JRM Editor’s Choice 2009 (Vol.21)

Vol.21 No.6 pp. 672-679 (December 2009)

3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments

Masahiro Tomono

Abstract: Object models are indispensable for robots to recognize objects when conducting tasks. This paper proposes a method of creating object models from images captured in real environments using a monocular camera. In our framework, an object model consists of a 3D model composed of 3D points reconstructed from image edge points and 2D models composed of image ...<more>

Vol.21 No.6 pp. 780-788 (December 2009)

An Optical Tactile Sensor Assuming Cubic Polynomial Deformation of Elastic Body

Kiyoshi Hoshino, Daisuke Mori, and Motomasa Tomida

Abstract: Assuming that the elastic body makes cubic polynomial deformation, we propose a compact three-dimensional (3D) optical tactile sensor for high-speed detection of three-axial directional force components. We constructed a 3D tactile sensor using thin, soft elastic and without pattern delineation or pigment injection such as that used in light-section mea...<more>

Vol.21 No.5 pp. 590-596 (October 2009)

Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System

Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, and Yukinori Kobayashi

Abstract: Proportional-integral-derivative (PID) control commonly used to operate mechanical systems has limited performance accuracy due to the influence of gravity, friction, and joint interaction caused by modeling error. Digital acceleration control is robust against modeling errors and superior to PID control, but the need for positioning, velocity, and acce...<more>

Vol.21 No.5 pp. 597-606 (October 2009)

Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier

Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Yukinobu Sakata, and Maria Q. Feng

Abstract: The simultaneous joint torque and angle recognition for dynamic movement we propose using ultrasound echo and is test feature classifier is for application in human-machine systems such as wearable robots. Ultrasound emitted on the skin surface and reflected within the body is used to recognize features extracted from the echo. Features is change based ...<more>

Vol.21 No.4 pp. 443-452 (August 2009)

A Service System Adapted to Changing Environments Using “Kukanchi”

Yusuke Fukusato, Eri sato–Simokawara, Toru Yamaguchi, and Makoto Mizukawa

Abstract: Robots have been expected to coexist with people, providing them with suitable services. To provide services, robots need to recognize the environment, situation, context, and so on. Additionally, robots observe people’s movements in their daily life and ascertain the relations among their movements, the environment, and services. This information ...<more>

Vol.21 No.4 pp. 515-523 (August 2009)

Observation of Human Activities Based on Spatial Memory in Intelligent Space

Mihoko Niitsuma and Hideki Hashimoto

Abstract: Intelligent Space (iSpace) we propose as an intelligent environment provides information and physical services to users via intelligent agents such as mobile robots, computer devices, and digital equipment. A suitable human interface is needed to enable users to operate agents in iSpace. For this, we previously proposed spatial memory. Here, we have improv...<more>

Vol.21 No.3 pp. 324-331 (June 2009)

Parameter Setting Method for Sit-Stand Assist System Based on Human Model

Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, and Kazuhiro Kosuge

Abstract: The simple sit-stand support we have designed consists of a handrail and height-adjustable electric bed for assisting the user to stand from sitting on the bed. The human-model-based evaluation indexes for sit-stand movement enabled us to set support parameters such as handrail position, bed height, and foot positioning stabilizing the user and reducing the ...<more>

Vol.21 No.3 pp. 342-352 (June 2009)

Trajectory Generation for Adaptive Motion by Phase Feedback - Synchronization of Multicycle Human Movement -

Takayuki Ubukata, Shinya Kotosaka, and Hideyuki Ohtaki

Abstract: Synchronous motion is one of the important ability for the co-operation work by human. The focus of our research is to develop a robust and adaptive synchronous trajectory generation method for the robot. To be able to follow the uncertain action by human co-worker, the trajectory generation method must be required adaptability to frequency and phase o...<more>

Vol.21 No.2 pp. 172-178 (April 2009)

A Study on Adaptive Arch Structure Applying Variable Geometry Truss (Mechanism of Movable Arch Roof with External Panel)

Fumihiro Inoue

Abstract: This paper describes a movable arch roof with external panels as an actual design of an adaptive structure using a VGT (Variable Geometry Truss) mechanism comprising an elementary truss structure with extendable members. This movable arch structure comprises several VGT units jointed in series and pin jointed at each end. It is a stable structure because...<more>

Vol.21 No.2 pp. 229-235 (April 2009)

On-Chip Droplet Dispensing by a Magnetically Driven Microtool

Yoko Yamanishi, Yuki Kihara, Shinya Sakuma, and Fumihito Arai

Abstract: We have investigated an active size controlled droplet generation system by using magnetically driven microtool (MMT). With a lateral motion of the MMT in microchannels, the continuous phase can be pinched off by the movement of MMT to obtain size-controlled droplets actively. With this method particle-enclosed droplet can be produced on demand to fit t...<more>

Vol.21 No.1 pp. 135-145 (February 2009)

Quantitative Evaluation of Automatic Parts Delivery in “Attentive Workbench” Supporting Workers in Cell Production

Masao Sugi, Ippei Matsumura, Yusuke Tamura,
Makoto Nikaido, Jun Ota, Tamio Arai, Kiyoshi Kotani,
Kiyoshi Takamasu, Hiromasa Suzuki, Akio Yamamoto,
Yoichi Sato, Seiichi Shin, and Fumihiko Kimura

Abstract: The attentive workbench (AWB) is a new cell production system that supports human workers physically and informationally. Here we focus on physical assembly support through parts delivery, using automatically-moving parts trays. We quantitatively evaluated processing time in actual assembly experiments employing an implemented AWB system....<more>

Vol.21 No.1 pp. 20-27 (February 2009)

Development of MRI Compatible Manipulandum for Hand and Arm Movement

Toshiyuki Aodai and Shigeki Toyama

Abstract: The paper subscribes development of Magnetic Resonance Imaging (MRI) compatible using an ultrasonic motor, to work within the limits of MRI scanner workspace and environment, dimensions involving upper-limbs biomechanics. The manipulandum consists of hand mechanism and an arm-reaching mechanism having a two-degree-freedom (2DOF) haptic interface enabli...<more>

Vol.21 No.1 pp. 74-80 (February 2009)

Stepwise Locomotion on a Deformable Surface Using Shear Displacement Produced by a Pneumatic Suction Device

Toshiaki Horie and Satoshi Konishi

Abstract: The present paper introduces a stepwise locomotion of a micro robot using the shear displacement of a deformable object by a pneumatic suction device. We consider a locomotion function of a micro robot for medical application. A medical micro robot introduced into the abdominal cavity has been investigated as an extension of endoscopic technology. A micr...<more>