHANICAL ENG  

To minimize surgical stresses including blood loss and operation time to the patients during hepatic resection, we studied the feasibility of a combination of a partial liver freezing technique and shape-memory alloy, which also enables a free-designed resection curve. In this surgical procedure, the region surrounding a tumor in the liver is frozen to excise and prevent hemorrhage. The liver was frozen by a Peltier module. The effects of cooling rate and freezing temperature on the excision force that arise between a scalpel and the liver are carried out experimentally as a basic research for partial freezing surgical procedures. A porcine liver was used as a liver sample. The physical properties were estimated by using the finite element method based on the heat transfer characteristics of the liver. Isolation of the liver was conducted using a scalpel attached to the end-effector of a 3 degrees of freedom robot. In the experiments, the minimum excision force was obtained at a temperature between 272 K and 275 K; therefore, it is preferable that the liver be excised within this temperature range. Lowering of the cooling rate decreases the excision force even if the temperature of the liver remains unchanged. The lower the temperature of the liver is, the larger the increment rate of excision force is with regard to the cooling rate.

DOI： 10.1115/1.2244577

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PubMed

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

Synchronous control Of Mutual position for two vertical-type pneumatic servo systems is discussed for practical use in this study. In the proposed control system, a fuzzy controller is used in each pneumatic servo system so that the output of each plant can follow the reference input. A PD controller is introduced to realize the synchronization of both pneumatic servo systems, in which the outputs from this controller are the inputs for revision to both plants. A fuzzy virtual reference generator that can adjust the reference input to both fuzzy controllers adaptively by fuzzy rules is constructed to improve the transient performances of both axes. In addition, the adjustment controller produces a representative value of both cylinder outputs, which is used to synthesize the inputs to the fuzzy virtual reference generator, in order to reach a compromise between the follow-up ability to the reference input in each axis and synchronization of both axes. The applicability of the proposed method is confirmed by experiments using two existent vertical-type pneumatic servo systems.

DOI： 10.1299/jsmec.49.197

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

This paper presents a control scheme of pneumatic servo systems for practical use, in which a two-layer neural network is used to construct the inverse system of the plant, and disturbance to the plant is estimated. The influence of the disturbance is eliminated by subtracting the estimated disturbance from the output of the controller. To improve the learning ability of the NN, sigma modification method, which is one of the robust parameter adjusting methods of the robust adaptive control, is introduced. To confirm the effectiveness of the proposed control scheme, experiments using an existent pneumatic servo system were conducted. The experimental results showed that the external force was estimated well by the disturbance estimation mechanism, and the influence of the external force to the plant output was eliminated immediately after the external force was applied. In addition, high-speed learning of NN could be realized using the switching sigma modification method.

DOI： 10.1299/jsmec.49.189

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

A design of acceptable handing motion of arm-robots utilizing a transfer function, which is linearly transforming a synchronized trajectory of hand movement of receiver to the emotionally acceptable one for human minds, is presented. The transfer function was named as "Kansei"transfer function in this paper. Motions of robots that cooperatively support human should be emotionally acceptable for humans. To form such a movement, it is one of the effective methods for the robots to make its motion gentle when taking care of humans. First, human motion of handing an object to another human constrained in the vertical plane was analyzed and its features were extracted. Then, possibility of applying the clarified features to handing motions of a robot was examined. It was found that the movement characteristic of the hander could be approximated by linearly transforming the movement of the receiver, that is, the relationship of those two movements can be expressed by a transfer function. The second order lag element with suitable parameters was sufficient to describe the relationship. The parameters of the transfer function were experimentally determined and the resulting transfer function was tested in a series of handing experiments with a human receiver. Handing motions that are acceptable by human receivers on Kansei basis are realized by adjusting parameters in the transfer function.

DOI： 10.5057/jjske2001.6.2_79

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.402

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.Supplement_380

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

It is expected that robots will play an important role in social welfare and service for the older citizens. These robots should display an emotional aspect to make them more acceptable to humans. Humans shake hands in order to greet each other and display a feeling of closeness. A handshake is the embodied interaction with contact by which humans can directly share embodied rhythms. In this paper, we develop a handshake robot system for embodied interaction. The robot can generate the handshake approaching motion that is acceptable to human emotion by using secondary delay elements from the trajectory of a human hand. The effectiveness of this handshake robot is demonstrated by sensory evaluation. © 2006 IEEE.

DOI： 10.1109/ROMAN.2006.314484

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

In a handing-over motion from a robot to a human, the robot should be generated a smooth trajectory which is emotionally accepted by human. In this paper, we propose a handing-over robot system based on an approaching trajectory model. In this model, the path is generated by the minimum jerk trajectory with via a point, and the velocity profile is generated using the minimum jerk model. Using this approaching trajectory model, the smooth trajectory of robot is generated. Furthermore, the characteristics of the trajectory which are maximum velocity, peak of velocity profile and shape of path, are adjusted by voice orders in order to realize the most comfortable trajectory of the robot. The effectiveness of the proposed handing-over robot system is demonstrated by the experiments.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose a recognition method combining three-dimensional CAD information with image processing. In this recognition method, images are made from three-dimensional CAD figures by rendering, which is processed using the practical position of a light source and reflectance of an object. Then the object is recognized by comparing input images taken from a CCD camera with the images, which are made from three-dimensional CAD information. In particular, this recognition method can recognize similar objects, which have different shapes of holes in the same position and different surface curvatures, because it compares the surface information of the object with that of the three-dimensional CAD figure.

DOI： 10.1299/kikaic.71.2233

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Language：Japanese  

DOI： 10.5100/jje.41.57

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

In this study, we propose a handing robot system with a human-machine interface which is composed a speech recognition and an image processing. Using this human-machine interface, cooperator can order to the handing robot system using voice orders and human hand gestures. In this robot system, motion characteristics of the robot, which are maximum velocity, peak of velocity profile and handing position, can be adjusted by the cooperator's voice. Further, cooperator can order handing objects using the voice orders with human hand gestures. In these voice orders, the cooperator can use adverbs. Using adverbs, the cooperator can realize efficient adjustments, because the adjusting value of each motion characteristics is determined by adverbs. In particular, adjusting values corresponding to adverbs are estimated using a fuzzy inference in order to consider ambiguities of humans.

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

An interface between a human and an intelligent machine in a shared daily space, in which the intelligent machine follows instructions by the sound pressure of an ordinary human voice, is considered here. This interface is effective for the disabled who have difficulty with linguistic expression. The intelligent machine's cooperative movements are required to take account of the human's state of mind to serve effectively as his or her companion. In this paper, the patterns of intelligent machine motion are determined by adopting transfer functions that consider sound pressure directing operation as input, and the target speed of the intelligent machine as output. By changing transfer functions or adjustable parameters, different human psychological influences are expected. Motion properties of intelligent machines, which are appropriate for human states of mind, are examined using the SD method. As a result, it is clarified that human emotions concerning the intelligent machine motion are represented by the factors of "mild", "lively", "comfortable"and "interesting". In addition, two patterns of transfer function and parameter th at can form desirablemovements considering human psvchology are identified.

DOI： 10.5057/jjske2001.5.2_37

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The robots that supports human cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robot to make the gentle movement to take care of others. In this report, it is paid attention to the movement that a robot hands an object to the human in accordance with the human movement. First of all, the analysis of the handing motion between two humans in 3-dimensional space was conducted, and its feature is considered. Then, the possibility of the application of the clarified feature to the robot movement was examined. It was found that the movement characteristic of the hander could be approximated by changing the movement of the receiver using linear transformation (that is, it can be expressed by a transfer function). Obtained transfer function could be expressed with a second order lag element. Next, the handing motion from the robot to the human was carried out based on the same form as the experimentally clarified transfer function under several parameter values. As the results, human acceptable but specific features were caused in the handing motions of the robot by changing the parameters, and it was confirmed that the motion can give human different impressions. This transfer function was named "KANSEI" transfer function.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we construct a handing over robot system with consideration of individual preferences. In this robot system, a cooperator can adjust motion characteristics of the robot to satisfy his or her individual preferences. The robot recognizes the shape of the cooperator's hand as the order using image processing. Then, the robot changes the motion characteristics according to the cooperator's order. By accomplishing the adjustments, the handing over motion of the robot becomes the most comfortable for the cooperator. Experimental results using this robot system show that there are remarkable individual differences in the motion characteristics, which are satisfied cooperator's individual preferences. Thus, the effectiveness of this handing over robot system, in which the cooperator can adjust motion characteristic of the robot, has been confirmed.

DOI： 10.1299/kikaic.70.1107

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

We propose a handing robot system with a man-machine interface which are composed voice recognition and image processing. In this man-machine interface, cooperator can order to the handing robot system using orders by voice and human hand gestures. In this robot system, motion characteristics of the robot, which are maximum velocity, peak position of velocity and handing position, can be adjusted by the cooperator's voice. Further, cooperator can order handing objects are ordered by the voice with hand gestures. In these orders by voice, the cooperator can use adverbs. Using adverbs, the cooperator can realize effective adjustments, because adjusting value of each motion characteristics is determined by adverbs. Therefore, this robot system reduces a burden of human and can be still more human friendly.

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DOI： 10.5057/kei.5.1

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Language：Japanese   Publisher：Japan Society of Kansei Engineering  

In an interface that enables an intelligent machine to bring a thing to a human in response to the human's manipulation, the intelligent machine's approaching motion is required to take account of the human's state of mind to serve effectively as his or her companion. In this paper, the patterns of intelligent machine motion are determined by adopting transfer functions that consider finger position directing operation to input, the target positions of intelligent machine to output. By changing transfer function or adjustable parameters, different human psychological influences are expected. Motion properties of the intelligent machine, which is appropriate for human states of mind, are examined using SD method. As a result, it is clarified that human emotions to the intelligent machine motion are represented by the factor of "mild". In addition, two patterns of transfer function and parameter that can form desirable movements considering human psychology are identified.

DOI： 10.5057/jjske2001.4.2_1

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

We construct a handing over robot system with consideration of individual preferences. In this robot system, a human (cooperator) can adjust motion characteristics of planar two-degrees-of-freedom robot to satisfy his or her individual preferences. The robot recognizes the shape of the cooperator's hand as the order using image processing. Then, the robot changes the motion characteristics, such as the maximum velocity, the position of the velocity peak, the handing over position and the initial position, according to the cooperator's order (that is preference). By accomplishing the adjustments, the handing over motion of the robot will become the most comfortable for the cooperator. Furthermore, this proposed robot system uses a bell-shaped velocity pattern based on the minimum jerk model, which can reproduce the point-to-point motion of human hands. Therefore, the motion of this robot becomes similar to human's hand motion, and a more human friendly robot can be realized.

DOI： 10.1299/jsmec.46.1075

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Language：English   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

In the planning of robots, the avoidance of humans working in the same work space, considering human emotions, was examined experimentally. We adopt the control law that the robot's evasive motion should follow the motion of an approaching human hand at a constant interval (referred to as the following distance). First, the relationship between human emotions and the motion parameters of robots (that is, the following distance and velocity of motion in the task direction) were experimentally clarified first using the rating scale method. The results show that appropriate combinations of motion parameters exist, and that the emotion "Pleasant" was representative of the emotions. Second, the control law of the robot's avoidance motion, in which the following distance is adjusted based on fuzzy inference with respect to the emotion "Pleasant", was proposed. The effectiveness of the proposed method was experimentally confirmed using an existing two-degree-of-freedom robot.

DOI： 10.1299/jsmec.46.270

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Language：Japanese   Publisher：Japan Industrial Management Association  

Today, CAD is widely used in design departments. If the CAD information can be introduced to image processing, the ability of recognition can be remarkably increased. In this paper, we propose a recognition method combining three-dimensional CAD information with image processing. In this recognition method, images are made from three-dimensional CAD figures by rendering, which is processed using the practical position of a light source and reflectance of an object. Then the object is recognized by comparing input images taken from CCD cameras with the images, which are made from three-dimensional CAD information. When the input image is compared with the CAD image, the CAD image is corrected using two-dimensional affine transformation, and the brightness of the CAD image is adjusted using a gray level histogram. Further, a coincidence value is calculated by a proposed evaluation function in which an infinitesimal difference between the input image and the CAD image is neglected. So, this recognition method can recognize objects correctly. In particular, this recognition method can recognize similar objects, which have different shapes of holes in the same position and different surface curvatures, because it compares the surface information of the object with that of the three-dimensional CAD figure. Further, the effectiveness of the proposed method is confirmed by experiments using an existing handling robot system.

DOI： 10.11221/jima.54.143

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC MECHANICAL ENGINEERS  

A learning method for acquiring the appropriate fuzzy rules using error back propagation to improve the control performance of the pneumatic servo system is presented in this paper. In h proposed method, two criteria are defined and are adjusted so as to minim ze em using error back propagation. These criteria are defined on the fuzzy rules, that is, shapes of membership functions of antecedent clause and real values of consequent clause in the fuzzy controller. Two differentiating coefficients of the plant, used in error back propagation with respect to those criteria, are estimated by the newly established neural network. Moreover, sigmoid function is introduced for the connection of the neural network to compensate for the effect of non-linearity of the system. The method was applied to an existent vertical type pneumatic servo system and proved its effectiveness for practical use.

DOI： 10.1299/jsmec.45.449

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

We propose a handing robot system whose motion characteristic can be adjusted easily by a cooperator using human hand gestures. In this robot system, motion characteristics of the robot, which are maximum velocity, peak position of velocity and handing position, are ordered by shape of the cooperator's hand. Further, adjusting values of these characteristics are ordered by a moved distance of the cooperator's hand. Using these human hand gestures, the cooperator can adjust easily the motion characteristic of the robot to the most comfortable for own emotion. In particular, fuzzy inference is applied for determination of adjusting values. Therefore, the cooperator can estimate adjusting values by an experiential moved motion.
In this proposed handing robot system, the cooperator can complete the adjustment in a short time. Therefore, this robot system reduces a burden of human and can be still more human friendly.

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Language：Japanese  

DOI： 10.5100/jje.38.119

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Language：Japanese   Publisher：Japan Industrial Management Association  

Today, CAD is widely used in the design department. If the CAD information can be introduced into the image processing, the ability of recognition can be increased extremely. In this paper, we propose the recognition method by image processing using 2D or 3D CAD information. When 2D CAD information is used, an object is recognized as follows. An image of the object taken from one camera is represented by the characteristics, which are its center of gravity, contour, the distance between the center of gravity and contour and FFT. Then the object is recognized by comparing these characteristics with those of 2D CAD figures. When 3D CAD information is used, there are two methods. In the first method, 3D CAD figure is transformed into 2D CAD figures that are seen from some given viewpoints. Then an object is recognized by comparing 2D CAD figures with an input image of the object using the method of 2D CAD information. In the second method, coordinates of vertexes on an object are recognized by images taken from several cameras. 3D characteristics of the object, which are the distance among vertexes and the normal vector of a plane made by vertexes, are estimated by these coordinates of vertexes. Then the object is recognized by comparing these 3D characteristics with those of 3D CAD figures. A classification of these methods makes it easy to determine dimensions of CAD and an image processing when objects are recognized. Further, the effectiveness of the recognition method comparing 3D characteristics of the object with those of 3D CAD figures, is confirmed by experiments using an existing handling robot system.

DOI： 10.11221/jima.52.355

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Language：Japanese   Publisher：Japan Industrial Management Association  

It is expected that robots will play important roles in the field of social welfare and services in the home and office for the aging society. These robots must be adapted to an environment of humans. In this paper, robot motion for opening and closing a manual valve, which is designed to fit the structure of the human hand, is discussed. Using position recognition from visual information in combination with impedance control from force information, it is possible for the robot to hold, open and close a manual valve fixed at an arbitrary postion without damage. A robot system was constructed based on this, and we conducted hold, open and close motions using an existing manual valve in practice. In the robot system, fuzzy inference, which can realize human experiential and try-and-error motion, is applied for determination of impedance parameters. Therefore, the robot motion of opening and closing a manual valve becomes like a human motion, and the external force which acts on the handle of the manual valve, can be reduced. Experimental results show that the proposed robot system could hold, open and close the manual valve fixed at an arbitrary position without damage. Further, the external force which acted on the handle of the manual valve could be reduced to about half of that used in the case without fuzzy inference.

DOI： 10.11221/jima.52.284

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CHINA AVIATION INDUSTRY PRESS  

We propose a handing robot system whose motion characteristic can be adjusted easily by a cooperator. in this robot system, an image processing is used as a man-machine interface. The robot recognizes the shape of the cooperator's hand as the order and changes motion characteristics as follows. Firstly, the characteristics of the cooperator's hand using the contour are recognized by the image processing. Nest, the shape of the cooperator's hand as the order is recognized by these characteristics. Finally, the robot changes motion characteristics, that is. the maximum velocity, the position of the velocity peak and the initial position by the cooperator's order. Further. the handing position is determined by the position of the cooperator's hand. Therefore, the cooperator can adjust the motion characteristic to the most comfortable for own emotion.
This proposed robot system uses a bell shaped velocity pattern based on the minimum jerk model which can reproduce point-to-point motion of human hands. Therefore, the motion of this robot becomes like human's and the robot can be still more human friendly.

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Language：English   Publishing type：Research paper (scientific journal)  

For a step reference input, pneumatic servo systems are designed in such a way that there is a compromise between stability and rise time of the response. For practical use, we have adopted some ideas to improve the response. One example is the operation of a pneumatic on/off valve by electrical power higher than the nominal power for an initial short period of time. Based on the above example, we developed a fuzzy virtual reference generator that can adjust the reference input to the fuzzy controller adaptively by fuzzy rules to improve the rise time of the response. The applicability of the proposed method is confirmed by experiments using vertical pneumatic servo systems. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.3640

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

A learning method for acquiring the appropriate fuzzy rules using error back propagation to improve the control performance of the pneumatic servo system is presented in this paper. In the proposed method, a criteria is defined and the fuzzy rules are are adjusted so as to minimize them using error buck propagation. Moreover, differentiation of tire coefficient of the plant used in error back propagation is accomplished by the newly established neared network. The proposed method is applied to vertical pneumatic servo systems to prove its effectiveness.

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DOI： 10.5687/iscie.13.12_545

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Language：English   Publishing type：Research paper (scientific journal)  

In this paper, we propose a recognition method comparing characteristics of three-dimensional CAD information with those of input images taken by a movable camera. At first, three-dimensional coordinates of vertexes of an object are determined and the existence of curved surfaces and holes are checked by input images, which are taken by a movable camera. Next, the kind and direction of the object are determined by comparing those characteristics with CAD information. In a case of that, the object can’t be determined by them, a difference of CAD information is calculated. Then the object is recognized by comparing the CAD information with input image, which includes the different part of the object. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.3396

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Language：English   Publishing type：Research paper (scientific journal)  

For the coexistence of human and robots, it is important for robots to have not only a physical safe but also a psychological safe. When we consider avoidance motion of robots from an unexpected human approach, it is necessary for robots to have comfortable motion that can ease a psychological burden. In this research, we adopt a control strategy in which a robot follows human motion at an interval of desirable distance in front of the human firstly. Next, we evaluate human emotions to the avoidance motion of the robot that follows the strategy using SD method. The results of SD method show that the adopted control strategy is excellent when the distance and motion speed of given task are appropriate simultaneously, and that human emotions to the avoidance motion are represented by the factors of “speed” and “agreeability”. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.3366

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Language：English   Publishing type：Research paper (scientific journal)  

In pneumatic servo system, an adaptive control method is useful since change in load mass and air compressibility cause parameter variation of the plant. When the discrete time model of the plant becomes non-minimum phase, the adaptive pole-placement control should be applied. However, it is difficult to obtain satisfactory control performances by only using the adaptive pole-placement control when the non-linearity of the plant is not negligible. On the other hand, it is well-known that neural network is effective for such nonlinear plant. This paper presents a design scheme of the discrete-time adaptive pole-placement control incorporating neural network for a pneumatic servo system. In this experiment, we compare the proposed design scheme with a design scheme only using adaptive pole-placement control. As the results, proposed design scheme shows superior control performance in both the transient and steady-state response suppressing the effect of the non-linearity. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.843

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Language：English   Publishing type：Research paper (scientific journal)  

A design scheme of a direct neuro control using σ-modification method for a pneumatic servo system is presented. In this design scheme, sigmoid function is used for the output of the network to eliminate the effect of non-linear factors such as compressibility of air, friction between cylinder and piston in the pneumatic servo system. Furthermore, σ-modification method, which is famous for the rule of the robust parameter adjustment in the Model Reference Adaptive Control, is applied as the learning rule of the weights to progress the control performance of the system. The effectiveness of the proposed method is confirmed using the existent pneumatic servo system. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.509

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Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

Avoidance plannings of robots considering human emotions are discussed in this paper. When a robot avoids a human in the same workspace, two conditions should be satisfied in the avoidance motion. That is, the robot should keep desirable distance to the human and the motion trajectory should have smooth profiles, which gives human good impressions. From this point of view, a simple control rule of a robot in which the robot follows human motion keeping a desirable distance (following distance) is adopted first. Relation between the following distance and task speed of the robot, and human emotion is psychologically evaluated using a two dimensional robot. Next, an improved control method in which the results of the psychological evaluation are used for determining the following distance is considered using fuzzy inference. The effectiveness of the control method is experimentally clarified.

DOI： 10.5687/iscie.13.12_545

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Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

Avoidance plannings of robots considering human emotions are discussed in this paper. When a robot avoids a human in the same workspace, two conditions should be satisfied in the avoidance motion. That is, the robot should keep desirable distance to the human and the motion trajectory should have smooth profiles, which gives human good impressions. From this point of view, a simple control rule of a robot in which the robot follows human motion keeping a desirable distance (following distance) is adopted first. Relation between the following distance and task speed of the robot, and human emotion is psychologically evaluated using a two dimensional robot. Next, an improved control method in which the results of the psychological evaluation are used for determining the following distance is considered using fuzzy inference. The effectiveness of the control method is experimentally clarified.

DOI： 10.5687/iscie.13.12_545

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The performance of a pneumatic servo-system is affected by compressibility of air, friction between cylinder and piston. Due to these non-linear factors, it would be difficult to accomplish the satisfactory control performance by using PID or adaptive control theory. Fuzzy control is one of effective control theory for such non-linear plant. However, synthesis of fuzzy rule including stability has not been well established yet. On the contrary, Neural network is excellent in learning performance. In this paper, we consider a learning method to acquire the appropriate fuzzy rules using error back propagation to improve control performance of pneumatic servo system. In the method, two criterions are defined and the fuzzy rules are adjusted so as to minimize them respectively using error back propagation. Moreover, differentiating coefficient of the plant used in error back propagation is acquired by newly established neural network. The method is applied to the vertical type pneumatic servo systems to prove it's effectiveness.

DOI： 10.1299/kikaic.65.1476

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

For step reference input, pneumatic servo systems are designed in such a way that there is a compromise between stability and rise time of the response. For practical use, we have adopted some ideas to improve the response. One example is the operation of a pneumatic on/off valve by electrical power higher than the nominal power for an initial short period of time. Based on the above example, we developed a fuzzy virtual reference generator that can adjust the reference input to the fuzzy controller adaptively by fuzzy rules to improve the rise time of the response. The applicability of the proposed method is confirmed by experiments using vertical pneumatic servo systems.

DOI： 10.1299/jsmec.42.79

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ELSEVIER SCIENCE BV  

Human arm motions were simulated using both computer graphics and an industrial robot under various velocity patterns, and evaluated to examine which factors are essential for human-likeness. The results are summarized as follows. First, the velocity peak position in the normalized movement time of the motion is important for the emotion of human-likeness. Second, the maximum value of the velocity affects the human impression of the motion. There exists an appropriate maximum value which best gives a subject the impression of human-likeness. Finally, the emotion of human-likeness is related to that of agreeableness. These results are almost the same for both a simulated motion on CRT and a robot motion.

DOI： 10.1016/S0169-8141(97)00004-8

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Desirable values of the impedance parameters of machines are investigated in this work by a rating scale method for coexisting with humans. In the experiment, 11 subjects come into physical contact with an impedance-controlled machine and evaluate this contact subjectively. The evaluations are performed on 48 combinations of mass, viscous coefficient, and stiffness. In terms of the results, the emotions felt by the subjects with regard to the machines being soft, pleasant, and human-like are explained by a linear regression model of the impedance values, and the emotions of being reassuring are classified into four groups.

DOI： 10.1299/kikaic.64.3055

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper examines human-friendly motions of a robot holding out an object to a human. The motion parameters which give humans various impressions are discussed and their human-friendly values are analyzed using the rating scale method. First, we investigated the velocity pattern of the robots'holding out motion. Experimental results show that the bell-shaped velocity pattern with velocity peak in the front of the movement time is one of human-friendly. Second, we investigated the influences of maximum velocity value. Experimental results show that appropriate values exist and appropriate values for females are smaller than males. Third, we investigated the desirable position to which the robot should hold out the object. Experimental results show that the position should be chosen so that the manipulability measure of human two-link arm becomes small.

DOI： 10.1299/kikaic.64.279

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Language：Japanese  

DOI： 10.5100/jje.33.319

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

It is expected that in the future, robots will play important roles in coexisting with humans. Whenever humans come into contact with these robots unexpectedly, the robots must not only be safe for the humans but also be able to adjust their physical softness parameters, which will help humans remain calm and which will be favorable for human emotions. Therefore, it is desirable for robots to control their impedance characteristics in such cases. From these points of view, desirable values of the impedance parameters of robots are investigated in this work by a rating scale method. In the experiment, 11 subjects come into physical contact with an impedance-controlled robot and evaluate this contact subjectively. The evaluations are performed on 48 combinations of virtual mass, viscosity coefficient, and stiffness. In terms of the results, the emotions felt by the subjects with regard to the robots being soft, pleasant, and human-like are explained by a linear regression model of the impedance values, and the emotions of being reassuring are classified into four groups.

DOI： 10.1299/jsmec.40.309

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

The interaction of humans and robots is a new problem. One strategy for generating smooth robot motions is to follow the interaction between humans. In this paper, we analyzed the process of handing over an object from one human to another and discussed the possible application of the obtained characteristics to the motions of a one-dimensional robot handing over an object to a human. First, the trajectories of the `hander' and `receiver,' and the handing over point in the motion of passing an object from one human to another was analyzed. Second, we proposed an application of the obtained human characteristics for robot motion with regard to the velocity pattern and the handing over point. The effectiveness of the proposed applications was confirmed by the psychological evaluations.

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this work we examined experimentally the motions involved in handing of an object over a plane. First, we investigated the profiles of the handing motion and receiving motion respectively. Experimental results show that the former has the same profile as those of positioning motion, and that the latter is explained by the minimum jerk model with a via point. Second, we investigated the characteristics of relative motions. Experimental results show that there exist three timings of handing and receiving, and that a learning effect occurs. Finally we investigated the effect of direction on the motions.

DOI： 10.1299/kikaic.63.2786

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.33.199

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

When robots conduct several tasks transmitting forces to humans, robots must be controlled taking human emotions into consideration. In this paper, a multi-variable impedance control of a robot considering human emotions especially when a human contacts with or lean on the robot is proposed. First, human characteristics of changing his/her softness in decreasing the movement of an object which contacts with human hand with certain force are analyzed experimentally. It is expected that the human characteristics can be expressed by the multi-variable impedance models. Second, we try to realize a multi-variable impedance control of a robot favorable for human emotions based on the approximated human characteristics using rating-scale method.

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

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DOI： 10.1541/ieejeiss1987.116.10_1190

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Language：Japanese  

DOI： 10.5100/jje.31.151

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Language：English   Publishing type：Research paper (scientific journal)  

In pneumatic servo systems, since the change in load mass and air compressibility cause parameter variation of the plant, it is difficult to achieve high control performance. It is well-known that an adaptive control method is effective for such a plant with parameter variation. As the construction of the adaptive control system is usually complex, it is often realized as a discrete-time form by using a digital computer. In that case, the discrete-time model of the plant often become non-minimum phase. It is impossible to construct model reference adaptive control system (MRACS) for such a non-minimum phase plant. In this paper, we propose a new design scheme of MRACS for a pneumatic servo system whose discrete-time model is non-minimum phase. In this design scheme, a δ-operator is introduced to construct MRACS for a non-minimum phase plant. We also show an improved design scheme which can achieve high positioning accuracy. The effectiveness of the proposed design scheme is verified by experiments using the existent servo system. © 1995, The Institute of Electrical Engineers of Japan. All rights reserved.

DOI： 10.1541/ieejias.115.605

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

This paper examines the appropriate virtual impedance values of robots coexisting with humans from the view point of human emotions. The values are investigated experimentally using rating scale method which is generally used for evaluating various stimulus subjectively. In the experiments, 11 subjects add force or impact to the robot and evaluate its reaction by the rating scale method. The evaluations are done on 48 combinations of virtual mass, viscous coefficient, stiffness. As the results, the emotions being flexible, pleasant, and human-like are explained by linear regression model of the impedance values and the emotion being reassuring are classified into 4 groups from the view point of contact force and response speed.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Instrument and Control Engineers (SICE)  

This paper examines the relations between human emotions and the virtual impedance values of the robot experimentally using the rating scale method. In the experiments, 11 subjects add force or impact to the robot and evaluate its reaction by the rating scale method. The evaluations are done on 48 combinations of virtual mass, viscous coefficient, stiffness. As the results, the emotions being flexible, pleasant, and human-like are explained by linear regression model of the impedance values and the emotion being reassuring are classified into 4 groups from the view point of contact force and response speed.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PERGAMON PRESS LTD  

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

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

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DOI： 10.5100/jje.29.279

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Language：Japanese   Publisher：日本音響学会  

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Language：Japanese   Publisher：電子情報通信学会  

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Language：Japanese   Publisher：日本音響学会  

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Language：Japanese   Publisher：電子情報通信学会  

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J-GLOBAL

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Language：Japanese  

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

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

In this research focuses on the development of a supporter for osteoarthritis of the knee. At first, as approach of this study, the movement of the knee joint of a healthy person is measured. From provided measurement data, the movement of the general knee joint is modelled. A model with 3 degree-of-freedom is used to reproduce the rotation generated in synchronism with the operation to stretch or bend the knee. Based on a provided model, the supporter reproducing the movement of the general knee joint is designed. In order to reproduce the complex movement of rotation movement to synchronization with the flexion and extension of the knee, the mechanism using the curve-shaped cylinders are suggested. It was confirmed that the movement of the general knee joint could reappear by a designed supporter by simulation using the 3D CAD.

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

A robot system cooperating with gesture instructions using the Kinect sensor is proposed in this research. Specifically, coordinates of right hand is measured by the Kinect sensor, and the robot (omni-directional mobile robot) is moved based on the position data of the right hand obtained from the Kinect sensor. The robot system introduces operation modes of &quot;flick mode&quot; and &quot;following mode&quot;. In the flick mode, the algorithm to move the object with the mass and the viscosity by virtual power corresponding to the velocity of the hand is proposed, and the robot follows the calculated position of the object. In the following mode, the robot follows the motion of the hand cooperatively through the &quot;kansei transfer function&quot;. In addition, the neural network is used for switching of the two modes. A flick motion and following motion is input into a neural network for the learning of the characteristics of both modes. After the learning, the mode is identified by the neural network from the motion of the hand. The experiment using a suggested system was performed. As a result, a mode was able to be changed from the movement of the hand automatically. In addition, the movement characteristic is changed when the virtual viscosity was changed in the flick motion.

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

In this study, the robot system which follows the movement of the human hand is suggested. In the system, the movement of the human hand is obtained using the Kinect sensor, and the three-dimensional position of the human hand is send to the robot. The robot generates the reference trajectory based on the position which has been sent from the Kinect sensor. The position of the human hand is converted into the smooth motion using KANSEI transfer function as the reference position, and the robot follows the smooth reference position. As a result, the system which followed the movement of the hand smoothly is realized.

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.47.155

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

本研究では,直交する交差軌道上における移動ロボットの人間との衝突回避運動に着目し,人間心理に好ましい運動生成について検討する.ロボットの回避運動生成は,軌道変化を伴わず,通常速度からの等加速度減速および交差点手前での停止を有する速度変化により行われる.このときの停止距離と減速時の加速度に注目し,移動ロボットの運動が人間に与える印象の変化を調べ,人間心理に好ましい回避運動を検討する.

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Language：Japanese  

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Language：Japanese   Publisher：一般社団法人日本消化器外科学会  

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Language：Japanese   Publisher：愛媛大学工学部  

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Language：Japanese   Publisher：Japan Society of Mechanical Engineers  

A motion of an arm robot handing an object out to a human, taking a time delay at the beginning and the position of the object to be grasped into account, is presented in this paper. The motion algorithm of the robot is constructed considering the following points. The first is the cooperation to the human receiver. The second is an introduction of a time delay at the beginning and a function which reduces the time delay gradually. The third is the realization of the desirable relative position between the robot hand and human hand. To confirm the effectiveness of the proposed motion algorithm, the experiments in which an arm robot holds a cylindrical object out to a human and the human receives the object are conducted. The experimental results show that the generated motion trajectories of the human receivers are very smooth and that the motions of the robot are psychologically acceptable to the human receivers.

DOI： 10.1299/kikaic.75.1680

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Language：Japanese   Publisher：日本福祉工学会  

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Language：Japanese   Publisher：日本福祉工学会  

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Language：Japanese   Publisher：日本肺癌学会  

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Language：Japanese   Publisher：日本肺癌学会  

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Language：Japanese   Publisher：一般社団法人日本消化器外科学会  

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Language：English   Publisher：IEEE  

In this research, an interface to instruct robots by the movement of the human head is presented. In the proposed interface, a robot moves in cooperation with the movement of the human head. The intersection point between the extension line of the head direction and a plane on which robots work is regarded as the instruction point and an interface system in which the robot follows the movement of the instruction point is constructed. In addition, the "Kansei" transfer function is introduced with its input being the instruction point and output being the reference point of the robot motion so that the cooperative movement of the robot can be smooth and acceptable to human psychology. The parameters of the "Kansei" transfer function are determined by the relative position of the robot to the human, and the distribution of the desirable parameters is expressed using B-spline surface. The effectiveness of the proposed interface is confirmed through the experiments.

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Language：Japanese   Publisher：一般社団法人日本消化器外科学会  

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Language：Japanese   Publisher：一般社団法人日本消化器外科学会  

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Language：Japanese   Publisher：一般社団法人日本消化器外科学会  

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Language：Japanese   Publisher：一般社団法人日本消化器外科学会  

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

Robots that share workspaces with human are expected in the field of services in the home and office, medicine, and so on. In this research, the neck movement was used for as instructions method for the robot. Furthermore, &quot;KANSEI&quot; transfer function is introduced to convert human instructions into acceptable movement for human emotions. Here, it is thought that the parameter of &quot;KANSEI&quot; transfer function is related to the moving direction and relative position between a human and the robot. The parameter values of the &quot;KANSEI&quot; transfer function is adjusted based on the moving direction and the relative position between human and the robot.

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

A robot system cooperation with human instruction using finger movement is proposed in this research. A two-dimensional robot moves in cooperating with the motion of human finger which corresponds to the instruction by a human to move the robot in the system. By adopting this method, smooth movement trajectory of human finger can be reflected to the motion characteristics of the robot, which is acceptable to human psychology, and the motion trajectory of the robot can adjusted by the human arbitrary in real time. Four modes are considered to make this proposed system more practical one as follows. Mode 1 is implementation of cooperating movement, mode 2 is interrupt of the cooperating motion, mode 3 is adjustment of the gain between the movement of the finger and the movement of the robot, and mode 4 is initialization of the size of the gain.

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Language：Japanese   Publisher：特定非営利活動法人日本呼吸器外科学会  

DOI： 10.2995/jacsurg.21.357_2

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Language：Japanese   Publisher：広島医学会  

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Language：Japanese   Publisher：日本肺癌学会  

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Language：Japanese   Publisher：日本肺癌学会  

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

For the realization of handing motion of a robot which takes individual difference of affinity into account, we construct a system in which human can adjust the motion characteristic of the robot by using voice and gesture of hand. In particular, we discuss desirable path of handing motion of the robot. A fluent curved line like human generates in handing motion is considered as a candidate of path of the robot. Both the maximum amount of offset from the straight line between the initial position and the handing position and the position where the maximum offset occurs in the fluent curved line are determined as the parameters that human can adjust. The effectiveness of adopting the fluent curved line is examined experimentally and the appropriate value of those two parameters are clarified.

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Language：Japanese   Publisher：日本呼吸器内視鏡学会  

DOI： 10.18907/jjsre.28.4_322_1

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Language：Japanese   Publisher：日本呼吸器内視鏡学会  

DOI： 10.18907/jjsre.28.4_320_3

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Language：Japanese   Publisher：Japan Ergonomics Society  

DOI： 10.5100/jje.42.39

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

Robots should move as being accepted emotionally to support human cooperatively. To form such a movement, it is one of the effective methods for the robots to make the gentle movement when cooperating with humans. In this paper, it is paid attention to the movement that a human-similar robot arm hands an object to a human cooperatively. In an interface that enables the robot arm to hand a thing to a human in response to the human hand approaching motion to receive it, &quot;Kansei&quot; controller is introduced to make &quot;Kansei&quot; transfer function between human hand movement and movement of the end-effecter of the arm robot have desired ability which can generate acceptable handing motion to human psychology.

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Language：Japanese   Publisher：日本肺癌学会  

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Language：Japanese   Publisher：広島医学会  

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

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

A pneumatic servo-system has essentially non-linear elements such an compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. On the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause and consequent clause in the fuzzy controller are optimized by the genetic algorithm. In this method, it is possible to realize excellent control performance, because the antecedent clause and consequent clause in the fuzzy controller are optimized simultaneously. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.

DOI： 10.1299/kikaic.70.700

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

DOI： 10.1299/jsmezairiki.2003.0_193

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

A pneumatic servo-system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plants. However, fuzzy rules in the fuzzy controller should be adjusted optimally to realize excellent control performance. 0n the other hand, the genetic algorithm can easily obtain the optimum solution in optimum problems. In this paper, we propose a fuzzy control for the vertical type pneumatic servo system in which the antecedent clause in the fuzzy controller is optimized by the genetic algorithm. In the genetic algorithm, a penalty function which regulates an excessive overshoot and a vibration of the plant output is proposed. Further, the effectiveness of the optimized scheme was confirmed by experiments using the existent vertical type pneumatic servo-system.

DOI： 10.1299/kikaic.69.69

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

ロボットと人間の手渡し運動を考えた時, 人間がロボットの手渡し運動に対して心地よいと感じる運動特性には個人差があるため, 人間が自ら音声指示によりロボットの動作特性を調整し, 個人にとって好ましい運動特性を実現するためのシステム構築した。

DOI： 10.11511/jacc.46.0.687.0

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

Synchronized control of mutual position for two vertical type pneumatic servo systems is discussed from the viewpoint of practical use in this study. In the proposed control system, fuzzy controller is used in each pneumatic servo system to follow the reference input. An adjustment controller is constructed in synthesizing the input to a fuzzy virtual reference generator to consider the difference in characteristics of the both axes. A PD controller is introduced to realize the synchronization of both pneumatic servo systems, in which the outputs are the inputs of revision to both plants. The fuzzy virtual reference generator that can adjust the reference input to both fuzzy controllers adaptively by fuzzy rules is constructed to improve the control performances of both axes. The applicability of the proposed method is confirmed by experiments using existent vertical type pneumatic servo systems.

DOI： 10.1299/kikaic.68.3612

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

When robots coexist with humans, it is important that robot&#039;s movement in response to human instruction is acceptable for human state of mind. When human gives instructions to a robot with his or her finger, we pay attention to a simple and easy interface in which conversion of finger indication to robot&#039;s motion is realized by a transfer function. In this paper, we evaluate relations between the transfer functions and human emotions using SD method. The results, of SD method show that there are typical forms of transfer functions and parameters to generate comfortable motion for human. Desirable transfer functions are the first or the second order lag elements in which the parameters must be chosen so that the maximum velocity of generated robot motion exists in the range of 71-77% of the maximum velocity of instruction movement. In addition, human emotions to the robot motion generated by human indication are represented by the factors of &quot;lively&quot;, &quot;mild&quot;, and &quot;interest&quot;.

DOI： 10.1299/kikaic.68.3697

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

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

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

This paper describes a non-linear auto-tuning controller for a pneumatic servo system. The pneumatic servo system has essentially non-linear elements such as compressibility of air, friction between cylinder and piston. Therefore, we propose a two-degress-of-freedom control system in which a non-linearity is compensated by neural networks. This proposed control system uses two controllers. One is a reverse system controller, which improves the tracking performance for the reference input, and the other is a feedback controller, which restrains the non-linear disturbance input. In particular, the reverse system controller identifies the plant automatically by a two layers neural network, and the feedback controller compensates for the non-linearity with a three layers neural network. Further, the effectiveness of the proposed control system is confirmed by experiments using the existent pneumatic servo system.

DOI： 10.1299/kikaic.68.2053

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

This paper presents a control scheme for pneumatic servo system for a practical use, in which a neural network is used to estimate disturbances caused by non-linearity of the system. In the proposed control scheme, the inverse system is directly constructed by the neural network based on an approximated linear model of the plant, which is given as known information. The estimation of the disturbances is realized by subtracting the output signal of the controller from the output signal of the neural network. The effectiveness of the proposed control scheme is confirmed by experiments carried out using the existent pneumatic servo system for practical use. That is, stable output response and excellent positioning accuracy are realized in spite of the substantial non-linearity of the plant.

DOI： 10.1299/kikaic.68.1834

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Language：Japanese   Publisher：社団法人日本経営工学会  

Today, CAD is widely used in the design department. If the CAD information can be introduced into the image processing, the ability of recognition can be increased extremely. In this paper, we propose the recognition method by image processing using 2D or 3D CAD information. When 2D CAD information is used, an object is recognized as follows. An image of the object taken from one camera is represented by the characteristics, which are its center of gravity, contour, the distance between the center of gravity and contour and FFT. Then the object is recognized by comparing these characteristics with those of 2D CAD figures. When 3D CAD information is used, there are two methods. In the first method, 3D CAD figure is transformed into 2D CAD figures that are seen from some given viewpoints. Then an object is recognized by comparing 2D CAD figures with an input image of the object using the method of 2D CAD information. In the second method, coordinates of vertexes on an object are recognized by images taken from several cameras. 3D characteristics of the object, which are the distance among vertexes and the normal vector of a plane made by vertexes, are estimated by these coordinates of vertexes. Then the object is recognized by comparing these 3D characteristics with those of 3D CAD figures. A classification of these methods makes it easy to determine dimensions of CAD and an image processing when objects are recognized. Further, the effectiveness of the recognition method comparing 3D characteristics of the object with those of 3D CAD figures, is confirmed by experiments using an existing handling robot system.

DOI： 10.11221/jima.52.355

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmecs.2002.177

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

人間と共存する知能機械は, 例えば, 部屋の中で人間のためにものを取ってきてくれたり, 片づけたりしてくれるようなパーソナルなものを考えた場合, 人間がロボットに対して行う動作指示方法は人間にとって負担となるものであってはならず, また, その動作指令に, ロボットは違和感なく協調する必要がある。そのような動作指示方法として, ここでは指先を動かしてその動きにロボットを追従させる場合を取り上げる。本報告では, ロボットは指先の指示運動に対して, どのように追従すれば人間にとって心理的, 感性的に好ましいものであるかということを, 部屋の中で行う日常的な物体移動動作を対象に検討する。具体的には, 人間の指先指示と知能機械の追従運動との間の伝達関数をどのように設定すれば, 人間にとって心理的に好ましいロボット運動になるかを, 心理学的, 感性工学的評価手法であるセマンティック・ディファレンシャル (SD) 法を用いて明らかにする。

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

We experimentally analyzed the motion that human try to stop an object accelerated by gravity with his or her hand as smooth as possible. The trajectories of human hand motion observed in the experiments were reproducible and showed smooth profiles after the sufficient attempts. Changes in softness of human hand in the attempt were approximated by variable impedance model. The approximated changes of impedance parameters were divided into three phases, in which human changes his or her control modes. Moreover, human control performance was investigated from the view point of passivity. The results showed that the system was passive throughout the motion, and that the profiles of the passivity showed bell-shaped, which is peculiar to human smooth control performances. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.66.188

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

The pneumatic servo-system has non-linear elements such as compressibility of air, friction between cylinder and piston. The control scheme with fuzzy inference is effective for such non-linear plant. However, the conventional fuzzy control has troubles in the shortage of adaptability and learning ability. Moreover, it seems difficult to attain the satisfactory control performance only by using the qualitative information of the plant. In this paper, we propose the new control scheme with fuzzy inference. In the proposed method, we compose the controller with the linear approximate model of the plant, which is one of the available information of the plant. In addition, the unknown controller parameters are identified by the fuzzy identifier and the shape of the membership function is automatically tuned to consider the effect of non-linearity. The effectiveness of the proposed scheme is confirmed by experiments using the existent pneumatic servo-system. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

DOI： 10.1299/kikaic.65.4737

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DOI： 10.5100/jje.31.Supplement_538

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Language：English   Publisher：The Institute of Electrical Engineers of Japan  

In pneumatic servo systems, since the change in load mass and air compressibility cause parameter variation of the plant, it is difficult to achieve high control performance. It is well-known that an adaptive control method is effective for such a plant with parameter variation. As the construction of the adaptive control system is usually complex, it is often realized as a discrete-time form by using a digital computer. In that case, the discrete-time model of the plant often become non-minimum phase. It is impossible to construct model reference adaptive control system (MRACS) for such a non-minimum phase plant. In this paper, we propose a new design scheme of MRACS for a pneumatic servo system whose discrete-time model is non-minimum phase. In this design scheme, a δ-operator is introduced to construct MRACS for a non-minimum phase plant. We also show an improved design scheme which can achieve high positioning accuracy. The effectiveness of the proposed design scheme is verified by experiments using the existent servo system. © 1995, The Institute of Electrical Engineers of Japan. All rights reserved.

DOI： 10.1541/ieejias.115.605

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Language：Japanese   Publisher：日本人間工学会  

DOI： 10.5100/jje.29.279

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Event date： 2024.9

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