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JRM

Journal of Robotics and Mechatronics

ISSN : 0915-3942(Print) / 1883-8049(Online)
DOI : 10.20965/jrm.issn.1883-8049
Editors-in-Chief : Yoshihiro Takita (National Defence Academy of Japan)
Deputy Editor-in-Chief : Koichi Osuka (Osaka University),
Takayuki Tanaka (Hokkaido University)

Indexed in ESCI, Scopus, Compendex (Ei)

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2017-10-15T08:24:13+0000

Vol.24 (2012)

No.6

(Dec)

Special Issue on Construction Robot

Special Issue on Construction Robot

: p. 923
Construction Robot
Yoshitaka Yanagihara, Hiroshi Yoshinada, and Fumihiro Inoue

Robot and mechatronics technologies in the construction industry, as in the manufacturing industry, are, first of all, expected to help provide high-quality structures and services safely in the shortest possible time at the lowest possible expense. Increasingly greater expectations have arisen since the 2011 Great East Japan Earthquake in regard to technologies involving disaster response and global environment protection. Under these circumstances, we are publishing a special issue on element technologies required for construction robots, and technologies adopted at actual disaster sites. These papers include one each on automatic and drive control technologies for heavy machinery, five on remote operations, three on position measurement and detection technologies, and three on technologies to be used at actual disaster sites. Application fields of these technologies are broad enough to cover all building and civil engineering work, network systems to be incorporated into structures, disaster response, marine development, and space development. Construction robots have always required robust robot technologies for severe outdoor work. We hope this special issue will help to accelerate the research and development of construction robots, to promote practical applications, and to support the utilization of element technologies in special environments in addition to outdoor environments.

: pp. 924-932
Efficient Scooping of Rocks by Autonomous Controlled Wheel Loader
Abstract
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Hisashi Osumi, Tomoya Uehara, Naoto Okada, Takuya Fujiwara, and Shigeru Sarata
: pp. 933-938
Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels
Abstract
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Ryosuke Eto, Tomoaki Satomi, and Hiroshi Takahashi
: pp. 939-948
A Symbolic Construction Work Flow Based on State Transition Analysis Using Simplified Primitive Static States
Abstract
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 949-957
Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration
Abstract
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Ahmad Anas Yusof, Takuya Kawamura, and Hironao Yamada
: pp. 958-966
Construction Robot Operation System with Object’s Hardness Recognition Using Force Feedback and Virtual Reality
Abstract
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Lingtao Huang, Takuya Kawamura, and Hironao Yamada
: pp. 967-976
Examination of Information Presentation Method for Teleoperation Excavator
Abstract
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Taketsugu Hirabayashi
: pp. 977-984
Master-Slave Control Method for Hydraulic Excavator
Abstract
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Hiroshi Yoshinada, Kenji Okamura, and Shinich Yokota
: pp. 985-991
High Accuracy Position Marking System Applying Mobile Robot in Construction Site
Abstract
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Fumihiro Inoue and Eri Ohmoto
: pp. 992-999
Development of 3D Scanning System Using Automatic Guiding Total Station
Abstract
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Ken Endou, Takafumi Ikenoya, and Ryo Kurazume
: pp. 1000-1004
Application of Images and Laser Range to Detection of Workers Around Heavy Construction Equipment
Abstract
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Soungho Chae
: pp. 1005-1013
A Two Dimensional Model to Apprehend the Dynamic Response of Shallow Buried Structures due to Impact Loading Related to Mechanical Landmine Clearing Operations
Abstract
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Nuhansyah Sulaiman and Hiroshi Takahashi
: pp. 1014-1022
Smart Home Network System Integration with RT Middleware for Embedded Controller
Abstract
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Kenichi Ohara, Tamio Tanikawa, Mitsuhiro Toyoda, Hiroyuki Nakamoto, Masato Iijima, Yoshimasa Endo, Toru Takahashi, Takeshi Sakamoto, Tetsuo Kotoku, Kohtaro Ohba, and Tatsuo Arai
: pp. 1023-1030
Model Tests of Regolith Packaging Mechanism
Abstract
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Daisuke Inoue, Yoshitaka Yanagihara, Hiroshi Ueno, and Shin’ichiro Nishida

Regular Papers

: pp. 1031-1039
Development of a Small, Lightweight Rover with Elastic Wheels for Lunar Exploration
Abstract
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Kojiro Iizuka, Tatsuya Sasaki, Hidenori Hama, Atsuro Nishitani, Takeshi Kubota, and Ichiro Nakatani
: pp. 1040-1045
Turbojet Engine for Aerial Cargo Robot (ACR)
Abstract
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Kakuya Iwata, Koji Matsubara, Kazumasa Kawasaki, and Osamu Matsumoto
: pp. 1046-1053
Development of a Mobile Robot for Transport Application in Hospital
Abstract
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Masaki Takahashi, Toshiki Moriguchi, Shoji Tanaka, Hirofumi Namikawa, Hideo Shitamoto, Tsuyoshi Nakano, Yuichirou Minato, Takashi Ihama, and Takahiko Murayama
: pp. 1054-1062
An In-Pipe Mobile Robot for Use as an Industrial Endoscope Based on an Earthworm’s Peristaltic Crawling
Abstract
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Shota Horii and Taro Nakamura
: pp. 1063-1070
Recognition of Face Orientations Based on Nostril Feature
Abstract
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Nobuaki Nakazawa, Takashi Mori, Aya Maeda, Il-Hwan Kim, Toshikazu Matsui, and Kou Yamada
: pp. 1071-1079
The Effect of Mobile Robot on Group Behavior of Animal
Abstract
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Daisuke Fujiwara, Kojiro Iizuka, Yoshiyuki Matsumura, Tohru Moriyama, Ryo Watanabe, Koichiro Enomoto, Masashi Toda, and Yukio Gunji
: pp. 1080-1088
Application of “Planar Muscle” with Soft Skin-Like Outer Function Suitable for Musculoskeletal Humanoid
Abstract
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Masahiko Osada, Hironori Mizoguchi, Yuki Asano, Toyotaka Kozuki, Junichi Urata, Yuto Nakanishi, Kei Okada, and Masayuki Inaba
: pp. 1089-1091
Verification of Fall Detection Sensor
Abstract
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Tadahiro Hasegawa and Hiroki Yokota

No.5

(Oct)

Special Issue on Medical Science and Engineering Cooperation

Special Issue on Medical Science and Engineering Cooperation

: p. 717
Medical Science and Engineering Cooperation
Hideaki Takanobu and Taketoshi Mori

Intentions for health and well-being are increasing as associated technology has progressed. In 2011, the average life span of Japanese men was 79.44 years and that of women was 85.90 years. This situation has made cooperation in medical science and engineering an important issue in robotics and mechatronics research. In the same way, cooperation in medical science and engineering has come to include operations support, life support, informational intelligence, virtual reality, and so on. The following special issues in the Journal of Robotics and Mechatronics have been related to medical science and engineering: – Special Issue on Service Technology for Health andWell-Being, Vol.20, No.6. – Special Issue on Human Modeling in Robotics, Vol.17, No.6. – Special Issue on Advanced Mechatronics Technology for Life Support and Human Welfare, Vol.4, No.4. This next special issue centers on the following keywords: wheelchair, rehabilitation support system, life pattern estimation, blood flow measurement, diagnostic probe, surgical navigation, children, blood pressure, safe actuator, gait rehabilitation, measurement, and children’s behavior. We thank all of the authors who have submitted their papers for this special issue and reviewers for their time and effort. We also thank the JRM Editorial Board for the opportunity to take part in this work.

: pp. 718-730
A Depressurization Assistance System for a Seated Patient on a Wheelchair
Abstract
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Daisuke Chugo, Kazuya Fujita, Yuki Sakaida, and Sho Yokota
: pp. 731-742
2-D Force Display System with Redundant ER Fluid Brake Aimed at Rehabilitation Support System for Upper Limbs
Abstract
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Makoto Haraguchi, Junji Furusho, and Ryoji Kawatani
: pp. 743-753
Basic Research of “MR-PLEMO”: 2-D Passive-Type Rehabilitation System for Upper Limbs Using MR Fluid Brake
Abstract
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Makoto Haraguchi and Junji Furusho
: pp. 754-765
Life Pattern Estimation of the Elderly Based on Accumulated Activity Data and its Application to Anomaly Detection
Abstract
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Taketoshi Mori, Takahito Ishino, Hiroshi Noguchi, Tomomasa Sato, Yuka Miura, Gojiro Nakagami, Makoto Oe, and Hiromi Sanada
: pp. 766-772
Insole-Type Simultaneous Measurement System of Plantar Pressure and Shear Force During Gait for Diabetic Patients
Abstract
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Taketoshi Mori, Masako Hamatani, Hiroshi Noguchi, Makoto Oe, and Hiromi Sanada
: pp. 773-781
A Blood Flow Measurement Robotic System: Ultrasound Visual Servoing Algorithms Under Pulsation and Displacement of an Artery
Abstract
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Keiichiro Ito, Tomofumi Asayama, Hiroyasu Iwata, and Shigeki Sugano
: pp. 782-790
A Portable Arthroscopic Diagnostic Probe to Measure the Viscoelasticity of Articular Cartilage
Abstract
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Naohiko Sugita, Toru Kizaki, Daisuke Kanno, Nobuhiro Abe, Yusuke Yokoyama, Toshifumi Ozaki, and Mamoru Mitsuishi
: pp. 791-801
Automatic Surgical Workflow Estimation Method for Brain Tumor Resection Using Surgical Navigation Information
Abstract
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Ryoichi Nakamura, Tomoaki Aizawa, Yoshihiro Muragaki, Takashi Maruyama, and Hiroshi Iseki
: pp. 802-810
Development of Database of Children’s Fall Dynamics Using Daily Behavior Observing System
Abstract
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Hiroyuki Kakara, Yoshifumi Nishida, Sang Min Yoon, Hiroshi Mizoguchi, and Tatsuhiro Yamanaka
: pp. 811-819
Relation Between Blood Pressure Estimated by Pulse Wave Velocity and Directly Measured Arterial Pressure
Abstract
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Tsukasa Inajima, Yasushi Imai, Masaki Shuzo, Guillaume Lopez, Shintaro Yanagimoto, Katsuya Iijima, Hiroyuki Morita, Ryozo Nagai, Naoki Yahagi, and Ichiro Yamada
: pp. 820-827
MR-Safe Pneumatic Rotation Stepping Actuator
Abstract
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Hiroyuki Sajima, Hiroki Kamiuchi, Kenta Kuwana, Takeyoshi Dohi, and Ken Masamune
: pp. 828-837
Gait Phase Detection Using Foot Acceleration for Estimating Ground Reaction Force in Long Distance Gait Rehabilitation
Abstract
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Kazuya Kawamura, Yuya Morita, Jun Okamoto, Kohei Saito, Salvatore Sessa, Massimiliano Zecca, Atsuo Takanishi, Shin-ichiro Takasugi, and Masakatsu G. Fujie
: pp. 838-850
A System for Predicting Unprecedented Injury by Spatiotemporally Superimposing Children’s Normal Behavior
Abstract
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Yoshinori Koizumi, Yoshifumi Nishida, Koji Kitamura, Yusuke Miyazaki, Yoichi Motomura, and Hiroshi Mizoguchi

Regular Papers

: pp. 851-865
Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance
Abstract
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Eiichirou Tanaka, Tadaaki Ikehara, Hirokazu Yusa, Yusuke Sato, Tomohiro Sakurai, Shozo Saegusa, Kazuhisa Ito, and Louis Yuge
: pp. 866-875
3-D Biped Walking Using Double Support Phase and Swing Leg Retraction Based on the Assumption of Point-Contact
Abstract
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Tadayoshi Aoyama, Kosuke Sekiyama, Zhiguo Lu, Yasuhisa Hasegawa, and Toshio Fukuda
: pp. 876-883
Development of a Novel Rotor-Embedded-Type Multidegree-of-Freedom Spherical Ultrasonic Motor
Abstract
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Bo Lu, Manabu Aoyagi, Hideki Tamura, and Takehiro Takano
: pp. 884-893
Pilot Study of Split Belt Treadmill Based Gait Rehabilitation System for Symmetric Stroke Gait
Abstract
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Takeshi Ando, Eiichi Ohki, Yasutaka Nakashima, Yutaka Akita, Hiroshi Iijima, Osamu Tanaka, and Masakatsu G. Fujie
: pp. 894-901
Evaluation for Vehicle Positioning in Urban Environment Using QZSS Enhancement Function
Abstract
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Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume
: pp. 902-907
A Study of the Sole Mechanism of Biped Robots to Rough Terrain Locomotion
Abstract
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Takumi Yokomichi and Nobuhiro Ushimi
: pp. 908-916
A Basic Study on Biological Signal of Operator During Master-Slave System Control
Abstract
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Yu Okamoto, Kotaro Tadano, and Kenji Kawashima

No.4

(Aug)

Special Issue on Focused Areas and Future Trends of Bio-Inspired Robots

Special Issue on Focused Areas and Future Trends of Bio-Inspired Robots

: pp. 559-560
Focused Areas and Future Trends of Bio-Inspired Robots “Analysis, Control, and Design for Bio-Inspired Robotics”
Kin Huat Low, Shuxiang Guo, Xinyan Deng, Ravi Vaidyanathan, James Tangorra, Hoon Cheol Park, and Fumiya Iida

The science of biomimetics is about “the abstraction of good design from nature.” The goal of this scientific field is to identify specific desirable features in the biological systems and apply them to the design of new products or systems. Engineers, scientists, entrepreneurs, and business people are increasingly turning towards nature for design inspiration. The combination of biological principles, mechanical engineering, and robotics has opened entirely new areas and possibilities. On the other hand, we can see that nature can serve as an important source of inspiration to foster innovation. Industrial applications designers can exploit millions of years of tinkering and tweaking by borrowing from nature’s best designs and applying these to new problems and situations. Through biomimetics, we are able to learn and mimic the aforementioned abilities from biology to effectively promote the development of science and technology. In this special issue, you will find a total of eleven papers covering various biomimetics research with focus on analysis, control, design, and simulation. The articles in this issue are contributed by authors from several countries (USA, Japan, UK, China, Switzerland, Brunei, and Singapore) and are grouped into three categories: analysis, control, and design. In the first paper, Kim and Kurabayashi formulate the stability conditions for the artificial pheromone potential field. On the basis of the result of the stability analysis, they further presented a pheromone filter for making a smoothing kernel. The proposed filter was applied to the potential field with several peaks and used by the mobile agent. They are developing a fully automated pheromone robotic system, which aims at achieving a system closer to the natural biological world. In the second paper by Zhang and He, the influence of reciprocal effect between swimming models and morphologic on the fin propulsion performance is analyzed. From the simulation and experiments, they find that the compliance of the distribution mode of fin outline with amplitude envelope can generate better propulsion force. The results are useful for the optimal design of undulating robotic fins. For the third paper, Gouwanda and Senanayake introduce the use of wearable wireless gyroscopes for estimating gait stability. An experimental study was conducted to verify the validity of this approach. The result is expected to be employed in clinical research to assist clinicians and biomechanists in further study, which allows clinicians and biomechanists to devise appropriate strategies that improve human walking stability and reduce the risk of falls in the elderly. In another paper, Pang, Guo, and Song present an implementation of a continuous upper limb motion recognition method based on surface electromyography (sEMG) into control of an Upper Limb Exoskeleton Rehabilitation Device (ULERD). Experimental results showed that this method is effective for obtaining a control source through raw sEMG signals derived from the unaffected arm for motor control of a ULERD equipped on the affected arm during bilateral rehabilitation in real-time. There are three papers related to the control of bioinspired robots. In the paper by Sinnet and Ames, a sagittal walking is designed using Human-Inspired Control which produces human-like bipedal walking with good stability properties. The proposed control scheme, which is based on a fundamental understanding of human walking, is validated in both simulation and experiment. In the second paper, Cheng and Deng have presented a filtered-error based controller for attitude stabilization and tracking in flapping flight. By approximating nonlinear terms in the dynamic equation, the controller has successfully achieved stabilization and tracking tasks for two different insect models. Compared to a Linear Quadratic Gaussian (LQG) controller designed solely for stabilization purposes, the current controller achieves faster convergence and a broader stable region. In order to tackle such a discrepancy between biological and artificial systems, Maheshwari, Gunura and Iida present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. This novel actuation principle is then tested in a case study of position and trajectory control for a simple pendulum. The preliminary investigation of this actuation principle has shown a few potentially interesting research directions in the future. The four papers in this special issue cover the design and simulation. In the first paper, Chi and Low introduce the background of fin designs for robotic manta ray. After having analyzed and summarized the various designs, the structure of fin ray effect is investigated in depth. Their characteristics in motion are revealed through kinematic analysis, and the potential design for their RoMan IV with such structure is also presented. The work in the second paper by Boxerbaum et al. reports on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment. The authors present a new design fusing a range of insect-inspired passive mechanisms with active autonomous control architectures to seamlessly adapt to and traverse through a range of challenging substrates both in and out of the water. A bio-inspired adaptive perching mechanism is presented in the third paper by Chi et al. Based on the anatomy analysis of bird’s perching, some guiding principles for the perching mechanism design are obtained. By making use of motion capture system, reliability of the designed perching mechanism under static conditions is validated. Experiment results show that the perching mechanism is applicable to wide ranges of perching angles and target diameters. In the last paper, Guo et al. present virtual-reality simulators for training with force feedback in Minimally Invasive Surgery (MIS). This application allows generating realistic physical-based models of catheters and blood vessels, and enables surgeons to touch, feel and manipulate virtual catheter inside a vascular model through the same surgical operation mode as is used in actual MIS. The special issue of the Journal of Robotics and Mechatronics on Focused Areas and Future Trends of Bio-Inspired Robots at a particularly appropriate time when the area of biomimetics has attracted a growing interest in recent years in developing autonomous robots that can interact in an unknown environment. Research has also shown that biologically inspired robots will exhibit much greater adaptivity and robustness in performance in unstructured environments than today’s conventional robots. This new class of robots will be substantially more compliant and stable than current robots, and will take advantage of new developments in materials, fabrication technologies, sensors and actuators. Applications of bio-inspired robots will include autonomous or semi-autonomous tasks such as reconnaissance and de-mining for small, insect-like robots and human interaction tasks at a larger scale. We would like to thank the authors for contributing their research papers to this special issue, and the reviewers who, in spite of their busy schedules, took time to provide in-depth comments and constructive criticisms. Last but not least, we would like to thank Editor-in-Chief, Professor Tatsuo Arai, for his support and suggestions to our proposal, which makes the publication of this special issue possible. Our heartfelt thanks go to Mr. Kunihiko Uchida of Fuji Technology Press Ltd. for his professional assistance during the editing process of this special section.

: pp. 561-567
Efficient Formation of Pheromone Potential Field by Filtering Interaction
Abstract
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Piljae Kim and Daisuke Kurabayashi
: pp. 585-594
Study on the sEMG Driven Upper Limb Exoskeleton Rehabilitation Device in Bilateral Rehabilitation
Abstract
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Muye Pang, Shuxiang Guo, and Zhibin Song
: pp. 595-601
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots
Abstract
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Ryan W. Sinnet and Aaron D. Ames
: pp. 602-611
A Neural Adaptive Controller in Flapping Flight
Abstract
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Bo Cheng and Xinyan Deng
: pp. 612-619
Trajectory Control Based on Discrete Full-Range Dynamics
Abstract
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Nandan Maheshwari, Keith Gunura, and Fumiya Iida
: pp. 620-628
Review and Fin Structure Design for Robotic Manta Ray (RoMan IV)
Abstract
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Wanchao Chi and Kin Huat Low
: pp. 629-641
Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility
Abstract
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Alexander S. Boxerbaum, Matthew A. Klein, Jeffery E. Kline, Stuart C. Burgess, Roger D. Quinn, Richard Harkins, and Ravi Vaidyanathan
: pp. 642-648
A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles
Abstract
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Wanchao Chi, Kin Huat Low, Kay Hiang Hoon, Johnson Tang, and Tiauw Hiong Go
: pp. 649-655
Virtual Reality Simulators Based on a Novel Robotic Catheter Operating System for Training in Minimally Invasive Surgery
Abstract
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Jin Guo, Shuxiang Guo, Nan Xiao, and Baofeng Gao

Regular Papers

: pp. 657-665
Feasibility Check of an Assist System Through the Simulation of Bipedal Walking Using a CPG
Abstract
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Tomohito Takubo, Yohei Fukano, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 666-676
Vision-Force Guided Monitoring for Mating Connectors in Wiring Harness Assembly Systems
Abstract
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Pei Di, Fei Chen, Hironobu Sasaki, Jian Huang, Toshio Fukuda, and Takayuki Matsuno
: pp. 677-685
3D Measurement Using a Fish-Eye Camera Based on EPI Analysis
Abstract
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Kenji Terabayashi, Toru Morita, Hiroya Okamoto, and Kazunori Umeda
: pp. 686-698
Real-Time Optical Flow Estimation Using Multiple Frame-Straddling Intervals
Abstract
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Lei Chen, Hua Yang, Takeshi Takaki, and Idaku Ishii
: pp. 699-705
Analysis of Nurse Calls for Residents and Workers Condition Understanding in Nursing Homes
Abstract
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Hiroyasu Miwa and Tomohiro Fukuhara

No.3

(Jun)

Regular papers

Regular Papers

: pp. 423-429
Force Characteristics for Fine Deformation of CMC Touch Sensor and Estimation of Force Variance Using Hybrid Tactile Sensor System
Abstract
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Takuya Kawamura, Ko Nejigane, Kazuo Tani, and Hironao Yamada
: pp. 430-440
Finger-Mounted Tactile Sensor for Evaluating Surfaces
Abstract
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Ryo Kikuuwe, Kenta Nakamura, and Motoji Yamamoto
: pp. 441-451
Design and Application of an Intelligent Robotic Gripper for Accurate and Tolerant Electronic Connector Mating
Abstract
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Fei Chen, Kosuke Sekiyama, Baiqing Sun, Pei Di, Jian Huang, Hironobu Sasaki, and Toshio Fukuda
: pp. 452-457
Drip Adjuster: Use of an LED Display to Manually Adjust Intravenous Fluid Infusion Rate
Abstract
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Takeshi Ando, Noriyoshi Tanaka, Kenji Yamada, and Yuko Ohno
: pp. 458-463
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Basic Concept and Mechanism)
Abstract
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Mineo Higuchi
: pp. 464-471
Development of Portable Energy-Saving Type Air Supply System – 1st Report: Effect of Variable Volume Tank –
Abstract
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Tatsuyuki Iwawaki, Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa
: pp. 472-479
Curved Type Pneumatic Artificial Rubber Muscle Using Shape-Memory Polymer
Abstract
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Kazuto Takashima, Toshiro Noritsugu, Jonathan Rossiter, Shijie Guo, and Toshiharu Mukai
: pp. 480-486
Design and Evaluation of Electromagnetic Wobble Motor
Abstract
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Masaki Miyake, Koichi Suzumori, and Kazuo Uzuka
: pp. 487-497
Efficiency Improvement of Electric Generating Engine System Based on Internal Combustion Engine: Energy Simulation of New Engine Operation with Electric Generator and Motor
Abstract
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Hiroki Ishikawa, Yuta Takeda, Satoshi Ashizawa, and Takeo Oomichi
: pp. 498-506
High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles
Abstract
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Yuta Hanazawa and Masaki Yamakita
: pp. 507-516
Image Information Added Map Making Interface for Compensating Image Resolution
Abstract
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Shinya Kawakami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai
: pp. 517-530
Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera
Abstract
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Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, and Satoshi Tadokoro
: pp. 531-539
Vision-Based Object Tracking by Multi-Robots
Abstract
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Takayuki Umeda, Kosuke Sekiyama, and Toshio Fukuda
: pp. 540-546
Achievement of Hula Hooping by Robots Through Deriving Principle Structure Towards Flexible Spinal Motion
Abstract
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Yuriko Kakehashi, Tamon Izawa, Takuma Shirai, Yuto Nakanishi, Kei Okada, and Masayuki Inaba
: pp. 547-552
Applicability of Hand-Guided Robot for Assembly-Line Work
Abstract
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Yu Ogura, Masakazu Fujii, Kazuyuki Nishijima, Hiroki Murakami, and Mitsuharu Sonehara

No.2

(Apr)

Regular papers

Regular Papers

: pp. 275-283
Development of an Active Walker and its Effect
Abstract
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Hiroshi Kobayashi, Takuya Hashimoto, So Nakayama, and Kazutaka Irie
: pp. 284-290
Improvement of the Needle-Type Dispenser for Precise Micro-Droplet Dispensation – Gap Measurement Between the Needle Tip and the Target Surface Based on Needle Vibration –
Abstract
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Shinnosuke Hirata, Kazuki Hirose, Yuuka Irie, and Hisayuki Aoyama
: pp. 291-297
A Yank-Based Variable Coefficient Method for a Low-Powered Semi-Active Power Assist System
Abstract
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Andre Rosendo, Takayuki Tanaka, and Shun’ichi Kaneko
: pp. 298-310
High Speed and High Sensitivity Slip Sensor for Dexterous Grasping
Abstract
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Seiichi Teshigawara, Takahiro Tsutsumi, Yosuke Suzuki, and Makoto Shimojo
: pp. 311-319
Mouth Movement Recognition Using Template Matching and its Implementation in an Intelligent Room
Abstract
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Kiyoshi Takita, Takeshi Nagayasu, Hidetsugu Asano, Kenji Terabayashi, and Kazunori Umeda
: pp. 320-329
Predicting Behaviors of Residents by Modeling Preceding Action Transition from Trajectories
Abstract
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Taketoshi Mori, Shoji Tominaga, Hiroshi Noguchi, Masamichi Shimosaka, Rui Fukui, and Tomomasa Sato
: pp. 330-339
Expression of Continuous State and Action Spaces for Q-Learning Using Neural Networks and CMAC
Abstract
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Kazuaki Yamada
: pp. 340-346
Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII)
Abstract
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Teruyoshi Ogawa and Taro Nakamura
: pp. 347-353
Building of HD MACs Using Cell Processing Robot for Cartilage Regeneration
Abstract
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Takeshi Shimoto, Koichi Nakayama, Shuichi Matsuda, and Yukihide Iwamoto
: pp. 354-362
Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System
Abstract
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Hirokazu Tanaka, Hiroshi Kaminaga, and Yoshihiko Nakamura
: pp. 363-371
Numerical Solution Using Nonlinear Least-Squares Method for Inverse Kinematics Calculation of Redundant Manipulators
Abstract
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Shunsuke Toritani, Ruhizan Liza Ahmad Shauri, Kenzo Nonami, and Daigo Fujiwara
: pp. 372-378
Development of a Passive Turn Type Skiing Robot with Variable Height Mechanism of Gravitational Center
Abstract
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Kengo Kono and Norihiko Saga
: pp. 379-388
Technologizing and DigitalizingMedical Professional Skills for a Non-Invasive Ultrasound Theragnostic System – Technologizing and Digitalizing Kidney Stone Extraction Skills –
Abstract
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Norihiro Koizumi, Deukhee Lee, Joonho Seo, Takakazu Funamoto, Akira Nomiya, Akira Ishikawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Yukio Homma, and Mamoru Mitsuishi
: pp. 389-398
Attitude Determination by Globally and Asymptotically Stable Estimation of Gyroscope Bias Error with Disturbance Attenuation and Rejection
Abstract
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Hideaki Yamato, Takayuki Furuta, and Ken Tomiyama
: pp. 399-407
Development of Anchor Diver III: Easy-to-Operate Tensioned-Tether Type ROV for Underwater Search and Rescue Operations
Abstract
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Ya-Wen Huang, Yuki Sasaki, Yukihiro Harakawa, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 408-415
RTMEXTender: Developer Support Tool for OpenRTM
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Hiroaki Yaguchi, Tomoaki Yoshikai, Kei Okada, and Masayuki Inaba

No.1

(Feb)

Regular papers

Regular Papers

: pp. 5-15
Probabilistic Planning for Predictive Condition Monitoring and Adaptation Within the Self-Optimizing Energy Management of an Autonomous Railway Vehicle
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Benjamin Klöpper, Christoph Sondermann-Wölke, and Christoph Romaus
: pp. 16-27
Self-Supervised Online Long-Range Road Estimation in Complicated Urban Environments
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Yoji Kuroda, Masataka Suzuki, Teppei Saitoh, and Eisuke Terada
: pp. 28-36
Placing Motion of an Object by a Robot Hand with a Flexible Sensor
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Naoki Saito, Toshiyuki Satoh, Yoshinao Suzuki, and Hideharu Okano
: pp. 37-46
PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment
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Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, and Toshio Fukuda
: pp. 47-54
Optical Odor Imaging by Fluorescence Probes
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Hirotaka Matsuo, Yudai Furusawa, Masashi Imanishi, Seiichi Uchida, and Kenshi Hayashi
: pp. 55-63
AutonomousWalking over Obstacles by Means of LRF for Hexapod Robot COMET-IV
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Mohd Razali Daud and Kenzo Nonami
: pp. 64-70
Data Communication Support for Reusability of RT-Components – Converter Classification and Prototype Supporting Tool –
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Tsuyoshi Suenaga, Kentaro Takemura, Jun Takamatsu, and Tsukasa Ogasawara
: pp. 71-85
Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane
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Kenji Kamikawa, Tomohito Takubo, Yasushi Mae, Kenji Inoue, and Tatsuo Arai
: pp. 86-94
Specification and Implementation of Open Source Software Suite for Realizing Communication Intelligence
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Yosuke Matsusaka, Hideki Asoh, Isao Hara, and Futoshi Asano
: pp. 95-104
Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 105-114
GPU Acceleration in a Visual Servo System
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Chuantao Zang and Koichi Hashimoto
: pp. 115-122
Proposal of an Energy Saving Control Method for SCARA Robots
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Guangqiang Lu, Sadao Kawamura, and Mitunori Uemura
: pp. 123-132
Development of Microscopic Hardness and Stiffness Investigation System with MicroRobot
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Montree Pakkratoke, Shinnosuke Hirata, Chisato Kanamori, and Hisayuki Aoyama
: pp. 133-140
On-Demand and Size-Controlled Production of Droplets by Magnetically Driven Microtool
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Lin Feng, Tomohiro Kawahara, Yoko Yamanishi, Masaya Hagiwara, Kazuhiro Kosuge, and Fumihito Arai
: pp. 141-149
Myoelectric-Controlled Exoskeletal Elbow Robot to Suppress Essential Tremor: Extraction of Elbow Flexion Movement Using STFTs and TDNN
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Takeshi Ando, Masaki Watanabe, Keigo Nishimoto, Yuya Matsumoto, Masatoshi Seki, and Masakatsu G. Fujie
: pp. 150-157
Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device
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Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa
: pp. 158-164
Moving Mechanism of and Control Method for a Vibration-Driven Electromagnet-Type Microrobot (Mathematical Model of Microrobot Running Straight, Investigations of Characteristics of Microrobot Running Straight and Turning by Simulation and Experiments)
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Masahiro Isogai and Toshio Fukuda
: pp. 165-173
An RT Component for Simulating People Movement in Public Space and its Application to Robot Motion Planner Development
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Atsushi Shigemura, Yuki Ishikawa, Jun Miura, and Junji Satake
: pp. 174-179
Multi-Leg System for Aerial Vehicles
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Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa, and Kenjiro Tadakuma
: pp. 180-190
Gesture-World Environment Technology for Mobile Manipulation – Remote Control System of a Robot with Hand Pose Estimation –
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Kiyoshi Hoshino, Takuya Kasahara, Motomasa Tomida, and Takanobu Tanimoto
: pp. 191-204
Calculation of 6-DOF Pose of Arbitrary Inclined Nuts for a Grasping Task by Dual-Arm Robot
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Ruhizan Liza Ahmad Shauri and Kenzo Nonami
: pp. 205-218
A Power Assist Device Based on Joint Equilibrium Point Estimation from EMG Signals
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Toshihiro Kawase, Hiroyuki Kambara, and Yasuharu Koike
: pp. 219-225
Driver’s Intention Estimation Based on Bayesian Networks for a Highly-Safe Intelligent Vehicle
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Bo Sun and Michitaka Kameyama
: pp. 226-234
A Study on Position Measurement System Using Laser Range Finder and its Application for Construction Work
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Fumihiro Inoue, Takeshi Sasaki, Xiangqi Huang, and Hideki Hashimoto
: pp. 235-243
Design and Development of Human Interface System with 3D Measurement Functions (Concept and Basic Experiments)
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Jianming Yang and Takashi Imura
: pp. 244-253
Development of the Real-Time Position Detection Sensor for the Small Projected Objects
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Yusuke Kuromiya, Satoshi Ashizawa, Daiki Ando, and Takeo Oomichi
: pp. 254-260
Simulation Analysis of a Miniature Shutter Unit Using an Electromagnet for Digital Still Cameras and Video Cameras
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Masayuki Sugasawa and Kohtaro Ohba
: pp. 261-267
Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles
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Genya Ishigami, Jim Overholt, and Karl Iagnemma

Vol.23 (2011)

No.6

(Dec)

Special Issue on Strategic Development of Advanced Robotics Elemental Technologies

Special Issue on Strategic Development of Advanced Robotics Elemental Technologies

: p. 906
Strategic Development of Advanced Robotics Elemental Technologies
Shigeoki Hirai, Fumi Seto, and Kazuhito Yokoi

The Strategic Development of Advanced Robotics Elemental Technologies (STARET), a METI (Ministry of Economy, Trade and Industry) project conducted under a 5-year plan starting in 2006, was a nonconventional, unique, mission-oriented effort concerning the stage gate system. METI’s technology development project R&D is usually pursued bottom up. It is where most advanced modern technologies are selected and developed for practical use. The STARET, however, has pursued development top down without selecting a specific technology. Potentially practical work is selected from the view of businesses using robots. The target here is defined as a mission in which robot systems are built combining optimum technologies. Practical work has focused on two manufacturing themes, three service field themes, and two special environment themes. These were selected for new ranges of purpose, new marketability, and a public nature. This special issue features STARET topics focusing on research outcomes of robot systems intended for practical use. Topics on practical technologies related to the above themes were sought, resulting in many papers from nonproject participants in addition to those from STARET participants. The regular standard was applied to the peer review and articles were chosen for originality. We expect this special issue will help speed up and promote the research and development of robots intended for practical use.

: pp. 907-918
Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators
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Kyongmo Koo, Xin Jiang, Atsushi Konno, and Masaru Uchiyama
: pp. 919-925
Image Detection of Seam Line for Laser Welding Robot
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Akihiko Matsushita, Takafumi Morishita, Shun’ichi Kaneko, Hitoshi Ohfuji, and Kaoru Fukuda
: pp. 926-938
Cooperation Between a High-Power Robot and a Human by Functional Safety
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Masahiro Morioka, Satoshi Adachi, Shinsuke Sakakibara, Jeffrey Too Chuan Tan, Ryu Kato, and Tamio Arai
: pp. 939-950
Development of Production Robot System that can Assemble Products with Cable and Connector
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Rintaro Haraguchi, Yukiyasu Domae, Koji Shiratsuchi, Yasuo Kitaaki, Haruhisa Okuda, Akio Noda, Kazuhiko Sumi, Takayuki Matsuno, Shun’ichi Kaneko, and Toshio Fukuda
: pp. 951-968
A Home Healthcare System with Communication Robot Technologies – Development of Experimental Systems and in-Home Verification Experiments by Older Persons
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Kengo Toda, Mutsuhisa Fujioka, Atsuhiro Fujii, Shigeki Okawa, Junri Shinohara, Shinji Tanaka, Takayuki Nakamura, and Takayuki Furuta
: pp. 969-977
Development of Whole-Body Emotional Expression Humanoid Robot for ADL-Assistive RT Services
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Nobutsuna Endo and Atsuo Takanishi
: pp. 978-990
Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model
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Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, and Masanori Yamanaka
: pp. 991-998
Control of Air Cylinder Actuator with Common Bias Pressure
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Kiyoshi Hoshino and Weragala Don Gayan Krishantha
: pp. 999-1011
Reflective Collision Avoidance for Mobile Service Robot in Person Coexistence Environment
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Takafumi Sonoura, Seiji Tokura, Tsuyoshi Tasaki, Fumio Ozaki, and Nobuto Matsuhira
: pp. 1012-1023
Obstacle Location Classification and Self-Localization by Using a Mobile Omnidirectional Camera Based on Tracked Floor Boundary Points and Tracked Scale-Rotation Invariant Feature Points
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Tsuyoshi Tasaki, Seiji Tokura, Takafumi Sonoura, Fumio Ozaki, and Nobuto Matsuhira
: pp. 1024-1030
Control of Pneumatic Robots Using Variable Offset Pressure Controller
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Naoki Igo and Kiyoshi Hoshino
: pp. 1031-1040
Development of HELIOS IX: An Arm-Equipped Tracked Vehicle
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Koji Ueda, Michele Guarnieri, Takao Inoh, Paulo Debenest, Ryuichi Hodoshima, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 1041-1054
HELIOS Tracked Robot Team: Mobile RT System for Special Urban Search and Rescue Operations
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Ryuichi Hodoshima, Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Paulo Debenest, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 1055-1065
Passively Adaptable Wall Climbing Robot in Narrow Space
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Anna Ariga, Tomoyuki Yamaguchi, and Shuji Hashimoto
: pp. 1066-1072
Sorting System for Recycling of Construction Byproducts with Bayes’ Theorem-Based Robot Vision
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Takuya Gokyuu, Satoru Nakamura, Takao Ueno, Munetaka Nakamura, Daisuke Inoue, and Yoshitaka Yanagihara

Regular Papers

: pp. 1073-1079
Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid
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Shunichi Kobayashi, Kyota Fujii, Taiga Yamaura, and Hirohisa Morikawa
: pp. 1080-1090
Image-Searching for Office Equipment Using Bag-of-Keypoints and AdaBoost
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Seiji Aoyagi, Atsushi Kohama, Yuki Inaura, Masato Suzuki, and Tomokazu Takahashi
: pp. 1091-1099
Improved Stability Using Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning
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Hiroaki Nakanishi, Sayaka Kanata, and Tetsuo Sawaragi
: pp. 1100-1107
Stability Control of a Three-Dimensional Passive Walker by Periodic Input Based on the Frequency Entrainment
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Soichiro Suzuki, Masamichi Takada, and Yuta Iwakura
: pp. 1108-1114
Development of a “TSUMIKI” Robot Toy Based on a Figure Original to the Hokkaido Region – Examination of a Prototype Robot of Blakiston’s Fish Owl, Called “Kotan Kor Kamuy,” a Household God of the Aynu
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Atsushi Mitani and Yukiko Matsumoto
: pp. 1115-1124
Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery
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Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, and Masakatsu G. Fujie
: pp. 1125-1131
Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera
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Mitsunori Kitamura, Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume

No.5

(Oct)

Special Issue on Education of Robotics & Mechatronics

Special Issue on Education of Robotics & Mechatronics

: pp. 607-610
Education of Robotics & Mechatronics “Focusing on the Learning Process and Producing an Education Literature”
Naomi Miyake, Fumi Seto, Makoto Mizukawa, Shinya Kotosaka, and Tomomasa Sato

The world of robotics has long been trying to teach the essence of engineering by using robots as a subject. A process of robot production and operation is said to have the total essence of engineering education, and the actual manufacturing of robots has certainly been motivational for students. For this reason, robotics researchers and those in educational institutions such as universities and technical colleges in particular have worked hard on robot education. However, researchers have been faced with a dilemma: a report of educational activities, however, has not been regarded as a research paper, even though they have worked so hard on it. This special issue intends to resolve the dilemma and convey their educational activities in educational literature. From a scientific point of view, we will utilize robots in robot education to activate human resource development in robotics in terms of both quantity and quality. Learning sciences researchers focus on what educational content they want to give and get back through various learning processes that enable such education. More specifically, they analyze what activities in what educational contexts yield what effects to what extent, thereby facilitating learning of higher quality than ever. The same attempt may be possible for education using robots. Various practices that give us hope for good results have been conducted independently. Comparison of those practices may result in the extraction of a principle to bring about learning of higher quality. A single report itself on a practice is not likely to be a research paper. Instead, in an effort to promote robotics itself, a compilation of processes and results of various educational attempts with various clear and specific subgoals that are comparable and examinable can be a precious group of research papers from which principles of attempts in engineering education are drawn. The formation of a community in which practices are conducted, processes and results are shared, and further practices are planned is highly likely to improve the overall quality of practices. This special issue provides the first step towards such formation of a new community based on such a compilation of new research. Educational research papers, common assets for the formation of such community, are thus required to clearly include the following contents which constitute an education literature. • Purpose of learning: Learners with what background knowledge acquire what and to what extent. • Activity program: The purpose of learning is achieved specifically through what activities, in what order, implemented for what period of time. • Learning process: During the course of the program, what specific learning activities are observed. • Assessments: Whether expected activities are made, to what extent the purpose is achieved, and whether activities and results seen are beyond what was expected. If at least the above items come to be known from one practice, subsequent practices can be improved and new goals can be set. At the same time, the practices can be observed on other occasions. Once an original “learning score,” like a musical score, is manifested, it will be able to be improved or edited. As no two musical performances are the same as a written musical score, no two practices will be the same as one “learning score.” However, that does not mean that the “learning scores” and their processes in practice are not subjects of research. As musical scores and performances are studied for the next composition and more impressive performance, “learning scores” and their outcomes in practice are the subjects of research aimed at designing better future processes and conducting practices of higher quality. The attempts in this special issue are expected to inspire more and more elaborative papers and to improve the quality of practices that utilize the results. This time, the first time, we had as many as 39 contributions from the public. We asked referees to select those that would constitute as diverse a collection as possible, and they finally adopted 29 contributions. We are sure that with these contributions as our point of departure, the accumulation of results will continuously engender next-dimension practices in the future. Let us now overview the papers selected this time and discuss their findings for the future contributions in three areas: purpose, contrast, and assessment. Please forgive us if the discussions overlap to some extent, but they include factors that are more related than independent. < Contrast in Purpose and Result > Goal setting is normally difficult in educational research. As a result, the most common mistake is that goals are set that are overly ambitious. The fact the goal of compulsory education currently set by the Ministry of Education, Culture, Sports, Science and Technology is a “zest for living” serves to indicate that the idea “the bigger the educational goal, the better” prevails. Big goals cannot be accomplished at once, however, so clearer and more specific interim goals of half-year, one-year, and four-year duration need to be set. To link the subject of research to the next practice, we have to specify as clearly as possible what interim activities and what results we expect. Otherwise, we will have vague results which do not merit papers. An example of a real story to show what a specific goal is like is warranted here. A researcher teaching biology in a liberal arts course, in the final examination after all the lectures, tasked his students with the following: “name, in their order of importance, technical terms that you had not intended to remember but actually did during the course, and explain their definitions in that order in the time allotted.” The task may seem far-fetched, but he actually expected a certain list of terms and their explanations. He had in fact intended for the students to be able to reproduce the terms on the list and be able to explain them; he had explained them by introducing the terms in a well-prepared order, using them repeatedly, encouraging the students to use them, and setting an opportunity for the students to explain them among themselves. Such effort made this practice popular among the students and made the task performance exceed his expectations. This practice program and the report of its process could be of very high quality as subjects of research. We can carefully track which of the planned activities facilitated learning, how active they were, and what level of results were brought for each term. If the students’ answers include important items that the students learned spontaneously although the teacher did not mean to teach them to that extent, this practice clearly “produced higher results than expected.” If we can review the records of the learning process (e.g., videos of the classes, records of the students’ conversations, copies of notes taken by the students in each lecture, etc.), we can at least guess which of the activities at what point in time produced the more-than-expected results, and we can produce a specific plan for the next practice. Thus, it is very beneficial to specify the educational goals before working on practices. < Contrast > Learning sciences are asking less and less for socalled “control groups” for their research. This is because, for the betterment of the next practice, it is more efficient to use the time for reviewing the process of a successful practice than making a single factor comparison, because what we want to know is not whether it worked but how it worked in relation with other factors. There are many reasons a practice gives the desired results or not, and they interact. Therefore, even if a cause or contributing factor to a successful outcome is identified, it can not be the only factor behind its success. This does not mean, however, that educational research should not compare at all, rather than that, if there are two or more paths to the successful accomplishment of a specific goal, comparing of them allows factors associated with the results to be identified more easily. In that sense, when devising a new way of teaching, it is often meaningful to compare both the processes and results of the first practice and second practice with slightly adjusted approach based on the results of the first practice. Regarding education using robots, there is an idea that the tangible nature of robots has educational effects on students through their physical experiences that can not be expected from classroom lectures alone. Here is an imaginary example. Suppose that a class previously allowed students to deal with an object only on a computer screen, but now the students are provided with a real model. Now suppose this real model has had some effects, but not to the level expected. In the second year, the class again includes operations on the screen in its introductory period, and, after the students have discussed the robot’s operation, a hands-on experience is provided. As a result, the second practice has almost the expected results despite the fact that the discussion on the operation on the screen has reduced the time for the operation of the real object. Now, how can this result be documented in a paper? In other words, how can this practice be reported in such a way that the reporter and readers may develop the next practice? A conclusion that “a hands-on experience may be important but the length of time does not affect the results” does not focus on what class is to be devised next. First of all, such conclusion misses the point in terms of the successful experience the second time. Now suppose that this practice is video-recorded at a level of resolution high enough to allow the comparison of the processes of the first and second classes. Reviewing the progression of the first class, we find that the model is introduced too early for the students to understand how to operate the real object and time is wasted over it. For this reason, the students utilize only about two-thirds of the expected length of time assigned to operation of the real object. Reviewing the progression of the second practice, we find that the length of time for discussion of the screen operation is just about one-third of the length of time assigned to the real object operation in the first class; that is, the length of time to operate the real object that is thought to be reduced is almost the same as that utilized in the first class. The first and the second classes are compared as Table 1. Although it may seem to be an afterthought, the results of the comparison of the two practices will be concluded as “to effectively learn from the actual object operation, the balance between the length of time to clarify what to do in the actual object operation and then the length of time to actually operate the object is apparently more important than the total length of time assigned to the actual object operation.” Some of the papers adopted this time should have manifested such comparison for an easier-to-understand result. < Assessment > Assessing what was learned as a result of teaching is more difficult than normally thought. Suppose we ask students the question, “In what year was Natsume Soseki (a Japanese famous novelist) born?” Which of the students should we give a higher score: a student who answers “1867” correctly, or a student who answers, “In the middle of the 19th century, probably,” based on the year of the Meiji Restoration, the year of the outbreak of the Thirty Year’sWar, and other betterknown years? In this case, the latter student often has more historical perspective than does the former. Tests require various problem-solving processes, depending on the way the questions are posed (or one’s understanding of what was asked). In that sense, an assessment is defined as “an interpretation of a cognitive process that, from a behavior observed by an approach, leads to the behavior.” The “approach” here is the equivalent of the test question above (i.e., the action of asking the year of Soseki’s birth), and “the behavior observed” is the equivalent of the answer of each student. The essence of an assessment depends on what the cognitive process that drew the answer interpreted from the behavior is. In this case, the answers of the two students imply that the cognitive process of the former student may only be to refer to a chronological table; on the other hand, that of the latter may be closer to a process of making an inference from a series of relevant events structured in memory as modern history. If one needs to confirm whether such interpretation is true, the student can be asked to elaborate in the assessment, i.e., the student can be asked a couple of similar questions, and the overall tendency of his observable behaviors may be interpreted. This suggests educational research consisting of continuous assessments rather than of a single collective assessment. In fact, the former involves elaboration but gives stable interpretations. Scoring the students by their performance over a couple of weeks of practice totaling several hours, performance that allows their behaviors to be observed, based on a confident, down-to-earth grade, is easier than scoring the students by their performance in once-a-week classes in a large lecture hall where individual reactions are invisible to the teacher and assessment is based only on the result of a single examination. Accordingly, if a practice is the subject of research, its results do not have to depend only on the final, single examination. Also, relying on a subjective assessment, which is more difficult to interpret, is not necessarily a wise thing to do. A stable assessment is achieved by continuously providing opportunities for behavioral observations in which cognitive processes are easy to interpret. Practices utilizing robots givemore opportunities for student observation for the purpose of assessment than other classes (e.g., mathematics or philosophy) in the sense that the students “externalize what they think” with a real subject. Educational research on robot education should take advantage of this. This argument can be countered by an argument that it is impossible to analyze such a great amount of data on the learning process, such as video. One of the answers to this counterargument is that it is good to keep as much data as possible to, when necessary, analyze it as needed. Now we look back the example of the imaginary classroom of experiential learning that we saw when we discussed the comparison. When we interpret the results of the two practices, if the length of time for actual object operation is focused on, we may first measure only the point in question from the video. Simply doing so ends up the discussion in the above example. Although time cannot be measured without a video record, measuring time is sufficient for one to be able to write a paper in the above example. In that sense, data on a leaning process is worth recording. In addition, if a further hypothesis, i.e., there is a difference in results depending not only the length of time but also how to use the time by each team between a group that performed a specific actual object operation and a group did not perform it, is generated, the video may be viewed again, and the occurrence of the specific activity alone can be focused on as a subject of analysis. Adding a report of learning process analysis results led by such a hypothesis not only facilitates the practice results to be brought into a paper but also serves as a strong factor that may lead to the next practice, the next educational study, and the next paper. Those researchers who have been involved in engineering education utilizing robots may each have individual hypotheses for better ways of teaching from their own individual experiences. Clarifying the instructional goal itself is the subject of research. By being aware of a hypothesis, translating a “better way of teaching” into reality in line with the hypothesis, clarifying an instructional goal, determining from a series of learning processes to what extent the goal can actually be accomplished, and reporting all of them to leave them to cooperative examination, those rules of thumb can be turned into learning principles. This special issue is, in that sense, the first step to new learning research.

: pp. 611-617
Development of Mechatronics Teaching Materials for Embedded System Engineer Education
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Kazuhito Hyodo, Hirokazu Noborisaka, and Takashi Yada
: pp. 618-628
Development of Educational Robotics Instruction Kit for Embodying Creativity: “f-palette” Educational Microcomputer Kit with Extension Methodsand Full JTAG Function
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Yu Okumura, Kengo Toda, Ken Tomiyama, and Takayuki Furuta
: pp. 629-637
Mechatronics Education in School of Design – Development of Educational Tool to Study Design Expression Using Mechatronics
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Atsushi Mitani and Tamon Hosoya
: pp. 638-644
Development of Educational Materials for Construction of Mechatronic Systems and Their Application
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Tadahiro Kaneda, Yasumasa Yoshitani, Toshitaka Umemoto, Atsuo Yabu, Tomoharu Doi, and Masatoshi Semi
: pp. 645-657
Application of an Intelligent Table-Top Vacuum Robot Cleaner in Mechatronics System Design Education
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Cheng S. Chin and Keng M. Yue
: pp. 658-664
Design and Delivery of a Subject in Robotics
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Gu Fang
: pp. 665-675
Creating Attraction for Technical Education Material and its Educational Benefit (Development of Robotic Education Material Characterized by 3D CAD/CAM and Compact Stereo Vision)
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Takeshi Morishita
: pp. 676-683
Development of Hands-on Educational Tool for Control Based on ARCS Model and Emotions
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Takao Tasaki, Shinichi Watanabe, Yoshihito Shikanai, and Koichi Ozaki
: pp. 684-700
Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)
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Yoshihiko Kawazoe, Masaki Mitsuoka, and Sho Masada
: pp. 701-708
An Integrated Hands-on Training Program for Education on Mechatronics
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Masatsugu Iribe and Hiroaki Tanaka
: pp. 709-716
Practice of School Education Using Micro Robots and Verification of its Effectiveness
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Daigo Misaki and Koichi Arai
: pp. 717-723
Laboratory Experiment on Control Engineering Using Inverted Pendulum and a 32-Bit DSP CPU
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Kazuhiko Yokosawa, Keisuke Ikeda, and Ken Tomiyama
: pp. 724-738
The Introduction Case and Effect of “Robot Design” for Object Lesson of Mechanical Engineer
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Hajime Aoyama, Kazutaka Yokota, Kazuyoshi Ishikawa, Saori Ishimura, Junya Seki, Yoshinori Adachi, Yuichi Satsumi, Asami Takahashi, Yoji Ishimaru, Nobushige Imai, Yoshinao Okamura, Itsuo Nishihara, and KojiArai
: pp. 739-747
Design Education Using Personal Mobile Robot
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Yoshiyuki Takahashi, Motoki Takagi, and Ikuo Yoneda
: pp. 748-758
A Unified and Integrated Approach to Teaching a Two-Course Sequence in Robotics Engineering
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Taskin Padir, Gregory S. Fischer, Sonia Chernova, and Michael A. Gennert
: pp. 759-767
Educational Activities with a Focus on Robot Strategies – Through the Development of LEGO Manipulation Robots –
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Rui Fukui and Tomomasa Sato
: pp. 768-777
Street Performance Robot Contest as Practice in Creativity Education
Abstract
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Gen Endo, Takeshi Aoki, Hideaki Suzuki, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 778-788
Improvement of Introductory Engineering Education of Mechatronics Based on Outcomes Evaluation by Defining Rubric– Continuous PDCA Cycle Achievement with Reducing Teaching Assistants’Work Load –
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Shin’ya Morijiri, Yoshinobu Ando, Takashi Yoshimi, and Makoto Mizukawa
: pp. 789-798
Hands-on Education of Robotics Department for Four Years of College
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Yasuo Hayashibara, Shuro Nakajima, Ken Tomiyama, and Kan Yoneda
: pp. 799-810
Hands-on Robotics Instruction Program for Beginners
Abstract
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Kengo Toda, Yu Okumura, Ken Tomiyama, and Takayuki Furuta
: pp. 811-821
Enhancing Student Engineering, Personal, and Interpersonal Skills Through Yumekobo Projects
Abstract
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Kosei Demura, Takumi Sakamoto, Yasuki Asano, and Masakatsu Matsuishi
: pp. 822-829
Educating Robot Development in a University Laboratory from First Year – A Trial of a Robotics Club Under Observation at a Laboratory –
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Masaaki Kumagai
: pp. 830-839
Education Method of Robotics with Jigsaw Method by Using RT Component
Abstract
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Yasuo Hayashibara, Shinya Kotosaka, Naomi Miyake, and Tomomasa Sato
: pp. 840-849
Joint Education Program Between Technical High School and University for Technical High School Student ThroughDeveloping Robots
Abstract
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Ryohei Shimanuki and Shuro Nakajima
: pp. 850-858
Quick, Cheap, and Creative Development for Robotics Education: Understanding and Experiencing Prosthetics Technology
Abstract
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Kojiro Matsushita
: pp. 859-870
Distributed Robotics Education
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Henrik Hautop Lund and Luigi Pagliarini
: pp. 871-880
EMARO: A European Contribution in Shaping the Future World Roboticists
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Wisama Khalil, Rezia Maria Molfino, and Valentina Resaz
: pp. 881-892
Use of Cranes in Education and International Collaborations
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William Singhose, Joshua Vaughan, Kelvin Chen Chih Peng, Brice Pridgen, Urs Glauser, Juan de Juanes Márquez, and Seong-Wook Hong
: pp. 893-901
Robot Assisted Instruction in Elementary School Based on Robot Theater
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Akihiro Yorita and Naoyuki Kubota

No.4

(Aug)

Special Issue on Ambient Intelligence

Special Issue on Ambient Intelligence

: p. 465
Ambient Intelligence
Mihoko Niitsuma and Tamio Tanikawa

With research on human-assist robot systems increasingly using distributed sensors and actuators, robots are expected to provide appropriate real-time real-life support to users. Ambient intelligence, an approach important in realizing human-robot coexistence, helps robot devices adapt and act in real environments, since ambient intelligence is a technology basic to providing such abilities. Flexible, reliable system integration based on environment size and purpose is important in realizing ambient intelligence. The 8 papers in this special issue, all of which explore cutting-edge research, present the latest in ambient intelligence and its applications. The first three papers propose real-world observation in ambient intelligence. One example of major research topics in observation functions is the localization of human beings and objects, including mobile robots. Object recognition also is an important issue in supporting human beings. Papers 4 and 5 cover observation system design issues, including optimizing sensor arrangements to classify activities and for flexibly and efficiently integrating multiple distributed sensors. The last three papers discuss ways to automatically build ontology to help robots understand user intent, frameworks for flexibly and scalably integrating distributed robot technology elements, and strategy and mechanism design methodology for robot systems transferring and storing objects in home environments. We thank the authors for their invaluable contributions in submitting their latest research results to this issue. We are grateful to the reviewers for their precious time and effort. We also thank the Editorial Board members of the Journal of Robotics and Mechatronics for helping make this issue possible.

: pp. 466-474
Range Estimation Technique Using Received Signal Strength Indication on Low Frequency Waves
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Kenichi Ohara, Yuji Abe, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, and Tatsuo Arai
: pp. 475-483
Probabilistic Localization of Mobile Wireless LAN Client in Multistory Building Based on Sparse Bayesian Learning
Abstract
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Tomohiro Umetani, Tomoya Yamashita, and Yuichi Tamura
: pp. 484-493
Visual Marker System for Autonomous Object Handling by Assistive Robotic Arm
Abstract
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Hideyuki Tanaka, Tetsuo Tomizawa, Yasushi Sumi, Jae Hoon Lee, Hyun Min Do, Bong Keun Kim, Tamio Tanikawa, Hiromu Onda, and Kohtaro Ohba
: pp. 494-504
Sensor Arrangement for Classification of Life Activities with Pyroelectric Sensors – Arrangement to Save Sensors and to Quasi-Maximize Classification Precision
Abstract
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Taketoshi Mori, Ryo Urushibata, Hiroshi Noguchi, Masamichi Shimosaka, Hiromi Sanada, and Tomomasa Sato
: pp. 505-514
Flexible Discovery of Components for Sensor Data Processing by RDF in Network Middleware for Home Environment
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Hiroshi Noguchi, Taketoshi Mori, and Tomomasa Sato
: pp. 515-522
Automatic Building Robot Technology Ontology Based on Basic-Level Knowledge
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Trung Lam Ngo, Haeyeon Lee, and Makoto Mizukawa
: pp. 523-531
Design and Implementation of Basic Framework for Integration of Robot Technology Elements in Intelligent Space
Abstract
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Takeshi Sasaki, Yoshihisa Toshima, and Hideki Hashimoto
: pp. 532-543
Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)
Abstract
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Rui Fukui, Taketoshi Mori, and Tomomasa Sato

Regular Papers

: pp. 545-556
Predictive Dynamics-Based Motion Control for the Rough-Terrain Locomotion of the Personal Vehicle Falcon-III
Abstract
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Ewerton Ickowzcy, Takeshi Aoki, and Shigeo Hirose
: pp. 557-566
Unified Robot Control Scheme for Cooperative Motion, Autonomous Motion and Contact Reaction
Abstract
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Vincent Duchaine and Clément Gosselin
: pp. 567-581
Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment
Abstract
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Evgeni Magid, Takashi Tsubouchi, Eiji Koyanagi, and Tomoaki Yoshida
: pp. 582-588
Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination
Abstract
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Kazuhiro Iwata, Koichi Suzumori, and Shuichi Wakimoto
: pp. 589-597
Stable Soft-Tissue Fracture Simulation for Surgery Simulator
Abstract
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Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, and Masaru Uchiyama

No.3

(Jun)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 2)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 2)

: p. 327
New Frontiers in Research on Robotics and Mechatronics (Part 2)
Yasuhisa Hasegawa and Keiji Suzuki

Robotics and Mechatronics Conference 2010 (ROBOMEC’10) was held at Asahikawa Taisetsu arena in Asahikawa, Japan on June 13-16, 2010, sponsored by the Robotics and Mechatronics Division of the Japan Society ofMechanical Engineers (JSME). Prof. Masashi Furukawa of Hokkaido University served as the General Chair and Prof. Keiji Suzuki of Hokkaido University as the Program Chair. The conference theme was “Robotics, Mechatronics, Big-bang, Frontier,” detailing expectations of major technology expansion in robotics and mechatronics. Over 1,100 presentations were made in 86 sessions, and participants numbered 1500 including those from abroad, making it a great success. The ROBOMEC’10 program committee selected 136 outstanding presentations. We recommended that authors submit their original works to this issue, and then received 53 papers. This special issue, Part 2, presents 14 papers strictly reviewed and accepted from among them. 15 accepted papers have already appeared in Part 1 (Vol.23, No.2). The remaining accepted papers will appear in the next issue as regular papers. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 328-337
Robot Hand Whose Fingertip Covered with Net-Shape Proximity Sensor – Moving Object Tracking Using Proximity Sensing –
Abstract
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Hiroaki Hasegawa, Yosuke Suzuki, Aiguo Ming, Masatoshi Ishikawa, and Makoto Shimojo
: pp. 338-349
Levitation Control of AEROTRAIN: Development of Experimental Wing-in-Ground Effect Vehicle and Stabilization Along Z Axis and About Roll and Pitch Axes
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Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, and Yasuaki Kohama
: pp. 350-359
Software Deployment Infrastructure for Component Based RT-Systems
Abstract
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Noriaki Ando, Shinji Kurihara, Geoffrey Biggs, Takeshi Sakamoto, Hiroyuki Nakamoto, and Tetsuo Kotoku
: pp. 360-369
Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors
Abstract
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Toshiharu Mukai, Shinya Hirano, Hiromichi Nakashima, Yuki Sakaida, and Shijie Guo
: pp. 370-377
On-Chip Particle Sorting into Multiple Channels by Magnetically Driven Microtools
Abstract
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Masaya Hagiwara, Miyako Niimi, Tomohiro Kawahara, Yoko Yamanishi, Hayao Nakanishi, and Fumihito Arai
: pp. 378-385
32-Channel Omni-Directional Microphone Array Design and Implementation
Abstract
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Yoko Sasaki, Tomoaki Fujihara, Satoshi Kagami, Hiroshi Mizoguchi, and Kyoichi Oro
: pp. 386-392
Temperature Dependence of the Lifetime of a Droplet on a Liquid Surface
Abstract
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Tonau Nakai, Takahiro Ueno, Kenji Kanzawa, and Tomonobu Goto
: pp. 393-399
PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation
Abstract
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Yuki Shirato, Hiromi Mochiyama, Hisato Kobayashi, Junya Tatsuno, and Hiroyuki Kawai
: pp. 400-407
Biplane US-Guided Real-Time Volumetric Target Pose Estimation Method for Theragnostic HIFU System
Abstract
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Joonho Seo, Norihiro Koizumi, Takakazu Funamoto, Naohiko Sugita, Kiyoshi Yoshinaka, Akira Nomiya, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
: pp. 408-415
Evaluation of Basic Driving Characteristics and Implementation of Redundant Speed Limiting Function of a Double-Motor Driving System
Abstract
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Eri Watai and Seonghee Jeong
: pp. 416-425
Development of the Energy Simulator for the Water Hydraulic System Under Flow Condition Changes
Abstract
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Satoshi Ashizawa, Toshiya Watanabe, Yuki Kamiya, Hidenori Aoki, and Takeo Oomichi
: pp. 426-433
Maskless Gray Scale Lithography and its 3D Microfluidic Applications
Abstract
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Yoko Yamanishi, Takuma Nakano, Yu Sawada, Kazuyoshi Itoga, Teruo Okano, and Fumihito Arai
: pp. 434-442
Heart Rate and Respiratory Rate Measurement Using Body-Sound
Abstract
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Hiroyasu Miwa
: pp. 443-450
Development of Small Motor Driver Integrating Sensor Circuit and Interchangeable Communication Board
Abstract
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Nobuyuki Ito, Junichi Urata, Yuto Nakanishi, Kei Okada, and Masayuki Inaba

Regular Papers

: pp. 451-457
Modulation of Musical Sound Clips for Robot’s Dynamic Emotional Expression
Abstract
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Eun-Sook Jee, Chong Hui Kim, and Hisato Kobayashi
: pp. 458-461
Passive Edge Tracing of Deformable Object by Robot
Abstract
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Khairul Salleh Mohamed Sahari, Hiroaki Seki, Yoshitsugu Kamiya, and Masatoshi Hikizu

No.2

(Apr)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 1)

Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 1)

: p. 200
New Frontiers in Research on Robotics and Mechatronics (Part 1)
Yasuhisa Hasegawa and Keiji Suzuki

Robotics and Mechatronics Conference 2010 (ROBOMEC’10) was held at the Asahikawa Taisetsu arena in Asahikawa, Japan, on June 13-16, 2010, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Masashi Furukawa of Hokkaido University served as the General Chair and Prof. Keiji Suzuki of Hokkaido University as the Program Chair. The conference theme was “Robotics, Mechatronics, Big-bang, Frontier,” detailing expectations of major technology expansion in robotics and mechatronics. Over 1,100 presentations were made in 86 sessions, and participants numbered 1500 including those from abroad, making it a great success. The ROBOMEC’10 program committee selected 136 outstanding presentations. We recommended that authors submit original works for this issue, and received 53 papers. This special issue, Part 1 presents 15 papers strictly reviewed and accepted from among them. The remaining accepted papers will appear in the next issue as Part 2. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 201-206
Tsukuba Challenge 2009 – Towards Robots Working in the Real World: Records in 2009 –
Abstract
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Shin’ichi Yuta, Makoto Mizukawa, Hideki Hashimoto, Hirofumi Tashiro, and Tsuyoshi Okubo
: pp. 207-214
Hovering Control of Outdoor Blimp Robots Based on Path Following
Abstract
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Hitomu Saiki, Takanori Fukao, Takateru Urakubo, and Takashi Kohno
: pp. 215-224
Fluid Powered Ropeway: Self-Propelled Probe Sliding Along Flexible Tube
Abstract
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Yotaro Mori, Hideyuki Tsukagoshi, and Ato Kitagawa
: pp. 225-230
Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure
Abstract
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Yuya Nishida, Takashi Sonoda, and Kazuo Ishii
: pp. 231-238
Engineering Experiments in Manufacturing Education
Abstract
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Hiroshi Satoh, Shigehiro Toyama, Nobuo Ogawa, Mikio Umeda, Akira Takahashi, Makoto Usui, and Hisaya Oyanagi
: pp. 239-248
Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot
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Shunichi Nozawa, Ryohei Ueda, Yohei Kakiuchi, Kei Okada, and Masayuki Inaba
: pp. 249-257
Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)
Abstract
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Naoyuki Takesue, Takashi Ikematsu, Hideyuki Murayama, and Hideo Fujimoto
: pp. 258-265
Effect of Reduced Plantar Sensation on Human Gaits on Various Terrains
Abstract
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Shinichiro Suzuki, Akira Chaki, Kentaro Sekiguchi, Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi
: pp. 266-270
A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –
Abstract
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Kazunori Miyata, Takamasa Sasagawa, Takahiro Doi, and Kenjiro Tadakuma
: pp. 271-280
Rapid Short-Time Path Planning for Phase Space
Abstract
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Chyon Hae Kim, Hiroshi Tsujino, and Shigeki Sugano
: pp. 281-291
Development of Soft Power-Assist Glove and Control Based on Human Intent
Abstract
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Yoko Kadowaki, Toshiro Noritsugu, Masahiro Takaiwa, Daisuke Sasaki, and Machiko Kato
: pp. 292-301
3D Terrain Reconstruction by Small Unmanned Aerial Vehicle Using SIFT-Based Monocular SLAM
Abstract
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Taro Suzuki, Yoshiharu Amano, Takumi Hashizume, and Shinji Suzuki
: pp. 302-309
Response Evaluation of Rollover Recognition in Myoelectric Controlled Orthosis Using Pneumatic Rubber Muscle for Cancer Bone Metastasis Patient
Abstract
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Takeshi Ando, Jun Okamoto, Mitsuru Takahashi, and Masakatsu G. Fujie
: pp. 310-315
Development of Flowering Stage Inspection Equipment for Small-Flowered Chrysanthemum
Abstract
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Yasuhiko Fukumoto, Toshihiro Hamada, Jun Suyama, Akira Yamamoto, and Terufumi Naka
: pp. 316-323
Study on a Practical Robotic Follower to Support Daily Life – Mobile Robot Development for Home Oxygen Therapy Patients with the “Hyper Tether” –
Abstract
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Masatsugu Iribe, Hideaki Matsuda, Hiroyuki Aizawa, Gen Endo, and Toshio Takubo

No.1

(Feb)

Regular papers

Regular Papers

: pp. 3-12
Examination of Practicability of Communication Robot-Assisted Activity Program for Elderly People
Abstract
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Masayoshi Kanoh, Yukio Oida, Yu Nomura, Atsushi Araki, Yoko Konagaya, Kazushige Ihara, Taro Shimizu, and Kenji Kimura
: pp. 13-18
Automatic Cell Cutting by High-Precision Microfluidic Control
Abstract
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Akihiko Ichikawa, Tamio Tanikawa, Satoshi Akagi, and Kohtaro Ohba
: pp. 19-33
Design for a 2-DOF Motion Platform
Abstract
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Ping-Lin Wu, Yang-Hung Chang, Chung-Shu Liao, and Wei-Hua Chieng
: pp. 34-43
Holding Device with a Chain Net and its Modeling
Abstract
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Hitoshi Noguchi, Toru Omata, and Toshio Takayama
: pp. 44-52
Identification of Contact Conditions by Active Force Sensing – Estimated Parameter Uncertainty and Experimental Verification –
Abstract
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Takayoshi Yamada, Akira Tanaka, Manabu Yamada, Yasuyuki Funahashi, and Hidehiko Yamamoto
: pp. 53-65
An Intelligent High-Frame-Rate Video Logging System for Abnormal Behavior Analysis
Abstract
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Yao-DongWang, Idaku Ishii, Takeshi Takaki, and Kenji Tajima
: pp. 66-74
A Prototype of ElectricWheelchair Controlled by Eye-Only for Paralyzed User
Abstract
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Kohei Arai and Ronny Mardiyanto
: pp. 75-82
Compensation of Measurement Precision for Three-Dimensional Position Measurement Device Based on Disturbance Observer
Abstract
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Toshiaki Matsumoto and Satoru Takahashi
: pp. 83-93
Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces
Abstract
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Nobutaka Wada, Akihiro Takahashi, Masami Saeki, and Masaharu Nishimura
: pp. 94-104
A Force Measurement Device Using Optical Fiber for Surgical Tools – Basic Concept and Implementation –
Abstract
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Kazuhiro Taniguchi, Etsuko Kobayashi, Sanghyun Joung, Minoru Ono, Noboru Motomura, Shunei Kyo, Shinichi Takamoto, and Ichiro Sakuma
: pp. 105-115
Active Catheters for Neuroradiology
Abstract
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Jérôme Szewczyk, Emilie Marchandise, Patrice Flaud, Laurent Royon, and Raphaël Blanc
: pp. 116-125
Development of a New Type of Personal Vehicle for Rough-Terrain Applications
Abstract
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Ewerton Ickowzcy, Takeshi Aoki, and Shigeo Hirose
: pp. 126-136
Acquisition of a Gymnast-Like Robotic Giant-Swing Motion by Q-Learning and Improvement of the Repeatability
Abstract
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Masayuki Hara, Naoto Kawabe, Jian Huang, and Tetsuro Yabuta
: pp. 137-148
Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M
Abstract
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Dwi Pebrianti, WeiWang, Daisuke Iwakura, Yuze Song, and Kenzo Nonami
: pp. 149-162
Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain
Abstract
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Addie Irawan and Kenzo Nonami
: pp. 163-172
Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Moving Robot
Abstract
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Mehrez Kristou, Akihisa Ohya, and Shin’ichi Yuta
: pp. 173-179
Emulation of Fast and Slow Pains Using Multi-Layer Sensor Modeled the Layered Structure of Human Skin
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Nobutomo Matsunaga, Aydin Tarik Zengin, Hiroshi Okajima, and Shigeyasu Kawaji
: pp. 180-195
Simultaneous Dynamics-Based Visual Inspection Using Modal Parameter Estimation
Abstract
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Hua Yang, Takeshi Takaki, and Idaku Ishii

Vol.22 (2010)

No.6

(Dec)

Special Issue on Cybernetic City Transport Systems and Technologies

Special Issue on Cybernetic City Transport Systems and Technologies

: pp. 683-684
Cybernetic City Transport Systems and Technologies
Ljubo Vlacic, Toshio Fukuda, Yasuhisa Hasegawa, and Michel Parent

The publication of this issue was driven by the vision that, in the not too distant future, Cybernetic Transport Systems (CTS) will be seen on city roads and dedicated infrastructures. TheWorld Council for Sustainability has projected that CTS will be seen in cities in as early as 2030 (Mobility 2030: Meeting the Challenges to Sustainability; World Business Council for Sustainable Mobility, July 2004). CTS are based on fully automated driverless urban road vehicles (CyberCars). They can also be based on Dual-Mode Vehicles (DMV) – conventional vehicles with Advanced Driver Assistance Technology (ADAT) and capable of driverless driving, on request by a driver. ADAT covers electronic and software products that assist drivers in driving. DMV assumes that a driver is not in control of the vehicle at all times but is fully responsible for vehicle operation throughout. Both CyberCars and DMVs co-operate through vehicle-to-vehicle and vehicle-to-infrastructure communication links thus enabling cybernetic transport to achieve higher traffic flows and improve network efficiency. Main CTS building blocks are CyberCars and/or Dual Mode Vehicles, Road Infrastructure Elements and CTS Traffic Management & Control Centre. These four blocks are interconnected, integrated and made interoperable through Communication Architecture and Protocols, and Operational Safety & Reliability Certification Procedures. A variety of CTS concepts have been prototyped and evaluated within the scope of projects such as: (i) Toyota’s Intelligent Multimode Transportation System (http://www.expo2005.or.jp/en/technology/imts.html); (ii) the CyberCars (http://www.cybercars.org); CyberMove (http://www.cybermove.org); (iii) CityMobil (http://www.citymobil-project.eu/); (iv) Safespot (http://www.safespot-eu.org/); (v) CVIS (http://www.cvisproject.org); (vi) Group Rapid Transit (http://www.2getthere.eu/Group Transit). The figure above shows a CTS prototyped by the CyberCars-2 Project Consortium. An extensive infield, i.e., on-road testing of operational performance of co-operative cybernetic transport solutions was conducted at several road tracks, the last being held at La Rochelle, France, in September 2008. This issue addresses a broad spectrum of theoretical and implementational topics related to CTS development and deployment including: • Cooperative Cybernetic Transport System Architecture • Real-time Decision Making by driverless vehicles • On-road testing of operational performance of CTS • Road-Crossing Landmarks Detection algorithm • Landmark Shape Detection algorithm • Road Shape Estimation algorithm, and • Vehicle-to-road infrastructure (traffic lights) communication solutions. In addition, this issue presents papers that deal with ADAT and analyses: • Acceptability and Usability of a Parking Assistance System for Elderly Drivers • Relationships between Car Accidents and a Driver’s Physiology and Psychology • 2D Localization in Urban Environment, and • Sustainability and Reusability aspects of Common Robotic Technology components. We hope you enjoy the issue!

: pp. 685-693
CyberCars-2 Cooperative Cybernetic Transport System Architecture
Abstract
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Lucia Isasi, Begoña Molinete, Jesus Murgoitio, and Dionisio del Pozo
: pp. 694-701
Real-Time Decision Making for Autonomous City Vehicles
Abstract
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Andrei Furda and Ljubo Vlacic
: pp. 702-707
EU CyberCars-2 Final Demo Results: IAI-CSIC Standpoint
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Javier Alonso, Joshué Pérez, Vicente Milanés, Carlos González, and Teresa de Pedro
: pp. 708-717
Road-Crossing Landmarks Detection by Outdoor Mobile Robots
Abstract
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Aneesh Chand and Shin‘ichi Yuta
: pp. 718-725
Shape Recognition of Metallic Landmark and its Application to Self-Position Estimation for Mobile Robot
Abstract
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Hajime Fujii, Yoshinobu Ando, Takashi Yoshimi, and Makoto Mizukawa
: pp. 726-736
Self-Supervised Mapping for Road Shape Estimation Using Laser Remission in Urban Environments
Abstract
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Teppei Saitoh and Yoji Kuroda
: pp. 737-744
Driver Assistance Systems with Communication to Traffic Lights – Configuration of Assistance Systems by Receiving and Transmission and Field Experiments –
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Shin Kato, Naohisa Hashimoto, Takeki Ogitsu, and Sadayuki Tsugawa
: pp. 745-750
Evaluation of Acceptability and Usability of a Parking Assistance System for Elderly Drivers – Relationship Between Experiment Results, Gender, Driving Frequency and Driving Styles –
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Naohisa Hashimoto, Shin Kato, and Sadayuki Tsugawa
: pp. 751-757
Stress Presumption of the Long Driving Using the Facial Thermal Image
Abstract
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Hirotoshi Asano, Hitoshi Onogaki, Takumi Muto, Syuichi Yokoyama, and Hideto Ide
: pp. 758-766
Auxiliary Particle Filter Localization for Intelligent Wheelchair Systems in Urban Environments
Abstract
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Masashi Yokozuka, Yusuke Suzuki, Toshinobu Takei, Naohisa Hashimoto, and Osamu Matsumoto
: pp. 767-776
The Joint Interface of RT Components for Mobile Robots: The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project
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Masaharu Shimizu, Nobuyuki Kita, Toshihisa Saito, Eijiro Takeuchi, Yusuke Nakajima, Naohito Takegawa, Hiroki Igarashi, Yasuo Hayashibara, Hideaki Yamato, Kengo Toda, Takayuki Furuta, and Makoto Mizukawa

Regular Papers

: pp. 777-783
Two-Dimensional Wireless Power Supply to Ubiquitous Robots Using Microwaves
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Hiroyuki Shinoda, Yasutoshi Makino, Naoshi Yamahira, and Hiroto Itai
: pp. 784-789
Flexible Tactile Sensor Skin Using Wireless Sensor Elements Coupled with 2D Microwaves
Abstract
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Hiroyuki Shinoda, Hiromasa Chigusa, and Yasutoshi Makino

No.5

(Oct)

Special Issue on Advances in System Cell Engineering by Multiscale Manipulation

Special Issue on Advances in System Cell Engineering by Multiscale Manipulation

: p. 567
Advances in System Cell Engineering by Multiscale Manipulation
Toshio Fukuda, Kenji Inoue, and Shoji Maruo

Recent advances in micro- and nano-robotics and mechatronics have led to the discovery of new bioscientific knowledge and the development of new methods of medical treatments and examinations. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation” (Head Investigator: Toshio Fukuda), was begun in 2005 to promote interdisciplinary research among engineering, biological, and medical fields and to promote progress in these fields. System cell engineering seeks to understand communication and control principles of a single cell focusing on multiscale manipulation – manipulation ranging from nanoscale to macroscale. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then clarify the mechanism behind the cell system, realize an artificial cell model based on gene expression control, and regenerate tissue by function control. Using innovative engineering, we obtain new scientific knowledge on life sciences and develop medical engineering, ultimately contributing to the good of society. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation,” was successfully concluded in March 2010. This special issue presents the latest achievements in system cell engineering and multiscale manipulation, following up on the special issue on System Cell Engineering by Multiscale Manipulation in Journal of Robotics and Mechatronics Vol.19, No.5 (October 20, 2007). Two reviews introduce challengingwork in themedical and biological fields, presenting suggestions to robotics and mechatronics engineers. Three papers develop microfluidic devices and embedded sensors. Three more papers present methods of fabricating micropatterns and microstructures using biological cells. Five papers propose novel actuators, tools, devices, and manipulation systems useful in bioscience and cell engineering. The second to the last paper in the series presents a method for micro teleoperation. The final paper discusses the simulation of self-reproduction of cells. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.

: pp. 568-578
Verification of Single-Molecule Imaging and Single-Molecule Measurements
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Akihiko Ishijima, Hajime Fukuoka, and Yuichi Inoue
: pp. 579-586
Development of Time-Programmed, Dual-Release System Using Multilayered Fiber Mesh Sheet by Sequential Electrospinning
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Tatsuya Okuda and Satoru Kidoaki
: pp. 587-593
Parallel Formation of Three-Dimensional Spheroid Using Microrotational Flow
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Hiroki Ota and Norihisa Miki
: pp. 594-600
Microfluidic Device with Integrated Glucose Sensor for Cell-Based Assay in Toxicology
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Hiroshi Kimura, Hirokazu Takeyama, Kikuo Komori, Takatoki Yamamoto, Yasuyuki Sakai, and Teruo Fujii
: pp. 601-607
Measurements of Nonlinear Electrical Impedances by Virtue of Induced Conformational Changes in DNAs
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Takatoki Yamamoto, Sangwook Lee, and Teruo Fujii
: pp. 608-612
Development of Microfabrication Technology with Maskless Photolithography Device Using LCD Projector
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Kazuyoshi Itoga, Jun Kobayashi, Masayuki Yamato, and Teruo Okano
: pp. 613-618
Fabrication of Line and Grid Patterns with Cells Based on Negative Dielectrophoresis
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Tomoyuki Yasukawa, Masato Suzuki, Hitoshi Shiku, and Tomokazu Matsue
: pp. 619-622
Rapid and Direct Cell-to-Cell Adherence Using Avidin-Biotin Binding System: Large Aggregate Formation in Suspension Culture and Small Tissue Element Formation Having a Precise Microstructure Using Optical Tweezers
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Nobuhiko Kojima, Ken Miura, Tomoki Matsuo, Hidenari Nakayama, Kikuo Komori, Shoji Takeuchi, and Yasuyuki Sakai
: pp. 623-630
2DOF Magnetically Driven Microtool for Soft Peeling of Zona Pellucida
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Yoko Yamanishi, Tomohiro Kawahara, Tomohiro Iyanagi, Masaya Hagiwara, Takehito Mizunuma, Naoki Inomata, Shogo Kudo, and Fumihito Arai
: pp. 631-638
Optical Adhesion Control of Hydrogel Microtools for On-Demand Immobilization and Measurement of Cells on a Microfluidic Chip
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Hisataka Maruyama, Toshio Fukuda, and Fumihito Arai
: pp. 639-643
Detection and Collection System of Target Single Cell Based on pH and Oxygen Sensing
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Masayasu Suzuki, Hiroyuki Tanaka, and Yasunori Iribe
: pp. 644-650
Nanoliters Discharge/Suction by Thermoresponsive Polymer Actuated Probe and Applied for Single Cell Manipulation
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Masaru Takeuchi, Masahiro Nakajima, Masaru Kojima, and Toshio Fukuda
: pp. 651-658
Quantitative Evaluation of Injected Molecules into Phospholipid-Coated Microdroplets for In situ Biological Reactions
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Masahiro Nakajima, Yuta Matsuno, Masaru Kojima, Yohko Takiguchi, Kingo Takiguchi, Kousuke Nogawa, Michio Homma, and Toshio Fukuda
: pp. 659-668
Usability Evaluation of Variable-Scale Microteleoperation System
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Takahiro Kanno and Yasuyoshi Yokokohji
: pp. 669-676
Simulating Self-Reproduction of Cells in a Two-Dimensional Cellular Automaton
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Takeshi Ishida

No.4

(Aug)

Special Issue on Machine Intelligence for Robotics and Mechatronics

Special Issue on Machine Intelligence for Robotics and Mechatronics

: p. 417
Machine Intelligence for Robotics and Mechatronics
Kuniaki Kawabata, Zhi-Wei Luo, and Jie Huang

Machine intelligence is important in realizing intelligent recognition, control, and task execution in robotics and mechatronics research. One major approach involves developing machine learning / computational intelligence. This exciting field displays continuous dramatic progress based on new computer performance advances and trends. The 15 papers in this special issue present the latest machine intelligence for robotics and mechatronics and their applications. The first four papers propose interactive human-machine systems and human interfacing supporting human activities and service operations. One example of the major applications of robotics and mechatronics research is supporting daily life and work. The next four papers cover the issues of multiagents and multirobot systems, including intelligent design approach to control based on advanced distributed computational intelligence. Two papers on visual/pattern recognition discuss the asbestos fiber counting problem in qualitative analysis as a typical machine intelligence application. The next two papers deal with bio-related issues – social insects (termites) inspiring labor control of multirobots and “nonsocial” insects (crickets) inspiring a novel experimental interactive robot-insect tool. The last three papers present intelligent control of robot manipulators, mainly using learning algorithms as computational intelligence. All explore cutting-edge research machine intelligence for robotics and mechatronics. We thank the authors for their invaluable contributions in submitting their most recent research results to this issue. We are grateful to the reviewers for their generous time and effort. We also thank the Editorial Board member of the Journal of Robotics and Mechatronics for helping to make this issue possible.

: pp. 418-429
Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity
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Haiwei Dong, Zhiwei Luo, and Akinori Nagano
: pp. 430-438
Development of Deskwork Support System Using Pointing Gesture Interface
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Masao Sugi, Hisato Nakanishi, Masataka Nishino, Yusuke Tamura, Tamio Arai, and Jun Ota
: pp. 439-446
Electric Wheelchair Controlled by Human Body Motion -Classification of Body Motion and Improvement of Control Method-
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Sho Yokota, Hiroshi Hashimoto, Yasuhiro Ohyama, and Jinhua She
: pp. 447-455
A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 456-466
Risk Management System Based on Uncertainty Estimation by Multi-Robot
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Daichi Kato, Kousuke Sekiyama, and Toshio Fukuda
: pp. 467-474
Adaptive Formation Transition of a Swarm of Mobile Robots Based on Phase Gradient
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Daisuke Kurabayashi, Tatsuki Choh, Jia Cheng, and Tetsuro Funato
: pp. 475-484
Flow Path Network Design for Robust AGV Systems Against Tasks Using Competitive Coevolution
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Ryosuke Chiba, Tamio Arai, and Jun Ota
: pp. 485-495
Fault-Tolerant Multi-Robot Operational Strategy for Material Transport Systems Considering Maintenance Activity
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Satoshi Hoshino, Hiroya Seki, Yuji Naka, and Jun Ota
: pp. 496-505
Asbestos Detection in Building Materials Through Consolidation of Similarities in Color and Shape Features
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Atsuo Nomoto, Kazuhiro Hotta, and Haruhisa Takahashi
: pp. 506-513
Automatic Counting Robot Development Supporting Qualitative Asbestos Analysis -Asbestos, Air Bubbles, and Particles Classification Using Machine Learning-
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Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi
: pp. 514-525
Adaptive Division-of-Labor Control Algorithm for Multi-Robot Systems
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Yusuke Ikemoto, Toru Miura, and Hajime Asama
: pp. 526-531
Behavior Change of Crickets in a Robot-Mixed Society
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Rodrigo da Silva Guerra, Hitoshi Aonuma, Koh Hosoda, and Minoru Asada
: pp. 532-541
Path Searching of Robot Manipulator Using Reinforcement Learning-Reduction of Searched Configuration Space Using SOM and Multistage Learning-
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Seiji Aoyagi and Kenji Hiraoka
: pp. 542-550
Learning of Whole Arm Manipulation with Constraint of Contact Mode Maintaining
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Nobuyuki Kawarai and Yuichi Kobayashi
: pp. 551-560
Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators
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Ahmed Foad Amer, Elsayed Abdelhameed Sallam, and Wael Mohammed Elawady

No.3

(Jun)

Special Issue on ROBOMEC’09 (Part 2)

Special Issue on ROBOMEC’09 (Part 2)

: p. 252
ROBOMEC’09 (Part 2)
Kazunori Umeda and Kazuo Kiguchi

Robotics and Mechatronics Conference 2009 (ROBOMEC’09) was held at the Fukuoka International Congress Center in Fukuoka, Japan, on May 24-26, 2009, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Tsutomu Hasegawa of Kyushu University served as general chair and Prof. Kazuo Kiguchi of Saga University as program chair. The conference theme was “Robotics and Mechatronics for creating an affluent society.” Over 1,000 presentations were made in some 70 sessions, and participants numbered 1,500 including those from abroad, making it a great success. We asked the ROBOMEC’09 program committee to select outstanding presentations, among which they presented 115. We recommended that authors submit their original work to the special issue on ROBOMEC’09, and received 36. This special issue, Part 2, presents 19 papers strictly reviewed and accepted from among the 36. 13 accepted papers have already appeared in Part 1 (Vol.22, No.2). We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 253-261
Development of Detection and Scanning Sensor Mechanism for the Concealed Objects
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Yusuke Kuromiya, Satoshi Ashizawa, Daiki Ando, and Takeo Oomichi
: pp. 262-272
Skin Color Registration Using Recognition of Waving Hands
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Kota Irie, Masahito Takahashi, Kenji Terabayashi, Hidetoshi Ogishima, and Kazunori Umeda
: pp. 273-279
A Study of Scanning the Ultrasound Probe on Body Surface and Construction of Visual Servo System Based on Echogram
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Yusuke Aoki, Kenta Kaneko, Taro Sakai, and Kohji Masuda
: pp. 280-285
Size-Dependent Filtration and Trapping of Microparticles in a Microfluidic Chip Using Graduated Gaps and Centrifugal Force
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Hisataka Maruyama, Shinya Sakuma, Yoko Yamanishi, and Fumihito Arai
: pp. 286-292
Design and Characterization of Load Sensor with AT-Cut QCR for Miniaturization and Resolution Improvement
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Keisuke Narumi, Toshio Fukuda, and Fumihito Arai
: pp. 293-300
Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors
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Daisuke Inoue, Kazunori Ohno, Masashi Konyo, and Satoshi Tadokoro
: pp. 301-307
Truly-Tender-Tailed Tag-Playing Robot Interface Through Friendly Amusing Mobile Function
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Takafumi Matsumaru, Yasutada Horiuchi, Kosuke Akai, and Yuichi Ito
: pp. 308-314
Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules
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Kazuo Hongo, Yuto Nakanishi, Mariko Yoshida, Ikuo Mizuuchi, and Masayuki Inaba
: pp. 315-321
Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model
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Atsushi Sugahara, Yutaka Nakamura, Ippei Fukuyori, Yoshio Matsumoto, and Hiroshi Ishiguro
: pp. 322-332
Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform
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Natsuki Yamanobe, Ee Sian Neo, Eiichi Yoshida, Nobuyuki Kita, Kazuyuki Nagata, Kazuhito Yokoi, and Yosuke Takano
: pp. 333-340
Development of the Small Flow Rate Water Hydraulic Servo Valve
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Toshiya Watanabe, Tomokazu Inayama, and Takeo Oomichi
: pp. 341-347
Disposable Inkjet Mechanism for Microdroplet Dispensing
Abstract
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Takehito Mizunuma, Yoko Yamanishi, Shinya Sakuma, Hisataka Maruyama, and Fumihito Arai
: pp. 348-355
Development of a Robot Balanced on a Ball – First Report, Implementation of the Robot and Basic Control –
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Masaaki Kumagai and Takaya Ochiai
: pp. 356-362
Massive Parallel Assembly of Microbeads for Fabrication of Microtools Having Spherical Structure and Powerful Manipulation by Optical Tweezers
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Hisataka Maruyama, Ryo Iitsuka, Kazuhisa Onda, and Fumihito Arai
: pp. 363-370
Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism
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Kazuyuki Hyodo, Sadayoshi Mikami, and Sho’ji Suzuki
: pp. 371-379
Design and Fabrication of All-in-One Unified Microfluidic Chip for Automation of Embryonic Cell Manipulation
Abstract
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Yoko Yamanishi, Shinya Sakuma, Tomohiro Iyanagi, Fumihito Arai, Tatsuo Arai, Akiyuki Hasegawa, Tamio Tanikawa, Akihiko Ichikawa, Osamu Satoh, Akihiro Nakayama, Hiroshi Aso, Mitsuhiro Goto, Seiya Takahashi, and Kazutsugu Matsukawa
: pp. 380-390
Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System
Abstract
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Tadaaki Ikehara, Eiichirou Tanaka, Kazuteru Nagamura, Takanobu Tamiya, Takurou Ushida, Kenichi Hashimoto, Sho Kojima, Kiyotaka Ikejo, and Louis Yuge
: pp. 391-401
Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units
Abstract
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Shigeki Ohta, Kazuo Hongo, Yuto Nakanishi, Ikuo Mizuuchi, and Masayuki Inaba
: pp. 402-410
Pitch-Cluster-Map Based Daily Sound Recognition for Mobile Robot Audition
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Yoko Sasaki, Masahito Kaneyoshi, Satoshi Kagami, Hiroshi Mizoguchi, and Tadashi Enomoto

No.2

(Apr)

Special Issue on ROBOMEC’09 (Part 1)

Special Issue on ROBOMEC’09 (Part 1)

: p. 139
ROBOMEC’09 (Part 1)
Kazunori Umeda and Kazuo Kiguchi

Robotics and Mechatronics Conference 2009 (ROBOMEC’09) was held at the Fukuoka International Congress Center in Fukuoka, Japan, on May 24-26, 2009, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Tsutomu Hasegawa of Kyushu University served as general chair and Prof. Kazuo Kiguchi of Saga University as program chair. The conference theme was “Robotics and Mechatronics for creating an affluent society.” Over 1,000 presentations were made in some 70 sessions, and participants numbered 1,500 including those from abroad, making it a great success. We asked the ROBOMEC’09 program committee to select outstanding presentations, among which they presented 115. We recommended that authors submit their original work to the special issue on ROBOMEC’09, and received 36. This special issue, Part 1, presents 13 papers strictly reviewed and accepted from among the 36. The remaining accepted papers will appear in the next issue, Part 2. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 140-149
Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment
Abstract
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Atsushi Sakai, Teppei Saitoh, and Yoji Kuroda
: pp. 150-157
Development of Small Fish Robots Powered by Small and Ultra-Light Passive-Type Polymer Electrolyte Fuel Cells
Abstract
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Yogo Takada, Ryosuke Araki, Yukinobu Nakanishi, Motohiro Nonogaki, Kazuaki Ebita, and Tomoyuki Wakisaka
: pp. 158-166
6-DOF Localization for a Mobile Robot Using Outdoor 3D Point Clouds
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Taro Suzuki, Yoshiharu Amano, and Takumi Hashizume
: pp. 167-172
Micro Rubber Structures for Passive Walking
Abstract
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Koichi Suzumori and Fumitaka Saito
: pp. 173-178
Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement
Abstract
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Fumi Seto and Tomomichi Sugihara
: pp. 179-188
Development of a Pneumatic Surgical Manipulator IBIS IV
Abstract
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Kotaro Tadano, Kenji Kawashima, Kazuyuki Kojima, and Naofumi Tanaka
: pp. 189-196
Development of Walking Assist Machine Using Linkage Mechanism – Mechanism and its Fundamental Motion –
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Hiroyuki Inoue and Toshiro Noritsugu
: pp. 197-203
Optimizing the Conditions for pH Measurement with an Automated pH Measurement System Using a Flow-Through-Type Differential Sensor Probe Consisting of pH-FETs
Abstract
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Akira Yamada, Satoshi Mohri, Michihiro Nakamura, and Keiji Naruse
: pp. 204-211
Development of Dismantling Robot for Ceiling Boards – Human-Robot Cooperative System and System Design of the Robot –
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Satoshi Ashizawa, Yusuke Kuromiya, Toshiya Watanabe, Takeo Oomichi, and Junichiro Maeda
: pp. 212-220
Generation of Large Mosaic Images for Vegetation Monitoring Using a Small Unmanned Aerial Vehicle
Abstract
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Taro Suzuki, Yoshiharu Amano, Takumi Hashizume, Shinji Suzuki, and Atsushi Yamaba
: pp. 221-229
Multiple-Person Tracking by Multiple Cameras and Laser Range Scanners in Indoor Environments
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Hiroshi Noguchi, Taketoshi Mori, Takashi Matsumoto, Masamichi Shimosaka, and Tomomasa Sato
: pp. 230-238
Grasp Planning for a Multifingered Hand with a Humanoid Robot
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Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, and Kenichi Maruyama
: pp. 239-247
Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder
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Shota Miyaguchi, Nobutomo Matsunaga, and Shigeyasu Kawaji

No.1

(Feb)

Regular papers

Regular Papers

: pp. 3-9
Evaluation of Spoken Language Understanding by Oxygenated Hemoglobin Concentration
Abstract
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Akio Nozawa, Tota Mizuno, Hirotoshi Asano, and Hideto Ide
: pp. 10-20
Rehabilitation System Using Teleoperation with Force-Feedback-Based Impedance Adjustment and EMG-Moment Model for Arm Muscle Strength Assessment
Abstract
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Minh Duc Duong, Kazuhiko Terashima, Takanori Miyoshi, and Tatsuya Okada
: pp. 21-27
Smooth Path Planning with Pedestrian Avoidance for Wheeled Robots
Abstract
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Yumiko Suzuki, Simon Thompson, and Satoshi Kagami
: pp. 28-35
Human Following by an Omnidirectional Mobile Robot Using Maps Built from Laser Range-Finder Measurement
Abstract
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Takashi Ogino, Masahiro Tomono, Toshinari Akimoto, and Akihiro Matsumoto
: pp. 36-42
Dynamic Locomotion of Quadrupeds Tekken3&4 Using Simple Navigation
Abstract
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Yasuhiro Fukuoka, Hiroki Katabuchi, and Hiroshi Kimura
: pp. 43-49
Detection of Driver’s Fight or Flight Reaction by Spatio-Temporal Spectrum Differential Analysis ofFacial Skin Thermogram
Abstract
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Hirotoshi Asano and Hideto Ide
: pp. 50-64
Recognition and Removal of Interior Facilities by Vision-Based Robot System
Abstract
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S. Rolando Cruz-Ramírez, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, and Kenichi Ohara
: pp. 65-75
Automatic ROI Detection and Evaluation in Video Sequences Based on Human Interest
Abstract
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Mohammad Rokunuzzaman, Kosuke Sekiyama, and Toshio Fukuda
: pp. 76-81
Facial-Expression-Based Arousal Evaluation by NST
Abstract
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Hirotoshi Asano and Hideto Ide
: pp. 82-90
MPID Control Tuning for a Flexible Manipulator Using a Neural Network
Abstract
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Tamer Mansour, Atsushi Konno, and Masaru Uchiyama
: pp. 91-99
Miniaturization Design of Piezoelectric Vibration-Driven Pneumatic Unconstrained Valves
Abstract
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Sumadi Jien, Shinichi Hirai, and Kenshin Honda
: pp. 100-111
3-D Sensing for Flexible Linear Object Alignment in Robot Cell Production System
Abstract
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Yukiyasu Domae, Haruhisa Okuda, Yasuo Kitaaki, Yuta Kimura, Hidenori Takauji, Kazuhiko Sumi, and Shun’ichi Kaneko
: pp. 112-121
Effectiveness Evaluation of Precomputation Search Using Steering Sets
Abstract
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Yumiko Suzuki, Simon Thompson, and Satoshi Kagami
: pp. 122-133
Acceleration of Reinforcement Learning by a Mobile Robot Using Generalized Inhibition Rules
Abstract
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Kousuke Inoue, Tamio Arai, and JunOta

Vol.21 (2009)

No.6

(Dec)

Special Issue on Robot Vision - Vision for Action -

Special Issue on Robot Vision - Vision for Action -

: p. 671
Robot Vision – Vision for Action –
Masanori Idesawa, Yasushi Mae, Junji Oaki

Robot vision is a key technology in robotics and mechatronics for realizing intelligent robot systems that work in the real world. The fact that robot vision algorithms required much time and effort to apply in real-world applications has delayed their dissemination until new forms made possible by recent rapid improvements in computer speed. Now the day is coming when robot vision may surpass human vision in many applications.
This special issue presents 13 papers on the latest robot vision achievements and their applications. The first two propose ways of measuring and modeling 3D objects in everyday environments. Four more detail object detection and tracking, including visual servoing. Three propose advances in hand feature extraction and pose calculation, and one treats video coding for visual sensor networks. Two papers discuss robot vision applications based on human visual physiology, and the last clarifies an application in optical force sensors.
We thank the authors for their invaluable contributions to this issue and the reviewers for their generous time and effort. Last, we thank the Editorial Board of JRM for making this issue possible.

: pp. 672-679
3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments
Abstract
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Masahiro Tomono
: pp. 680-688
Measurement of Three-Dimensional Environment with a Fish-Eye Camera Based on Structure from Motion – Error Analysis
Abstract
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Kenji Terabayashi, Hisanori Mitsumoto, Toru Morita, Yohei Aragaki, Noriko Shimomura, and Kazunori Umeda
: pp. 689-697
Object Detection and Recognition Using Template Matching with SIFT Features Assisted by Invisible Floor Marks
Abstract
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Seiji Aoyagi, Nobuhiko Hattori, Atsushi Kohama, Sho Komai, Masato Suzuki, Masaharu Takano, and Eiji Fukui
: pp. 698-708
Parallel Computation of the Region-Based Level Set Method for Boundary Detection of Moving Objects
Abstract
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Xianfeng Fei, Yasunobu Igarashi, Makoto Shinkai, Masatoshi Ishikawa, and Koichi Hashimoto
: pp. 709-719
Hand-Eye Motion-Invariant Pose Estimation with Online 1-Step GA -3D Pose Tracking Accuracy Evaluation in Dynamic Hand-Eye Oscillation-
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Mamoru Minami and Wei Song
: pp. 720-725
High-Performance Active Camera Head Control Using PaLM-Tree
Abstract
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Takayuki Nakamura, Yoshio Sakata, Toshikazu Wada, and Haiyuan Wu
: pp. 726-738
Fast Hand Feature Extraction Based on Connected Component Labeling, Distance Transform and Hough Transform
Abstract
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Le Dung and Makoto Mizukawa
: pp. 739-748
User-Adaptable Hand Pose Estimation Technique for Human-Robot Interaction
Abstract
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Albert Causo, Etsuko Ueda, Kentaro Takemura, Yoshio Matsumoto, Jun Takamatsu, and Tsukasa Ogasawara
: pp. 749-757
3D Hand Pose Estimation Using a Single Camera for Unspecified Users
Abstract
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Kiyoshi Hoshino and Motomasa Tomida
: pp. 758-764
Functionally Layered Video Coding Based on JP2K for Robot Vision Network
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Sakol Udomsiri, Hideki Taguchi, Tomoyuki Takahashi, Masahiro Iwahashi, and Tetsuya Kimura
: pp. 765-772
Positional Features and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement
Abstract
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Toyomi Fujita and Claudio M. Privitera
: pp. 773-779
Interpretation of Cross-Traffic Accidents and Playing Catch Based on Newly Found Visual Perception Characteristics
Abstract
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Qin Wang, Lei Wang, and Masanori Idesawa
: pp. 780-788
An Optical Tactile Sensor Assuming Cubic Polynomial Deformation of Elastic Body
Abstract
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Kiyoshi Hoshino, Daisuke Mori, and Motomasa Tomida

No.5

(Oct)

Special Issue on Mechatronics Technologies from Asia to the World

Special Issue on Mechatronics Technologies from Asia to the World

: p. 567
Mechatronics Technologies from Asia to the World
Takayuki Tanaka, Shun'ichi Kaneko, Aiguo Ming and Kazunori Umeda

Mechatronics – an ever-growing field enblacing actuators and sensors, electronics and mechanics, controls, system design and integration was founded in Japan at the end of the 1960s. It now supports industrial development, the global economy and inventions that enable people to live comfortably around the world.Asia is one of the most active areas in mechatronics research. Asian experts meet and mix in meetings and conferences such as the Japan-China symposium on Mechatronics started in 1988, Asia International Symposium on Mechatronics (AISM) organized by the Japanese Society of Precision Engineering and Chinese committees since 2004 to bring together researchers and engineers in this multidisciplinary field to stimulate new ideas, to share knowledge on practical problems and solutions, as well as to facilitate cooperation for the future.This special issue on “Mechatronics Technologies from Asia to the World” includes many of the fine papers presented at AISM2008 in August 2008, and encourages scientists in related fields to submit their research to encourage interested researchers in developing systems and technologies to become more skilled, smarter and tougher in the real world.We thank the authors for their interesting contributions and the reviewers for their devoted time and effort.

: pp. 568-573
Detection Principle of Shape and Orientation of Corrosive Defects Using Lamb Waves
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Chunguang Xu, Joseph L. Rose, and Xiang Zhao
: pp. 574-582
Three-Dimensional Environment Model Construction from an Omnidirectional Image Sequence
Abstract
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Ryosuke Kawanishi, Atsushi Yamashita, and Toru Kaneko
: pp. 583-589
Development of Asparagus Harvester Coordinated with 3-D Vision Sensor
Abstract
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Naoki Irie, Nobuyoshi Taguchi, Takao Horie and Takakazu Ishimatsu
: pp. 590-596
Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System
Abstract
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Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, and Yukinori Kobayashi
: pp. 597-606
Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier
Abstract
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Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Yukinobu Sakata, and Maria Q. Feng
: pp. 607-613
Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles
Abstract
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Toshiro Noritsugu, Masahiro Takaiwa, and Daisuke Sasaki
: pp. 614-620
Perception-Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton
Abstract
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Kazuo Kiguchi, Manoj Liyanage, and Yasunori Kose
: pp. 621-627
SIEN: Telescopic-Arm Climbing-Support Robot
Abstract
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Tomoyuki Yamaguchi, Yoshiaki Sorioka, Sunhong Park, and Shuji Hashimoto
: pp. 628-634
Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Times
Abstract
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Motoki Nakano, Takayuki Tanaka, Shun'ichi Kaneko, Koichi Yamano, and Yoichiro Tsutsui
: pp. 635-641
Piezo-Impact-Driven X-Y Stage and Precise Sample Holder for Accurate Microlens Alignment
Abstract
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Yuuka Irie, Hisayuki Aoyama, Junichi Kubo, Takahiro Fujioka, and Takashi Usuda
: pp. 642-646
Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction
Abstract
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Masafumi Hamaguchi and Takao Taniguchi
: pp. 647-655
Hybrid Planning for an Air Gap Adjustment System Using Fuzzy Models
Abstract
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Philipp Adelt, Natascha Esau, and Alexander Schmidt
: pp. 657-664
Intelligent Ambience that can Influence Robot Behavior
Abstract
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Shinichi Tsunoo, Takeshi Sakaguchi, Kazuhito Yokoi, and Kazuyoshi Wada

No.4

(Aug)

Special Issue on Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie

Special Issue on Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie

: pp. 441-442
Kukanchi Interactive Human – Space Design and Intelligence Dedicated to Dr. Kazuo Tanie
Makoto Mizukawa, Kazuhito Yokoi, Tsutomu Hasegawa, Shigeki Sugano and Yasushi Nakauchi

The history of science and technology evolution plays a great role in expanding human ability. Physical enhancement is done by controlling power after invention of steam engines and governor. These lead inventions of various useful machines to improve the productivity of material, food, and many attractive consumer products such as automobiles. Electrics and electronics also provided social infrastructure for industries and individual life.
From ancient times, media have been developed to assist in intellectual activities such as characters, clay boards, papers, printing machines to carry knowledge. The accumulation of knowledge was one source of governance power and social movement of the Enlightenment promoted spreading such knowledge to citizens by editing Encyclopedias. This movement opened modern and civilized era. Telecommunication and computer technologies have accelerated to develop tools that help thinking and communication using the enormous knowledge stored in storages distributed worldwide. Kukanchi —Interactive Human-Space Design and Intelligence— enhances human physical boundary limited by its body to its surrounding space adopting and fusing technologies such as robotics, structured information, sensor network, object oriented software, software engineering of Robot Technology (RT) middleware, human–robot–interaction, etc. Kukanchi is expected to provide barrier–free environment and support to maintain QoL of daily life for any kind of handicapped people.
This special issue features nine excellent papers from researchers devoting efforts to establishing kukanchi field and concept. This special issue is edited by guest editors, Prof. Makoto Mizukawa (Shibaura Institute of Technology) and four editors, Drs. Kazuhito Yokoi (AIST), Tsutomu Hasegawa (Kyushu University), Shigeki Sugano (Waseda University), Yasushi Nakauchi (University of Tsukuba). We thank the authors for their contributions and reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for providing the opportunity to take part in this work.
In closing, we would like to express our deep gratitude to the late Dr. Kazuo Tanie, who founded the Kukanchi research group.

: pp. 443-452
A Service System Adapted to Changing Environments Using “Kukanchi”
Abstract
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Yusuke Fukusato, Eri sato–Simokawara, Toru Yamaguchi, and Makoto Mizukawa
: pp. 453-459
Supporting Robotic Activities in Informationally Structured Environment with Distributed Sensors and RFID Tags
Abstract
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Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, and Yoshihiko Kimuro
: pp. 460-468
Rotation-Based Dynamic Localization at an Initial Dead-Zone Avoidance Stage on an RFID Tag Lattice
Abstract
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Kenri Kodaka, Haruhiko Niwa, and Shigeki Sugano
: pp. 469-477
A Mobile Sensor Network Forming Concentric Circles Through Local Interaction and Consensus Building
Abstract
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Geunho Lee, Seokhoon Yoon, Nak Young Chong, and Henrik Christensen
: pp. 478-488
Autonomous Motion Generation Based on Reliable Predictability
Abstract
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Shun Nishide, Tetsuya Ogata, Jun Tani, Kazunori Komatani, and Hiroshi G. Okuno
: pp. 489-497
Robot Technology Ontology Targeting Robot Technology Services in Kukanchi — “Interactive Human-Space Design and Intelligence”
Abstract
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Ken Ukai, Yoshinobu Ando, and Makoto Mizukawa
: pp. 498-506
Cooking Procedure Recognition and Support by Ubiquitous Sensors
Abstract
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Sho Murakami, Takuo Suzuki, Akira Tokumasu, and Yasushi Nakauchi
: pp. 507-514
Design and Control of Librarian Robot System in Information Structured Environments
Abstract
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Bong Keun Kim, Kenichi Ohara, Kosei Kitagaki, and Kohtaro Ohba
: pp. 515-523
Observation of Human Activities Based on Spatial Memory in Intelligent Space
Abstract
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Mihoko Niitsuma and Hideki Hashimoto

Regular Papers

: pp. 524-532
User-Adaptive Reconfigurable Interface for In-Vehicle Information Systems
Abstract
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Sangho Kim, Kosuke Sekiyama, and Toshio Fukuda
: pp. 533-540
A Double Image Acquisition System with Visible and UV LEDs for Citrus Fruit
Abstract
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Mitsutaka Kurita , Naoshi Kondo, Hiroshi Shimizu, Peter Ling, Paolo D. Falzea, Tomoo Shiigi, Kazunori Ninomiya, Takahisa Nishizu, and Kazuya Yamamoto
: pp. 541-553
Control of A New Type of Undulatory Wheeled Locomotor: A Trident Steering Walker Based on Chained Form
Abstract
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Hiroaki Yamaguchi
: pp. 554-562
Improvement of Vibration Sensitivity by Tangential Vibration
Abstract
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Hie-yong Jeong, Mitsuru Higashimori, and Makoto Kaneko

No.3

(Jun)

Special Issue on Selected Papers from ROBOMEC'08 (Part 2)

Special Issue on Selected Papers from ROBOMEC'08 (Part 2)

: p. 300
Selected Papers from ROBOMEC’08 (Part 2)
Kazunori Umeda and Hiroki Murakami

The Robotics and Mechatronics Conference 2008 (ROBOMEC’08) was held at the “Big Hat” in Nagano, Japan, June 5-7, 2008, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Minoru Hashimoto of Shinshu University served as organizing chair, Prof. Takashi Kawamura of Shinshu University as general chair, and Hiroki Murakami of IHI Corporation as program chair. The conference motto was “Robotics and Mechatronics for Sustainable Industrial Development.” A record-breaking 1,054 papers were presented in about 70 sessions, including Nano/Micro Fluid System and Medical and Welfare Robotics and Mechatronics. Participants numbered over 1,500, making it a great success.
This special issue presents 13 papers from the conference. Of the 109 outstanding presentations recommended for submission, 42 were submitted and reviewed. Of these, 28 excellent papers have been accepted including the first 15 already published in Part 1 (Vol.21, No.2).
We thank the authors for their invaluable contributions to this issue and the reviewers for their extensive time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 301-310
Intelligent Cutter for Pork Deboning Robot (Automatic Processing of Complete Pre-Deboning Process of Pork Arm)
Abstract
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Akitoshi Itoh, Yoshiaki Mori, Yuuki Sugiyama, and Shinzo Mammoto
: pp. 311-316
Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain
Abstract
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Kensuke Harada, Mitsuharu Morisawa, Shin-ichiro Nakaoka, Kenji Kaneko, and Shuuji Kajita
: pp. 317-323
An Emotional Model Based on Location-Dependent Memory for Partner Robots
Abstract
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Naoyuki Kubota and Shiho Wakisaka
: pp. 324-331
Parameter Setting Method for Sit-Stand Assist System Based on Human Model
Abstract
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Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, and Kazuhiro Kosuge
: pp. 332-341
Dynamic Remodeling of Environmental Map Using Range Data for Remote Operation of Mobile Robot
Abstract
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Takafumi Matsumaru, Hiroshi Yamamori, and Takumi Fujita
: pp. 342-352
Trajectory Generation for Adaptive Motion by Phase Feedback – Synchronization of Multicycle Human Movement –
Abstract
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Takayuki Ubukata, Shinya Kotosaka, and Hideyuki Ohtaki
: pp. 353-358
Development of Energy Autonomous Type Pneumatic Walking Support Shoes
Abstract
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Masahiro Takaiwa and Toshiro Noritsugu
: pp. 359-375
A Proposal of Real-Time Configuration Control System for Redundant Manipulators
Abstract
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Tongxiao Zhang, Mamoru Minami, Wei Song, and Yusaku Nakamura
: pp. 376-383
View-Based Localization Using Head-Mounted Multi Sensors Information
Abstract
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Hiroaki Yaguchi, Nikolaus Zaoputra, Naotaka Hatao, Kimitoshi Yamazaki, Kei Okada, and Masayuki Inaba
: pp. 384-393
Educational Project for Robotics and Mechatronics Using Tele-Control System Between National College of Technology and Toyohashi University of Technology
Abstract
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Takashi Imamura, Takanori Miyoshi, Kazunari Miyake, Shinichi Arai, Tatsuya Okada, Manabu Yamamoto, Minh Duc Duong, Masayuki Okabe, Hideo Kitagawa, Tomoyasu Ichimura, Eiji Nishiyama, Yasunori Kawai, Shinya Oyama, and Kazuhiko Terashima
: pp. 394-402
Tractor Guidance System for Farm Work Using DGPS and Gyroscope
Abstract
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Keiichi Inoue, Kazuhiro Nii, and Yun Zhang
: pp. 403-411
Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot
Abstract
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Kazuyuki Hyodo, Takeshi Oshimura, Sadayoshi Mikami, and Sho'ji Suzuki
: pp. 412-418
Fabrication of Articulated Microarm for Endoscopy by Stacked Microassembly Process (STAMP)
Abstract
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Keisuke Narumi, Daisaku Azuma, and Fumihito Arai

Regular Papers

: pp. 419-426
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait)
Abstract
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Shuro Nakajima and Eiji Nakano
: pp. 427-434
Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel
Abstract
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Kazuhiko Terashima, Hideo Kitagawa, Takanori Miyoshi, Sou Kitamura, and Juan Urbano

No.2

(Apr)

Special Issue on Selected Papers from ROBOMEC'08 (Part 1)

Special Issue on Selected Papers from ROBOMEC'08 (Part 1)

: p. 171
Selected Papers from ROBOMEC’08 (Part 1)
Kazunori Umeda and Hiroki Murakami

The Robotics and Mechatronics Conference 2008 (ROBOMEC’08) was held at the “Big Hat” in Nagano, Japan, June 5-7, 2008, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Minoru Hashimoto of Shinshu University served as organizing chair, Prof. Takashi Kawamura of Shinshu University as general chair and Hiroki Murakami of IHI Corporation as program chair. The conference motto was “Robotics and Mechatronics for Sustainable Industrial Development.” A record-breaking 1,054 papers were presented in about 70 sessions, including Nano/Micro Fluid System and Medical and Welfare Robotics and Mechatronics. Participants numbered over 1,500, making it a great success. This special issue presents 15 papers from the conference selected from 109 outstanding presentations further narrowed to 42 before final selection for Part 1 (Vol.21, No.2). We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 172-178
A Study on Adaptive Arch Structure Applying Variable Geometry Truss (Mechanism of Movable Arch Roof with External Panel)
Abstract
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Fumihiro Inoue
: pp. 179-185
Realizing Spiral Laminar Flow Interfaces with Improved Micro Rotary Reactor
Abstract
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Hiroaki Furusawa, Koichi Suzumori, Takefumi Kanda, Akinori Muto, and Yusaku Sakata
: pp. 186-192
Development of an Automated Microscope for Supporting Qualitative Asbestos Analysis by Dispersion Staining
Abstract
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Kuniaki Kawabata, Soichiro Morishita, Hiroshi Takemura, Kazuhiro Hotta, Taketoshi Mishima, Hajime Asama, Hiroshi Mizoguchi, and Haruhisa Takahashi
: pp. 193-199
Tunnel Cross-Section Measurement System Using a Mobile Mapping System
Abstract
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Kiichiro Ishikawa, Jun-ichi Takiguchi, Yoshiharu Amano, Takumi Hashizume, and Takashi Fujishima
: pp. 200-208
High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber – Relationship Between Shear Deformation of Conductive Rubber and Resistance Change –
Abstract
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Seiichi Teshigawara, Kenjiro Tadakuma, Aiguo Ming, Masatoshi Ishikawa, and Makoto Shimojo
: pp. 209-215
Magnetically Driven Microtools Actuated by a Focused Magnetic Field for Separating of Microparticles
Abstract
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Shinya Sakuma, Yoko Yamanishi, and Fumihito Arai
: pp. 216-222
Hollow, Variably Configured Segmented Wheel Suitable for Snow Travel
Abstract
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Shotaro Takaoka, Kazuya Horikawa, Akinori Nagano, and Taro Iwamoto
: pp. 223-228
Possibility of Head-Shape Simplification for an Acoustical Telepresence Robot: TeleHead
Abstract
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Iwaki Toshima and Shigeaki Aoki
: pp. 229-235
On-Chip Droplet Dispensing by a Magnetically Driven Microtool
Abstract
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Yoko Yamanishi, Yuki Kihara, Shinya Sakuma, and Fumihito Arai
: pp. 236-244
Identification of Contact Conditions from Contact Force and Moment – Experimental Verification in Effective Sensing Strategy –
Abstract
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Takayoshi Yamada, Tetsuya Mouri, Akira Tanaka, Nobuharu Mimura, and Yasuyuki Funahashi
: pp. 245-251
“Future Dream!” Review of The 2007 Robotics-Mechatronics Design Competition
Abstract
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Taisuke Sakaki, Ryuichi Oguro, Shinichi Sagara, Kanta Aoki, Nobuhiro Ushimi, Takanori Kiyota, Ryo Kikuuwe, Makoto Iwamura, Manabu Fukushima, Keiji Imado, Hidetaka Ikeuchi, and Shunji Moromugi
: pp. 252-259
Design of Autonomous/Man-Machine-Cooperative Mobile Robot
Abstract
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Shinkichi Inagaki, Tatsuya Suzuki, Takahiro Ito, and Wu Shidan
: pp. 260-266
Compact Force Sensor Using AT-Cut Quartz Crystal Resonator Supported by Novel Retention Mechanism
Abstract
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Keisuke Narumi, Ayumi Asakura, Toshio Fukuda, and Fumihito Arai
: pp. 267-276
Functions of Mobile-Robot Step-On Interface
Abstract
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Takafumi Matsumaru and Kosuke Akai
: pp. 277-283
Hovering Control of a Tail-Sitter VTOL Aerial Robot
Abstract
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Koichi Kita, Atsushi Konno, and Masaru Uchiyama

Regular Papers

: pp. 285-292
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-Over Gait)
Abstract
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Shuro Nakajima and Eiji Nakano

No.1

(Feb)

Regular papers

Regular Papers

: pp. 3-11
Emergent Approach to Circle Formation by Multiple Autonomous Modular Robots
Abstract
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Takehiro Miyamae, Sumiaki Ichikawa, and Fumio Hara
: pp. 12-19
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)
Abstract
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Shuro Nakajima and Eiji Nakano
: pp. 20-27
Development of MRI Compatible Manipulandum for Hand and Arm Movement
Abstract
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Toshiyuki Aodai and Shigeki Toyama
: pp. 28-35
Human Recognition Using RFID Technology and Stereo Vision
Abstract
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Songmin Jia, Jinbuo Sheng, Daisuke Chugo, and Kunikatsu Takase
: pp. 36-43
Adaptive Coordinated Control of Multi-Fingered Robot Hand
Abstract
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Satoshi Ueki, Haruhisa Kawasaki, and Tetsuya Mouri
: pp. 44-56
Iterative Transportation by Multiple Mobile Robots Considering Unknown Obstacles
Abstract
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Kousuke Inoue, Jun Ota, and Tamio Arai
: pp. 57-65
A Conversion of a Cooperative Transportation System with Two Car-Like Mobile Robots into Two-Chain, Single-Generator Chained Form and its Steering
Abstract
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Hiroaki Yamaguchi and Tamio Arai
: pp. 66-73
Control of a Two-Joint, Two-Steering Snake-Like Robot
Abstract
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Hiroaki Yamaguchi
: pp. 74-80
Stepwise Locomotion on a Deformable Surface Using Shear Displacement Produced by a Pneumatic Suction Device
Abstract
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Toshiaki Horie and Satoshi Konishi
: pp. 81-87
Comparison with Amount of Gustatory Sense and Nasal Skin Temperature
Abstract
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Hirotoshi Asano, Tota Mizuno, Akio Nozawa, and Hideto Ide
: pp. 87-94
Evaluation of Cognition of Information Which is Stimulated by the Sense of Touch Using Phantom Sensation and Apparent Movement
Abstract
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Tota Mizuno, Hirotoshi Asano, and Hideto Ide
: pp. 95-103
A Quantitative Navigability Measure of Rough Maps
Abstract
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Jooseop Yun and Jun Miura
: pp. 104-112
Force Compensating Trajectories for Redundant Robots: Experimental Results
Abstract
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Daniela Vassileva, George Boiadjiev, Haruhisa Kawasaki, and Tetsuya Mouri
: pp. 113-120
Performance Evaluation of Rotor Flux-Oriented Control on FPGA for Advanced AC Drives
Abstract
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Stéphane Simard, Rachid Beguenane, and Jean-Gabriel Mailloux
: pp. 121-127
Eccentricity Compensator for Wide-Angle Fovea Vision Sensor
Abstract
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Sota Shimizu and Joel W. Burdick
: pp. 128-134
Eccentricity Estimator for Wide-Angle Fovea Vision Sensor
Abstract
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Sota Shimizu and Joel W. Burdick
: pp. 135-145
Quantitative Evaluation of Automatic Parts Delivery in “Attentive Workbench” Supporting Workers in Cell Production
Abstract
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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
: pp. 146-155
Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems
Abstract
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Kazuhiko Terashima, Takanori Miyoshi, Keisuke Mouri, Hideo Kitagawa, and Panya Minyong
: pp. 156-163
Development of Training Equipment with Adaptive and Learning Using a Balloon Actuator-Sensor System
Abstract
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Ryota Kurozumi, Toru Yamamoto, Shoichiro Fujisawa, and Osamu Sueda

Vol.20 (2008)

No.6

(Dec)

Special Issue on Service Technology for Health and Well-Being

Special Issue on Service Technology for Health and Well-Being

: p. 809
Service Technology for Health and Well-Being
Mihoko Otake

Thanks to the growing awareness that human health is inextricably linked to the health of our planet and environmental change, it is difficult to envisage an integrated scientific approach to sustainable development that does not include human health issues. In parallel with science for health and well-being (SHWB), which is recognized today as a major challenge, the field of service science, management and engineering (SSME) has emerged as a potential solution. How can robotics and mechatronics, both used in SHWB and SSME, contribute to solving human health issues?
This special issue focuses on service technology for health and well-being. It starts with studies on on-demand bus services for alternative transportation systems and home healthcare service for disease prevention based on ICT. Devices and systems then introduced include stand-up support devices, gait rehabilitation, omnidirectional wheelchairs and wheelchair design simulators, musculoskeletal simulators for rehabilitation, force display communication analysis systems, and evaluation method of driver’s temporary arousal level. These technologies for health and welfare services are the core of sustainable development.
We thank the authors for their invaluable contributions and the reviewers for their time and effort in making this special issue possible. We also thank the JRM Editorial Board for the opportunity to take part in this work.

: pp. 810-817
Evaluation of On-Demand Bus Services Applicability to Older Persons
Abstract
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Hiroyuki Yamato, Kota Tsubouchi, Kazuo Hiekata, Ken Honda, and Chika Sugimoto
: pp. 818-823
Creation of Validation Field for Preventive Medicine – Kashiwa-no-ha (Oak Leaf) Preventive Medical Project (KPMP)
Abstract
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Kunihiro Shiina
: pp. 824-827
Accurate, Easy-to-Use Sphygmomanometer – “Arm-in Memo” Blood-Pressure Meter Developed Based on “Compliance with Measurement”
Abstract
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Yousuke Asou
: pp. 828-835
Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics
Abstract
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Takuro Hatsukari, Norihisa Miyase, Jun'ichi Higuchi, Yasuhisa Hirata, and Kazuhiro Kosuge
: pp. 836-845
Development of a Gait Rehabilitation System With a Spherical Immersive Projection Display
Abstract
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Hiroaki Yano, Takayuki Masuda, Yosuke Nakajima, Naoki Tanaka, Shintaro Tamefusa, Hideyuki Saitou, and Hiroo Iwata
: pp. 846-853
A 4WD Omnidirectional Wheelchair with Enhanced Step Climbing Capability
Abstract
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Masayoshi Wada
: pp. 854-862
Simulator for Optimal Wheelchair Design
Abstract
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Makoto Sasaki, Takumi Kimura, Kiyomi Matsuo, Goro Obinata, Takehiro Iwami, Kazuto Miyawaki, and Kazuo Kiguchi
: pp. 863-871
Muscle Strength Estimation Using Musculo-Skeletal Model for Upper Limb Rehabilitation
Abstract
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Tatsuya Okada, Takashi Imamura, Takanori Miyoshi, Kazuhiko Terashima, Yoshifumi Yasuda, and Takuo Suzuki
: pp. 872-879
Development of a Virtual Arm Wrestling System for Force Display Communication Analysis
Abstract
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Takashi Yamada and Tomio Watanabe
: pp. 880-886
Evaluation of Driver’s Temporary Arousal Level by Changes of Nasal Skin Temperature – Effect of Basic Arousal Level –
Abstract
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Hirotoshi Asano, Tota Mizuno, and Hideto Ide

Regular Papers

: pp. 887-895
Mechanical Design and Basic Run Experiments with the Tri-StarIII – Horizontal Polyarticular Expandable 3-Wheeled Planetary Rover –
Abstract
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Kenjiro Tadakuma, Masatsugu Matsumoto, and Shigeo Hirose
: pp. 896-902
Simulation of a Pneumatic Hand Crane Power-Assist System
Abstract
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Tatsuya Doi, Hironao Yamada, Toshihisa Ikemoto, and Hiroshi Naratani
: pp. 903-911
Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair
Abstract
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Masafumi Hashimoto, Yuuki Nakamura, and Kazuhiko Takahashi
: pp. 912-919
Adaptive Gait for a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait)
Abstract
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Shuro Nakajima and Eiji Nakano

No.5

(Oct)

Special Issue on MEXT 21st Century COE Programs (II)

Special Issue on MEXT 21st Century COE Programs (II)

: pp. 673-674
MEXT 21st Century COE Programs (II)
Tatsuo Arai, Yasuyoshi Yokokohji, Masamitsu Kurisu, and Hiroyasu Iwata

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008. Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, 23 papers have been accepted for publication after a careful review. We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.

Prof. Tatsuo Arai
Editor-in Chief
: pp. 675-694
HELIOS VIII: Toward Practical Robots for Search and Rescue Operations
Abstract
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Michele Guarnieri, Inoh Takao, Edwardo F. Fukushima, and Shigeo Hirose
: pp. 695-708
Control of Hydraulic Actuator Systems Using Feedback Modulator
Abstract
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Takeyuki Ohgi and Yasuyoshi Yokokohji
: pp. 709-718
Arc Feet Effects on Stability Based on a Simple Oscillator-Driven Walking Model
Abstract
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Shinya Aoi, Yuuki Sato, and Kazuo Tsuchiya
: pp. 719-725
Adaptive Regulation of Nonlinear Systems by Output Feedback
Abstract
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Mai Bando and Akira Ichikawa
: pp. 726-730
Performance Types and Activation of the Prefrontal Cortex
Abstract
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Harumi Kobayashi and Tetsuya Yasuda
: pp. 731-738
Control of Human Generating Force by Use of Acoustic Information? Substituting Artificial Sounds for Onomatopoeic Utterances
Abstract
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Miki Iimura, Taichi Sato, and Kihachiro Tanaka
: pp. 739-749
Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion
Abstract
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Hideki Kondo, Yu Ogura, Kazushi Shimomura, Shimpei Momoki, Tatsu Okubo, Hun-Ok Lim, and Atsuo Takanishi
: pp. 750-756
Adaptive Modeling of Physical Systems Based on Affine Transform and its Application for Machine Learning
Abstract
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Shingo Nakamura and Shuji Hashimoto
: pp. 757-774
Reinforcement Signal Propagation Algorithm for Logic Circuit
Abstract
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Chyon Hae Kim, Tetsuya Ogata, and Shigeki Sugano
: pp. 775-784
Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment
Abstract
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Kenji Hashimoto, Yusuke Sugahara, Hun-Ok Lim, and Atsuo Takanishi

Regular Papers

: pp. 785-792
Gait Generation for a Walking Robot with Passive Joints
Abstract
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Kazunori Kaede and Tooru Nogai
: pp. 793-800
Development and Control of a Small Biped Walking Robot Using Shape Memory Alloys
Abstract
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Mami Nishida, Hua O. Wang, and Kazuo Tanaka
: pp. 801-805
Adaptive Gait for Large Rough Terrain of a Leg-wheel Robot (First Report : Gait Strategy)
Abstract
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Shuro Nakajima and Eiji Nakano

No.4

(Aug)

Special Issue on MEXT 21st Century COE Programs (I)

Special Issue on MEXT 21st Century COE Programs (I)

: pp. 513-514
MEXT 21st Century COE Programs (I)
Tatsuo Arai, Yasuyoshi Yokokohji, Masamitsu Kurisu, and Hiroyasu Iwata

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008.
Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, some 18 papers have been accepted for publication after a careful review, and some are still under review.
We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.

Prof. Tatsuo Arai
Editor-in Chief

: pp. 515-525
Target Identification Through Human Pointing Gesture Based on Human-Adaptive Approach
Abstract
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Yusuke Tamura, Masao Sugi, Tamio Arai, and Jun Ota
: pp. 526-532
Development of Leg-Wheel Hybrid Quadruped “AirHopper”: Lightweight Leg-Wheel Design
Abstract
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Takahiro Tanaka and Shigeo Hirose
: pp. 533-540
Development of Cable Reel for Spherical Trailer – Uniform Cable Winding
Abstract
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Masayuki Arai and Shigeo Hirose
: pp. 541-549
Methods to Estimate Magnetic Declination for an Unmanned Aerial Vehicle
Abstract
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Hiroaki Nakanishi, Sayaka Kanata, Tetsuo Sawaragi, and Yukio Horiguchi
: pp. 550-558
Origami Folding by a Robotic Hand
Abstract
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Kenta Tanaka, Yusuke Kamotani, and Yasuyoshi Yokokohji
: pp. 559-566
Hierarchical Implicit Feedback Structure in Passive Dynamic Walking
Abstract
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Yasuhiro Sugimoto and Koichi Osuka
: pp. 567-577
Constructive Approach to Role-Reversal Imitation Through Unsegmented Interactions
Abstract
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Tadahiro Taniguchi, Naoto Iwahashi, Komei Sugiura, and Tetsuo Sawaragi
: pp. 578-584
Constant-Value Control of Joystick Operating Force Using Acoustic System Having Feedback Control System
Abstract
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Taichi Sato, Yuta Murayama, and Hiroshi Igarashi
: pp. 585-594
Identification of Human Bimanual Operation Using XY-Stages
Abstract
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Yukihito Suzuki, Yaodong Pan, Hiroki Takase, and Katsuhisa Furuta
: pp. 595-601
Human Adaptive Calibration for Machine Operation Without Awareness
Abstract
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Hiroshi Igarashi
: pp. 602-609
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery – Training Effect for a House Demolition Work –
Abstract
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
: pp. 610-620
Human-Adaptive Robot Interaction Using Interactive EC with Human-Machine Hybrid Evaluation
Abstract
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Yuki Suga, Tetsuya Ogata, and Shigeki Sugano
: pp. 621-627
Pseudoinverse-Based Motion Control of a Redundant Manipulator on a Flexible Base with Vibration Suppression
Abstract
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Yusuke Fukazu, Naoyuki Hara, Toshimitu Hishinuma, Daisuke Sato, and Yoshikazu Kanamiya
: pp. 628-633
Soft Areal Tactile Sensor Using Tomography Algorithm
Abstract
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Yo Kato, Tomonori Hayakawa, and Toshiharu Mukai
: pp. 634-640
Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment
Abstract
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Taro Nakamura, Yuki Akamatsu, and Yuta Kusaka
: pp. 641-649
Psychological Influence of Wheelchairs on the Elderly Persons from Qualitative Research of Daily Living
Abstract
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Misato Nihei, Takenobu Inoue, and Masakatsu G. Fujie
: pp. 650-659
Development of a Handshake Robot System Based on a Handshake Approaching Motion Model
Abstract
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Mitsuru Jindai, Tomio Watanabe, Satoru Shibata, and Tomonori Yamamoto

Regular Papers

: pp. 661-668
Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot
Abstract
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Shuro Nakajima, Eiji Nakano, and Takayuki Takahashi

No.3

(Jun)

Special Issue on Selected Papers from ROBOMEC’07 (Part 2)

Special Issue on Selected Papers from ROBOMEC’07 (Part 2)

: p. 349
Selected Papers from ROBOMEC’07 (Part 2)
Kazunori Umeda and Kazuhiro Kosuge

The Robotics and Mechatronics Conference 2007 (ROBOMEC’07) was held at “ALVE,” Akita, Japan, on May 10-12, 2007, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Chonan of Akita Prefectural University was the general chair and Prof. Kosuge of Tohoku University program chair. With the possibilities to help and develop solutions for managing quality of life of all people, the conference was organized based on the motto “Robotics and Mechatronics Improving the Quality of Life.” A record-breaking 918 papers were presented and more than 1300 attended the conference. This special issue presents 18 papers from the conference. Of 100 outstanding presentations recommended for submission, 46 were submitted and reviewed. Of these, the first 17 have already been published in Part 1 (Vol.20, No.2). We thank the authors for their invaluable contributions to this issue and the reviewers for their extensive time and effort. We also thank Editor-in-Chief, Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 350-357
Hardware and Numerical Experiments of Autonomous Robust Skill Generation Using Reinforcement Learning
Abstract
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Kei Senda, Takayuki Kondo, Yoshimitsu Iwasaki, Shinji Fujii, Naofumi Fujiwara, and Naoki Suganuma
: pp. 358-366
A Neural Model for Exploration and Learning of Embodied Movement Patterns
Abstract
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Kaito Kinjo, Cota Nabeshima, Shinji Sangawa, and Yasuo Kuniyoshi
: pp. 367-377
Moving-Object Tracking with In-Vehicle Multi-Laser Range Sensors
Abstract
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Masafumi Hashimoto, Yosuke Matsui, and Kazuhiko Takahashi
: pp. 378-385
Learning of Joint Attention from Detecting Causality Based on Transfer Entropy
Abstract
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Hidenobu Sumioka, Yuichiro Yoshikawa, and Minoru Asada
: pp. 386-393
Adaptive Modular Robots Through Heterogeneous Inter-Module Connections
Abstract
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Masahiro Shimizu, Takuma Kato, Max Lungarella, and Akio Ishiguro
: pp. 394-402
Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors
Abstract
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Yohei Kume, Yasuhisa Hirata, and Kazuhiro Kosuge
: pp. 403-412
Hybrid Locomotion of Leg-Wheel ASTERISK H
Abstract
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Takenobu Yoshioka, Tomohito Takubo, Tatsuo Arai, and Kenji Inoue
: pp. 413-419
Swizzle Movement for Biped Walking Robot Having Passive Wheels
Abstract
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Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim, and Atsuo Takanishi
: pp. 420-428
Statistical Characteristics of Biomimetic Image-Based Inverted Pendulum Control Systems Using Just-In-Time Method
Abstract
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Shun Ushida, Ken-ichiro Fukuda, and Koichiro Deguchi
: pp. 429-435
Analysis and Systematic Classification of Human Hand Movement for Robot Hand Design
Abstract
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Takeshi Ninomiya and Takashi Maeno
: pp. 436-440
Fluid-Resistive Bending Sensor Compatible with a Flexible Pneumatic Balloon Actuator
Abstract
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Satoshi Konishi, Satoshi Sawano, Shinya Kusuda, and Tsuyoshi Sakakibara
: pp. 441-448
Patient-Specific IVR Endovascular Simulator with Augmented Reality for Medical Training and Robot Evaluation
Abstract
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Seiichi Ikeda, Carlos Tercero Villagran, Toshio Fukuda, Yuta Okada, Fumihito Arai, Makoto Negoro, Motoharu Hayakawa, and Ikuo Takahashi
: pp. 449-455
An Amoeboid Locomotion That Exploits Real-Time Tunable Springs and Law of Conservation of Protoplasmic Mass
Abstract
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Takuya Umedachi, Taichi Kitamura, and Akio Ishiguro
: pp. 456-465
Development of the Breast Pump with a Baby-Like Peristaltic Motion
Abstract
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Hiroshi Kobayashi, Toshiaki Tsuji, Yukinari Awano, Katsumi Mizuno, Hiroshi Kawamura, Zenichi Onuki, and Aki Ishimaru
: pp. 466-472
Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles
Abstract
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Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa
: pp. 473-480
1 ms Soft Areal Tactile Giving Robots Soft Response
Abstract
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Toshiharu Mukai and Yo Kato
: pp. 481-489
Compliance Analysis of Construction Machinery Front by Direct Stiffness Method
Abstract
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Hiroaki Muramoto, Kunitsugu Tomita, and Toshio Morita
: pp. 490-499
Ciliary Vibration Drive Mechanism for Active Scope Cameras
Abstract
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Masashi Konyo, Kazuya Isaki, Kazunari Hatazaki, Satoshi Tadokoro, and Fumiaki Takemura

Regular Papers

: pp. 501-506
A Basic Study on Tactile Navigation Using Vibration Motor Braking by Skin Against Vibration and Body Positioning Suitable for Tactile Information Presentation
Abstract
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Tota Mizuno, Masafumi Uchida, and Hideto Ide

No.2

(Apr)

Special Issue on Selected Papers from ROBOMEC'07 (Part 1)

Special Issue on Selected Papers from ROBOMEC'07 (Part 1)

: p. 199
Selected Papers from ROBOMEC’07 (Part 1)
Kazunori Umeda and Kazuhiro Kosuge

The Robotics and Mechatronics Conference 2007 (ROBOMEC’07) was held at “ALVE,” Akita, Japan, on May 10-12, 2007, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Chonan of Akita Prefectural University served as general chair and Prof. Kosuge of Tohoku University as program chair. With the possibilities to help and develop solutions for managing quality of life of all people, the conference was organized based on the motto “Robotics and Mechatronics Improving the Quality of Life.” A record-breaking 918 papers were presented and more than 1300 attended the conference. This special issue presents 17 papers from the conference selected from 100 outstanding presentations further narrowed to 46 before final selection for Part 1 (Vol. 20, No. 2). We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.

: pp. 200-205
Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines
Abstract
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Toshinari Akimoto, Nobuyuki Terada, and Akihiro Matsumoto
: pp. 206-212
Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –
Abstract
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Masaaki Kumagai and Kaoru Tamada
: pp. 213-220
Furniture Model Creation Through Direct Teaching to a Mobile Robot
Abstract
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Kimitoshi Yamazaki, Takashi Tsubouchi, and Masahiro Tomono
: pp. 221-227
Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –
Abstract
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Yuji Asai, Yasuhiro Chiba, Keisuke Sakaguchi, Naoki Bushida, Hiroshi Ohtsuka, Yusuke Saito, and Koki Kikuchi
: pp. 228-233
Verification of a Weeding Robot “AIGAMO-ROBOT” for Paddy Fields
Abstract
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Teruaki Mitsui, Takahiro Kobayashi, Toshiki Kagiya, Akio Inaba, and Shinya Ooba
: pp. 234-240
Four-Legged Mechanism for Realizing Dynamic Running –Design of Prototype with Drive System that Enables Dynamic Locomotion Change –
Abstract
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Kazuo Morita and Hidenori Ishihara
: pp. 241-249
Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh
Abstract
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Tomoaki Yoshikai, Takashi Sagisaka, Marika Hayashi, and Masayuki Inaba
: pp. 250-259
Development of Micro Forceps and Implementation for Medical Apparatus
Abstract
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Yusuke Hashimoto, Makoto Nokata, Hiroshi Kitou, Yoshimitsu Kankawa, and Kei Ameyama
: pp. 260-272
KOMEKAMI Switch: A Novel Wearable Input Device Using Movement of Temple
Abstract
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Kazuhiro Taniguchi, Atsushi Nishikawa, Seiichiro Kawanishi, and Fumio Miyazaki
: pp. 273-279
Production and Application of High-Accuracy Polymer-Based Magnetically Driven Microtool
Abstract
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Yoko Yamanishi, Shinya Sakuma, and Fumihito Arai
: pp. 280-288
Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation
Abstract
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Tetsuya Mouri, Haruhisa Kawasaki, Yutaka Nishimoto, Takaaki Aoki, Yasuhiko Ishigure, and Makoto Tanahashi
: pp. 289-295
The Development of the Plantar Pressure Sensor Shoes for Gait Analysis
Abstract
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Masaki Hirasawa, Hidetaka Okada, and Makoto Shimojo
: pp. 296-301
Study on a Variable Stiffness Mechanism Using Wire Spring
Abstract
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Yasuo Hayashibara
: pp. 302-310
A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1
Abstract
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Saori Sugita, Kazunori Ogami, Guarnieri Michele, Shigeo Hirose, and Kensuke Takita
: pp. 311-315
A New Device for Converting Rotary Motion into Linear Motion Study of Rotary-to-Linear Harmonic Drive® (Harmonic Linear Drive®)
Abstract
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Stéphanie Moune, Keiji Ueura, and Noboru Takizawa
: pp. 316-321
Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor
Abstract
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Koyu Abe and Masaru Uchiyama
: pp. 322-331
Markerless Motion Capture with Structure Estimation Capability
Abstract
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Katsu Yamane, Daisuke Fukuda, and Yoshihiko Nakamura

No.1

(Feb)

Messages

Messages

: p. 3
Celebrating JRM Volume 20 and Three Epoch-making Robots from Japan
Kazuo Yamafuji

The Journal of Robotics and Mechatronics is celebrating its 20th volume since its launch in 1989. As the JRM’s founding Editor-in-Chief, I would like to express my heartfelt gratitude to all of those persons and organizations that have helped make the JRM so successful.

This is also a time for celebrating the development of three epoch-making robots in Japan between 1978 and 1997.

Scara Robot: The Scara robot was developed in 1978 by Professor Hiroshi Makino of Yamanashi University and four Japanese companies – Fujitsu, Telmec, Ultrasonic Ind. Co., and Sankyo. As John Hartley wrote in “The Industrial Robot” (March 1982, UK), “More startling, perhaps, was the announcement that IBM was to sell Sankyo Skilam robot in the USA as the IBM 7535. Most of Japanese robots were based on overseas designs. The exception, of course, is the Scara robot.” The Scara was honored as the first Japanese robot dedicated at the Robotic Pavillion at Carnegie Mellon University in 2006.

Parallel Bicycle Robot: The parallel bicycle (PB) robot developed in 1986 by Professor Kazuo Yamafuji of the University of Electro-Communications was driven by a parallel bicycle consistting of a pair of parallel wheels and an inverted pendulum body supported on the wheel axis. The PB robot has been applied both to locomotion for mobile robots and to personal vehicles. It was first successfully commercialized as the Segway Personal Transporter developed by Dean Kamen in 2001 in the US. Applications to a humanoid drive were realized by Toyota in 2004 and by Hitachi in 2007.

Biped Walking Robot: Honda introduced its epoch-making humanoid P2 with biped and double hand in 1997. Driven by an on-board battery, the biped robot walked smoothly for over 30 minutes at 4 km/h similar to a human being. Honda P2 movie surprised and delighted people worldwide, and its release of ASIMO in 2002 was an advanced type of P2. ASIMO has became the de facto standard of the biped humanoid and is expected to have many applications in social and industrial environments.

: p. 4
Congratulations on the 20th Anniversary of JRM
Toshio Fukuda

Congratulations on the the 20th year of publication of the Journal of Robotics and Mechatronics (JRM).

I would like to express my heartfelt thanks to all those who have supported the journal since it premiered in June 1989. The JRM has the longest history among journals specializing in its field, Robotics and Mechatronics, and I am pround of the high reputation it has earned among researchers and engineers both within and outside of Japan.

Upon this occasion, I recall the long-standing relationship between the Division of Robotics and Mechatronics (DRM), the Japan Society of Mechanical Engineers (JSME), and the JRM.

In 1988, Professor Emeritus Kazuo Yamafuji of the University of Electro-Communications, Associate Professor Makoto Kaneko of the Kyushu Institute of Technology, and I Kaneko, (associate professor of Kyushu Institute of Technology were working to reorganize the Industrial Machinery Committee (IMC) of the JSME to establish the DRM to meet the requirements of a new age. Prof. Yamafuji had heard that Keiji Hayashi, the publisher of Fuji Technology Press, was seeking a chance to publish a journal specializing in robotics, thanks to Hiroharu Suda’s introduction of Mr. Hayashi to Prof. Yamafuji.

As we three began preparing to set up the DRM in 1989, we also began preparing to launch the JRM. The JSME Board of Trustees accepted the establishment of the DRM and committed its positive support. After the DRM was established in April 1989, the JRM was inaugurated two months later in July 1989. These two efforts succeeded thanks to the contribution of these people and will grow as like twins hereafter.

The DRM has demonstrated many active achievements among JSME divisions in providing activities useful to division members. It has earned a global reputation from overseas specialists in both robotics and mechatronics.

Incidentally, the JRM editorial board consists of 20 Japanese editors and 10 overseas editors. Such an organization promotes a positive exchange among domestic and overseas experts, while the JRM promotes cooperative editing with the DRM on a high level of information.

Again, I congratulate you and wish both the JRM and the DRM all the best in their ongoing dual presentation of scientific findings and knowledge.

: p. 5
Congratulations on the 20th Memorial Year!
Makoto Kaneko

I am more than happy to congratule you on the 20th year of Journal of Robotics and Mechatronics (JRM) publication. The first issue was published in June 1989 under the Editor-in-Chief Kazuo Yamafuji, Professor Emeritus of Electro-Communication University. Since then, the Journal has been published bimonthly as a special issue featuring timely topics.

The JRM is the first journal including “Mechatronics” in its name. Through the JRM, much information on robotics and automation proceeded from Japan to around the world. We recognized that there are great needs to provide with the information on robotics and mechatronics with the increase of application technology in this area. Dr. Toshio Fukuda of Nagoya University took over as editor-in-chief in 1990 and has devoted himself to extending the popularity of the JRM through collaboration with academic societies. Thanks to his efforts in 1999, the JRM became technically cosponsored by the Japan Society of Mechanical Engineers (JSME).

I became editor-in-chief in 2000. After an agreement with JSME, we regularly published special issues on ROBOMEC with the support of the Robotics and Mechatronics Division (RMD) of JSME, where ROBOMEC is an annual conference sponsored by the RMD.

Based on peer evaluation, we are recommending that authors submit papers to the JRM. Accepted papers are published after further review in two separate issues. We believe that these two issues highlight JRM as different from other journals.

Currently, the number of papers submitted yearly is increasing with the recognition of this journal. Our policy is to publish papers on timely, original topics. I look forward to the JRM gaining an ever higher reputation thanks to the fine leadership of fourth Editor-in-Chief Tatsuo Arai.

Let’s see how this journal advances in the next decade!

: p. 6
Celebration of the 20th Anniversary Issue Publication
Tatsuo Arai

As current Editor-in-Chief, I would like to call your attention to the publication of the 20th Anniversary Issue of the Journal of Robotics and Mechatronics. I would also like to extend my appreciation to previous Editors-in-Chief, current and past editors, President Keiji Hayashi and staffs of Fuji Technology Press Ltd. for their excellent contributions in publishing the 19 earlier volumes. I would like to thank all of the organizations concerned, especially the Japan Society of Mechanical Engineers (JSME), for their generous supports.

The Journal has established an academic status and splendid reputation in robotics and automation research. As Editor-in-Chief, I am proud of participating in the publication of this eminent journal. Every year, it showcases around 100 outstanding technical papers, featuring five special issues on the most up-to-date topics and selected papers from the Robomec annual conference. The JRM will next target higher quality, a greater audience, more international exposure, and a higher reputation. Faster, more careful reviews and editorial processes are priorities. The next issue will collect papers from worldwide, especially from East Asian countries, where research activities have grown enormously.

I will continue to do my best to achieve these goals in collaboration with the current editors and staffs. We ask the ongoing support of you, our readers, society members, and all those who have done so much to make this effort successful.

In order to celebrate this memorial occation the editorial board asked the three past editor-in-chiefs to give their commemorative words as in the previous. I would be grateful for their outstanding jobs and contributions.

Regular Papers

: pp. 7-17
Workspace and Dexterity Analyses of the Delta Hexaglide Platform
Abstract
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Wu-Jong Yu, Chih-Fang Huang, and Wei-Hua Chieng
: pp. 18-23
Development of the Master Hand for Grasping Information Capturing
Abstract
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Kazuyuki Nagata, Fuminori Saito, and Takashi Suehiro
: pp. 24-37
Multiple Mobile Robot Exploration and Patrol Strategy Using a Self-Organizing Planner Based on a Reaction-Diffusion Equation on a Graph
Abstract
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Chomchana Trevai, Norisuke Fujii, Jun Ota, and Tamio Arai
: pp. 38-46
Development of the MOSFET Type Enzyme Biosensor Using GOx and ChOx
Abstract
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Katsutoshi Ooe, Yasutaro Hamamoto, Toshifumi Kadokawa, and Yoshiaki Hirano
: pp. 47-60
Virtual Robot Experimentation Platform – A Versatile Small Footprint Robot Simulator
Abstract
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Marc Freese, Fumio Ozaki, Shigeo Hirose, and Nobuto Matsuhira
: pp. 61-67
Motion Characteristics of Loop Type Elliptic Resonator
Abstract
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Tohru Sasaki, Kunio Koizumi, and Motofumi Sasaki
: pp. 68-74
Bio-Inspired Real-Time Robot Vision for Collision Avoidance
Abstract
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Hirotsugu Okuno and Tetsuya Yagi
: pp. 75-81
Research on Variable Cylinders of the Tandem 4-Cylinder Gasoline Engine for Fuel Economy
Abstract
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Kouki Yamaji and Hirokazu Suzuki
: pp. 82-88
RT Component Based Network Distributed Monitoring System
Abstract
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Songmin Jia and Kunikatsu Takase
: pp. 89-97
Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment
Abstract
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Norihiro Koizumi, Kohei Ota, Deukhee Lee, Shin Yoshizawa, Akira Ito, Yukio Kaneko, Kiyoshi Yoshinaka, Yoichiro Matsumoto, and Mamoru Mitsuishi
: pp. 98-105
Frequency Analysis for Biped Walking via Leg Length Variation
Abstract
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Tetsuya Kinugasa, Shoichi Miwa, and Koji Yoshida
: pp. 106-115
Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot
Abstract
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Kenjiro Tadakuma
: pp. 116-124
Measurement of a Vehicle Motion Using a New 6-DOF Motion Sensor System – Angular Velocity Estimation with Kalman Filter Using Motion Characteristic of a Vehicle –
Abstract
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Ryoji Onodera and Nobuharu Mimura
: pp. 125-134
Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel
Abstract
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Kenjiro Tadakuma, Riichiro Tadakuma, and Jose Berengueres
: pp. 135-150
An Eye-To-Hand Panoramic Vision System for 3D Positioning of a Robotic Arm
Abstract
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Chaiyapol Kulpate, Mehran Mehrandezh, and Raman Paranjape
: pp. 151-158
Robot Manipulation and Guidance Using Magnetic Motion Capture Sensor and a Rule-Based Controller
Abstract
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Carlos R. Tercero Villagran, Seiichi Ikeda, Toshio Fukuda, Kosuke Sekiyama, Yuta Okada, Tomomi Uchiyama,Makoto Negoro, and Ikuo Takahashi
: pp. 159-170
Mask Scale Adjustment (MSA) in Stereo Matching
Abstract
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Zheng Xu, Masanori Idesawa, and Qin Wang
: pp. 171-177
A New Adaptive Control Scheme Using Dynamic Neural Networks
Abstract
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Khaled Nouri, Rached Dhaouadi, and Naceur Benhadj Braiek
: pp. 178-187
Dynamic Modeling of Nonlinear Systems Using Wavelet Networks
Abstract
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Wissam Hassouneh, Rached Dhaouadi, and Yousef Al-Assaf
: pp. 189-195
A Detection System of Location and Direction Angle by a RF Tag Reader Using a Rotary Antenna
Abstract
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Takashi Asakawa, Kazue Nishihara, and Tadashi Yoshidome

Vol.19 (2007)

No.6

(Dec)

Special Issue on Robotics for Gerontechnology

Special Issue on Robotics for Gerontechnology

: p. 603
Robotics for Gerontechnology
Yasuhisa Hasegawa

Gerontechnology, an interdisciplinary field combining gerontology and technology, deals with the QoL (Quality of Life) and technological environments in an aging society. This new technology is closely related to assistive technology for compensation, assistance, and care support and to universal design ensuring that products provide a comfortable and safe living environment for people of the widely ranging age. Assistive robotics also contributes to independent living and social participation by people of all ages and all capabilities based on physical and information support. Robots provide solutions that reduce the cost of care in later life and that sustain an aging society by extending the working age in society, consequently. This special issue focuses on robotics contributing to gerontechnology, presenting 14 papers and one note on the latest achievements in this exiting research area. Five papers propose assistive technologies for human motion. One presents a home robot system for setting and clearing the table. Four propose monitoring of activities of daily living (ADL). Two introduce caring systems for people with dementia based on robot therapy and a cooperative game. Two present requisite technologies for gerontechnology, i.e., motion analysis for motion synthesis, and aging effect of hand pointing action. The final article introduces reminiscence therapy using photographs and a PC for people with dementia. I thank the authors for their invaluable contributions and the reviewers for their time and effort in making this special issue possible. I also thank the JRM Editorial Board for the opportunity to take part in this work.

: pp. 604-611
Rehabilitation Walker with Standing-Assistance Device
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Daisuke Chugo, Wataru Matsuoka, Songmin Jia, and Kunikatsu Takase
: pp. 612-618
Portable Pneumatic Actuator System Using MH Alloys, Employed as Assistive Devices
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Mitsuru Sato, Shuichi Ino, Naoki Yoshida, Takashi Izumi, and Tohru Ifukube
: pp. 619-628
Wearable Power Assist Device for Standing Up Motion Using Pneumatic Rubber Artificial Muscles
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Toshiro Noritsugu, Daisuke Sasaki, Masafumi Kameda, Atsushi Fukunaga, and Masahiro Takaiwa
: pp. 629-636
A Case Study Approach: Walking Assist Scheme Exploiting Somatic Reflex of a Leg-Paralysis Patient
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Kojiro Matsushita, Akihiro Yamakawa, Hiroshi Yokoi, and Tamio Arai
: pp. 637-645
Evaluation and Development of Assistive Cart for Matching to User Walking
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Kazuto Miyawaki, Takehiro Iwami, Yuuji Ogasawara, Goro Obinata, and Yoichi Shimada
: pp. 646-655
Development of a Mobile Home Robot System Based on RECS Concept and its Application to Setting and Clearing the Table
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Seiji Aoyagi, Takahiro Yamaguchi, Kazuo Tsunemine, Hiroshi Kinomoto, and Masaharu Takano
: pp. 656-666
Evaluation of a Wearable Sensor System Monitoring Posture Changes and Activities for Use in Rehabilitation
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Kosuke Motoi, Shinobu Tanaka, Yutaka Kuwae, Tadahiko Yuji, Yuji Higashi, Toshiro Fujimoto, and Ken-ichi Yamakoshi
: pp. 667-675
An Ultrasonic 3D Tag System for Evidence-Based Nursing Care Support
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Toshio Hori and Yoshifumi Nishida
: pp. 676-682
Safety Confirmation System Using Mat-Sensor and Power Line Communications for Elderly Person
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Kanya Tanaka, Kazuo Haruyama, and Yo Yamada
: pp. 683-690
Development of a Television-Use Telemonitoring System for Elderly Daycare-Recipients Living Alone
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Kazuki Nakajima, Akinori Kamiya, Hiroyuki Matsui, Daisuke Oikawa, Kentaro Fujita, Yuji Higashi, Toshiyo Tamura, Toshiro Fujimoto, and Kazuo Sasaki
: pp. 691-697
Robot Therapy for Prevention of Dementia at Home – Results of Preliminary Experiment
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Kazuyoshi Wada, Takanori Shibata, Takashi Asada, and Toshimitsu Musha
: pp. 698-704
VR Applied Asobi-Litation System for Dementia Elderly in Group Homes
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Mieko Ohsuga, Yumiko Inoue, Wataru Hashimoto, and Fumitaka Nakaizumi
: pp. 705-714
Motion Analysis by Independent Component Analysis with Phase Difference Information Among Joints
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Kiyoshi Hoshino and Tomoko Sato
: pp. 715-723
A Study of Human Pointing Features on Touch-Screens -Age Effect, Difference by Gender, and Difference in Direction-
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Masanobu Komazaki and Masanori Idesawa
: pp. 724-727
Reminiscence – A Comparison of Conventional Therapeutic and Computer-Based Interactive Methods
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Toshiyo Tamura, Mariko Ohsumi, Daisuke Oikawa, Yuji Higashi, Toshiro Fujimoto, Takatoshi Suenaga, and Noriaki Kuwahara

No.5

(Oct)

Special Issue on System Cell Engineering by Multiscale Manipulation

Special Issue on System Cell Engineering by Multiscale Manipulation

: p. 499
System Cell Engineering by Multiscale Manipulation
Toshio Fukuda and Kenji Inoue

Recent advancements in micro/nano robotics and mechatronics technology have contributed to the discovery of new scientific knowledge in bioscience and the development of new treatments and examinations in medical fields. To promote interdisciplinary research among the engineering, biological, and medical fields and to promote further progress in these fields, Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation (Head Investigator: Toshio Fukuda),” was begun in 2005. In this research area, we study system cell engineering seeking an understanding of communication and control principles of bare and integration functions of cells. We focus on manipulation technology for work from nano- to macro-scale, i.e., multiscale manipulation. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then work to clarify the mechanism behind the cell system and to realize an artificial cell model based on gene expression control and regenerate tissue by function control. Using innovative engineering technology, we obtain new scientific knowledge in the life sciences and develop medical engineering, ultimately contributing to the good of society. This special issue presents 2 reviews and 13 papers on the latest achievements in this research area. The reviews introduce challenging work in medical and biological fields, presenting suggestions on robotics and mechatronics engineers. Eight of the papers propose novel sensors, actuators, and other devices useful in bioscience and cell engineering. Two papers present methods of manipulating micro/nano-scale objects based on laser manipulation, and 2 concern the teleoperations of micro-hands and micro-manipulators for micromanipulation. The final paper discusses the interaction between living neuronal networks and the outer world. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.

: pp. 500-505
Grand Espoir: Robotics in Regenerative Medicine
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Masayuki Yamato, Ryo Takagi, Makoto Kondo, Daisuke Murakami, Takeshi Ohki, Hidekazu Sekine, Tatsuya Shimizu, Jun Kobayashi, Yoshikatsu Akiyama, Hideo Namiki, Masakazu Yamamoto, and Teruo Okano
: pp. 506-511
Tooth Regenerative Therapy, Approached from Organogenesis
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Kazuhisa Nakao and Takashi Tsuji
: pp. 512-518
Fabrication of FIB-CVD Nanotemperature Sensor Probe for Local Temperature Sensing in Water Environments
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Haitham ElShimy, Masahiro Nakajima, Yoshiaki Imaizumi, Fumihito Arai, and Toshio Fukuda
: pp. 519-523
Multiscale 2D-SPR Biosensing for Cell Chips
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Masayasu Suzuki, Toyohiro Ohshima, Shintaro Hane, Yasunori Iribe, and Tatsuya Tobita
: pp. 524-527
Liquid Crystal Actuator Using Nematic π-Cell
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Yoshitaka Mieda and Katsushi Furutani
: pp. 528-534
Development of Novel Nanopipette with a Lipid Nanotube as Nanochannel
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Kousuke Nogawa, Yusuke Tagawa, Masahiro Nakajima, Fumihito Arai, Toshimi Shimizu, Shoko Kamiya, and Toshio Fukuda
: pp. 535-543
Fabrication of Cell-Adhesion Surface and Arteriole Model by Photolithography
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Fumihito Arai, Takuma Nakano, Mika Tada, Yu-Ching Lin, Seiichi Ikeda, Tomoyuki Uchida, Hiroyuki Oura, Toshio Fukuda, Takehisa Matsuda, and Makoto Negoro
: pp. 544-549
Development of a Multi-Compartment Micro-Cell Culture Device as a Future On-Chip Human: Fabrication of a Three-Compartment Device and Immobilization of Mature Rat Adipocytes for the Evaluation of Chemical Distributions
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Hidenari Nakayama, Hiroshi Kimura, Kikuo Komori, Teruo Fujii, and Yasuyuki Sakai
: pp. 550-556
Microfluidic Perfusion Culture of Human Hepatocytes
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Hiroshi Kimura, Masaki Nishikawa, Takatoki Yamamoto, Yasuyuki Sakai, and Teruo Fujii
: pp. 557-564
Effect of Mechanical Environment of Focal Adhesions on Remodeling of Endothelial Cells Subjected to Cyclic Stretching Using Microsubstrates
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Naoya Sakamoto, Yoshimasa Yamazaki, Toshiro Ohashi, and Masaaki Sato
: pp. 565-568
Optically Driven Micromanipulators with Rotating Arms
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Shoji Maruo and Yojiro Hiratsuka
: pp. 569-576
In-Situ Formation of a Gel Microbead for Laser Micromanipulation of Microorganisms, DNA, and Viruses
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Akihiko Ichikawa, Ayae Honda, Miho Ejima, Tamio Tanikawa, Fumihito Arai, and Toshio Fukuda
: pp. 577-584
Performance Evaluation of Teleoperation for Manipulating Micro Objects Using Two-Fingered Micro Hand
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Kenji Inoue, Daisuke Nishi, Tomohito Takubo, Tamio Tanikawa, and Tatsuo Arai
: pp. 585-591
Versatile Robotic Biomanipulation with Haptic Interface
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Gilgueng Hwang, Preeda Chantanakajornfung, and Hideki Hashimoto
: pp. 592-600
Biomodeling System – Interaction Between Living Neuronal Networks and the Outer World
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Suguru N. Kudoh, Chie Hosokawa, Ai Kiyohara, Takahisa Taguchi, and Isao Hayashi

No.4

(Aug)

Special Issue on Mobiligence: Emergence of Adaptive Motor Function Through Interaction Among the Body, Brain and Environment

Special Issue on Mobiligence: Emergence of Adaptive Motor Function Through Interaction Among the Body, Brain and Environment

: p. 363
Mobiligence: Emergence of Adaptive Motor Function Through Interaction Among the Body, Brain and Environment
Hajime Asama and Jun Ota

Animals behave adaptively in diverse environments. Adaptive behavior, which is one of intelligent sensory-motor functions, is disturbed in patients with neurological disorders. Mechanisms for the generation of intelligent adaptive behaviors are not well understood. Such an adaptive function is considered to emerge from the interaction of the body, brain, and environment, which requires that a subject acts or moves. Intelligence for generating adaptive motor functions is thus called mobiligence. This special issue features papers dealing with mobiligence. The 18 papers were selected after a thorough peer review. The scope of these papers extends from analytical studies close to biology to synthetic studies close to engineering. Subjects are diverse – insects, monkeys, human beings, robots, networks. All papers play a part in mobiligence studies. We thank the Editorial Board of Journal of Robotics and Mechatronics for giving us the opportunity for publishing this special issue. We also thank the authors for their perseverance and expertise, and deeply appreciate the timely and helpful comments of the reviewers.

: pp. 364-368
Analysis of Multineuron Activity Using the Kernel Method
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Masaki Nomura, Yoshio Sakurai, and Toshio Aoyagi
: pp. 369-373
Reorganization of the Central Nervous Systems in Response to Changes in Social Environment Among Insects
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Ken Sasaki and Takashi Nagao
: pp. 374-380
Mechanical Dynamics That Enables Stable Passive Dynamic Bipedal Running – Enhancing Self-Stability by Exploiting Nonlinearity in the Leg Elasticity –
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Dai Owaki and Akio Ishiguro
: pp. 381-387
A Prosthetic Hand Control Based on Nonstationary EMG at the Start of Movement
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Masakatsu Tsukamoto, Toshiyuki Kondo, and Koji Ito
: pp. 388-394
A Neuromodulation Model for Adaptive Behavior Selection by the Cricket – Nitric Oxide (NO)/Cyclic Guanosine MonoPhosphate (cGMP) Cascade Model –
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Kuniaki Kawabata, Tomohisa Fujiki, Yusuke Ikemoto, Hitoshi Aonuma, and Hajime Asama
: pp. 395-401
An Environment Cognition and Motor Adaptation Model Eliciting Sensorimotor Constraints Based on Time-Series Observations
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Toshiyuki Kondo and Koji Ito
: pp. 402-408
Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties
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Masatsugu Iribe and Koichi Osuka
: pp. 409-415
Synchrony-Induced Attractor Transition in Cortical Neural Networks Organized by Spike-Timing Dependent Plasticity
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Takaaki Aoki and Toshio Aoyagi
: pp. 416-422
Linear Discrimination Analysis of Monkey Behavior in an Alternative Free Choice Task
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Kazuhito Takenaka, Yasuo Nagasaka, Sayaka Hihara, Hiroyuki Nakahara, Atsushi Iriki, Yasuo Kuniyoshi, and Naotaka Fujii
: pp. 423-428
Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles
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Takashi Takuma and Koh Hosoda
: pp. 429-435
Mathematical Model of Proportion Control and Fluctuation Characteristic in Termite Caste Differentiation
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Yusuke Ikemoto, Kuniaki Kawabata, Toru Miura, and Hajime Asama
: pp. 436-443
Insect-Controlled Robot – Evaluation of Adaptation Ability –
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Shuhei Emoto, Noriyasu Ando, Hirokazu Takahashi, and Ryohei Kanzaki
: pp. 444-447
Hidden Markov Modeling of Human Pivoting
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Yusuke Maeda and Tatsuya Ushioda
: pp. 448-458
Autonomous Control of Reaching Movement by ‘Mobility’ Measure
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Yuki Yoshihara, Nozomi Tomita, Yoshinari Makino, and Masafumi Yano
: pp. 459-465
Emergence of a Small-World Like Communication Network Through Local Ad Hoc Negotiation
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Daisuke Kurabayashi, Tomohiro Inoue, Akira Yajima, and Tetsuro Funato
: pp. 466-473
Foraging Task of Multiple Mobile Robots in a Dynamic Environment Using Adaptive Behavior in Crickets
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Masatoshi Ashikaga, Mika Kikuchi, Tetsutaro Hiraguchi, Midori Sakura, Hitoshi Aonuma, and Jun Ota
: pp. 474-481
Feed-Forward Adaptation to a Varying Dynamic Environment During Reaching Movements
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Koji Ito, Makoto Doi, and Toshiyuki Kondo
: pp. 482-488
Experimental Analysis of the Attribution of Own Actions to the Intention of Self or Others by the Multiple Forward Models
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Mihoko Otake, Kohei Arai, Motoichiro Kato, Takaki Maeda, Yusuke Ikemoto, Kuniaki Kawabata, Toshihisa Takagi, and Hajime Asama
: pp. 489-496
Navigation of Autonomous Mobile Cleaning Robot SuiPPi
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Tatsuo Sakai, Daisuke Nishimura, Hiroyuki Uematsu, Ryosuke Murai, Koichi Mitani, Tomoharu Nakahara, and Yukihiko Kitano

No.3

(Jun)

Special Issue on Selected Papers from ROBOMEC'06 (Part 2)

Special Issue on Selected Papers from ROBOMEC'06 (Part 2)

: p. 251
Selected Papers from ROBOMEC’06 (Part 2)
Kiyoshi Komoriya and Shigeki Sugano

The 2006 JSME Conference on Robotics and Mechatronics (ROBOMEC’06) was held at Waseda University and Shinjuku Cosmic Center, Tokyo, Japan, on May 26-28, 2006, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Fujie of Waseda University served as general chair and Prof. Sugano of Waseda University as program chair. The conference, whose theme was “Robot Technology Integration for Improved Quality of Life,” was to help establish new life style in coming aged society using advanced robotics and mechatronics technologies. Organized sessions numbered 63 and papers 883, again a record for the conference. This special issue presents 12 papers from the conference culled from 90 outstanding presentations – some 10% of the total – which were further narrowed to 37 before final selection for Part 2 (Vol.19, No.3). Thirteen papers have already been published in Vol.19 No.2. We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank the former Editor-in-Chief Prof. Makoto Kaneko of Osaka University for organizing this special issue.

: pp. 252-257
Development of a Transformable Mobile Robot with a Variable Wheel Diameter
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Keiji Nagatani, Mitsuhiro Kuze, and Kazuya Yoshida
: pp. 258-263
Wheel-Based Stair Climbing Robot with Hopping Mechanism – Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System –
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Keisuke Sakaguchi, Takayuki Sudo, Naoki Bushida, Yasuhiro Chiba, Yuji Asai, and Koki Kikuchi
: pp. 264-271
Omnidirectional and Holonomic Mobile Platform with Four-Wheel-Drive Mechanism for Wheelchairs
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Masayoshi Wada
: pp. 272-280
Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle During Walking Operation
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Yusuke Sugahara, Giuseppe Carbone, Kenji Hashimoto, Marco Ceccarelli, Hun-Ok Lim, and Atsuo Takanishi
: pp. 281-289
Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array
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Yoko Sasaki, Saori Masunaga, Simon Thompson, Satoshi Kagami, and Hiroshi Mizoguchi
: pp. 290-297
Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors
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