This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An image-based controller which linearizes the dynamics is proposed. Since the positions of the cues in the image plane are controlled directly, possibility of missing cues is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme. Experiments on a radio controlled car with a CCD camera are also given
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=closed loop systems kn-keyword=closed loop systems en-keyword=feedback kn-keyword=feedback en-keyword=mobile robots kn-keyword=mobile robots en-keyword=nonlinear control systems kn-keyword=nonlinear control systems en-keyword=path planning kn-keyword=path planning en-keyword=position control kn-keyword=position control en-keyword=robot dynamics kn-keyword=robot dynamics en-keyword=robot kinematics kn-keyword=robot kinematics en-keyword=robot vision kn-keyword=robot vision en-keyword=servomechanisms kn-keyword=servomechanisms END start-ver=1.4 cd-journal=joma no-vol=4 cd-vols= no-issue= article-no= start-page=3927 end-page=3932 dt-received= dt-revised= dt-accepted= dt-pub-year=2000 dt-pub=200012 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Enlargement of stable region in visual servo en-subtitle= kn-subtitle= en-abstract= kn-abstract=Proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Potential is defined as the norm of an image feature error and the stable region is a downward convex region of the potential surface that includes a reference position. The proposed scheme generates relay images that interpolate initial and reference image features and artificial potential is defined by using relay images. The artificial potentials are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=CCD image sensors kn-keyword=CCD image sensors en-keyword=Jacobian matrices kn-keyword=Jacobian matrices en-keyword=image motion analysis kn-keyword=image motion analysis en-keyword=robot vision kn-keyword=robot vision END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=2321 end-page=2326 dt-received= dt-revised= dt-accepted= dt-pub-year=1998 dt-pub=19985 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Performance and sensitivity in visual servoing en-subtitle= kn-subtitle= en-abstract= kn-abstract=Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=Jacobian matrices kn-keyword=Jacobian matrices en-keyword=closed loop systems kn-keyword=closed loop systems en-keyword=convergence kn-keyword=convergence en-keyword=discrete time systems kn-keyword=discrete time systems en-keyword=optimal control kn-keyword=optimal control en-keyword=robot vision kn-keyword=robot vision en-keyword=sensitivity kn-keyword=sensitivity END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=121 end-page=126 dt-received= dt-revised= dt-accepted= dt-pub-year=1996 dt-pub=199611 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Master assisted cooperative control of human and robot en-subtitle= kn-subtitle= en-abstract= kn-abstract=A cooperative control approach between human and robot takes an important role to carry out various tasks in hazardous environments or space. In this case, a robot is operated based on the cooperation between direct human control and autonomous robot control. In this study, a neural network is introduced for cooperating process between human control and robot control in order to optimize the degree of cooperation of human and robot. The degree of participation of human operator into the control is determined based on a reference cooperative model which expresses desired human and robot cooperative form. The experiment has executed the contacting tasks for the various object walls using a two-degrees of freedom Cartesian robot. The results indicate the availability of the proposed cooperating method for the cooperative control of human and robot
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=InoueHiroyuki en-aut-sei=Inoue en-aut-mei=Hiroyuki kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Tsuyama National College of Technology en-keyword=neurocontrollers kn-keyword=neurocontrollers en-keyword=telerobotics kn-keyword=telerobotics END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=2765 end-page=2770 dt-received= dt-revised= dt-accepted= dt-pub-year=2000 dt-pub=20004 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Potential switching control in visual servo en-subtitle= kn-subtitle= en-abstract= kn-abstract=Stability of feature-based visual servoing controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or, even worse, they may not converge. In this paper, the stability of feature-based visual servoing is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=manipulator kinematics kn-keyword=manipulator kinematics en-keyword=robot vision kn-keyword=robot vision en-keyword=servomechanisms kn-keyword=servomechanisms en-keyword=stability kn-keyword=stability END start-ver=1.4 cd-journal=joma no-vol=1 cd-vols= no-issue= article-no= start-page=263 end-page=268 dt-received= dt-revised= dt-accepted= dt-pub-year=1999 dt-pub=19995 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Visual servoing with linearized observer en-subtitle= kn-subtitle= en-abstract= kn-abstract=One of the most important problems in feature-based visual servoing is the slow sampling rate and the delay of the camera that can make the closed loop system oscillative or unstable easily. In the paper, a linearized observer that estimates the object velocity and updates the visual information with the joint sampling rate is proposed. Stability of the observer-based control system and effectiveness of the observer are verified by experiments on a PUMA 560 robot
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=CCD image sensors kn-keyword=CCD image sensors en-keyword=closed loop systems kn-keyword=closed loop systems en-keyword=feature extraction kn-keyword=feature extraction en-keyword=image motion analysis kn-keyword=image motion analysis en-keyword=nonlinear control systems kn-keyword=nonlinear control systems en-keyword=observers kn-keyword=observers en-keyword=robot dynamics kn-keyword=robot dynamics en-keyword=robot kinematics kn-keyword=robot kinematics en-keyword=robot vision kn-keyword=robot vision en-keyword=stability kn-keyword=stability END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=2650 end-page=2655 dt-received= dt-revised= dt-accepted= dt-pub-year=1996 dt-pub=19964 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Modeling and control of robotic yo-yo with visual feedback en-subtitle= kn-subtitle= en-abstract= kn-abstract=Yo-yo is a toy made of two thick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and down, by moving a string tied to it. Humans can play with a yo-yo without difficulty. However, developing a robot system that can play with a yo-yo presents a significant challenge to controller design, because the dynamics of the yo-yo are difficult to model precisely. Moreover, since the dynamics are not continuous and there are integral-type constraints on the hand trajectory, conventional continuous time feedback control theory does not work well. This paper present a model and a control scheme for robotic yo-yo with visual feedback. Experiments on a PUMA 560 are carried out to evaluate the validity of the discrete dime formulation and the controller design
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=discrete time systems kn-keyword=discrete time systems en-keyword=intelligent control kn-keyword=intelligent control en-keyword=motion control kn-keyword=motion control en-keyword=motion estimation kn-keyword=motion estimation en-keyword=robot dynamics kn-keyword=robot dynamics en-keyword=robot vision kn-keyword=robot vision en-keyword=state feedback kn-keyword=state feedback END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=259 end-page=267 dt-received= dt-revised= dt-accepted= dt-pub-year=1997 dt-pub=199712 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Application of rubber artificial muscle manipulator as a rehabilitation robot en-subtitle= kn-subtitle= en-abstract= kn-abstract=The application of a robot to rehabilitation has become a matter of great concern. This paper deals with functional recovery therapy, one important aspect of physical rehabilitation. Single-joint therapy machines have already been achieved. However, for more efficient therapy, multjoint robots are necessary to achieve more realistic motion patterns. This kind of robot must have a high level of safety for humans. A pneumatic actuator may be available for such a robot, because of the compliance of compressed air. A pneumatic rubber artificial muscle manipulator has been applied to construct a therapy robot with two degrees of freedom (DOF). Also, an impedance control strategy is employed to realize various motion modes for the physical therapy modes. Further, for efficient rehabilitation, it is desirable to comprehend the physical condition of the patient. Thus, the mechanical impedance of the human arm is used as an objective evaluation of recovery, and an estimation method is proposed. Experiments show the suitability of the proposed rehabilitation robot system
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=TanakaToshihiro en-aut-sei=Tanaka en-aut-mei=Toshihiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=actuators kn-keyword=actuators en-keyword=biomedical equipment kn-keyword=biomedical equipment en-keyword=manipulators kn-keyword=manipulators en-keyword=patient treatment kn-keyword=patient treatment en-keyword=pneumatic control kn-keyword=pneumatic control en-keyword=equipment kn-keyword=equipment en-keyword=safety kn-keyword=safety END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=51 end-page=51 dt-received= dt-revised= dt-accepted= dt-pub-year=1997 dt-pub=199706 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Visual tracking of redundant features en-subtitle= kn-subtitle= en-abstract= kn-abstract=This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy in the world coordinate system. An LQ control scheme is used to resolve the controllability problem. Usefulness of the redundant features is verified by the real time experiments on a PUMA 560 manipulator. en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=AokiAtsuhito en-aut-sei=Aoki en-aut-mei=Atsuhito kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Department of Mechanical Engineering Okayama University affil-num=2 en-affil= kn-affil=Department of Mechanical Engineering Okayama University affil-num=3 en-affil= kn-affil=Department of Mechanical Engineering Okayama University en-keyword=controllability kn-keyword=controllability en-keyword=industrial manipulators kn-keyword=industrial manipulators en-keyword=linear quadratic control kn-keyword=linear quadratic control en-keyword=optical tracking kn-keyword=optical tracking en-keyword=path planning kn-keyword=path planning en-keyword=real-time systems kn-keyword=real-time systems en-keyword=robot vision kn-keyword=robot vision en-keyword=sensitivity analysis kn-keyword=sensitivity analysis en-keyword=servomechanisms kn-keyword=servomechanisms END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=520 end-page=525 dt-received= dt-revised= dt-accepted= dt-pub-year=2005 dt-pub=20054 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of Active Support Splint driven by Pneumatic Soft Actuator (ASSIST) en-subtitle= kn-subtitle= en-abstract= kn-abstract=In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. In this paper, the fundamental characteristics of ASSIST is described, and then the effectiveness of this splint is experimentally discussed. Finally, the operation of ASSIST based on a human intention is described.
en-copyright= kn-copyright= en-aut-name=SasakiDaisuke en-aut-sei=Sasaki en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=Artificial Rubber Muscle kn-keyword=Artificial Rubber Muscle en-keyword=Pneumatics kn-keyword=Pneumatics en-keyword=Power Assist kn-keyword=Power Assist en-keyword=Wearable Robot kn-keyword=Wearable Robot END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=2189 end-page=2194 dt-received= dt-revised= dt-accepted= dt-pub-year=2000 dt-pub=200010 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Potential problems in visual servo en-subtitle= kn-subtitle= en-abstract= kn-abstract=Stability of feature-based visual servo controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=TanakaKouhei en-aut-sei=Tanaka en-aut-mei=Kouhei kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=convergence kn-keyword=convergence en-keyword=manipulators kn-keyword=manipulators en-keyword=robot vision kn-keyword=robot vision en-keyword=stability criteria kn-keyword=stability criteria END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=112 end-page=117 dt-received= dt-revised= dt-accepted= dt-pub-year=1996 dt-pub=199611 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Application of rubber artificial muscle manipulator as a rehabilitation robot en-subtitle= kn-subtitle= en-abstract= kn-abstract=The application of robot to rehabilitation has become a matter of great concern. This study deals with an exercise for restoration of function being one of important rehabilitation tasks. An exercise of single joint has already been achieved with some automatically controlled machines. Now, the multijoint exercise becomes desirable, which requires the exercise robot with multi ple degrees of freedom to generate more realistic motion pattern. This kind of robot has to be absolutely safe for humans. A pneumatic calculator may be so effective for such a robot because of the flexibility from air compressibility that a rubber artificial muscle manipulator pneumatically driven is applied to construct the exercise robot with two degrees of freedom. Also an impedance control strategy is employed to realize various exercise motion modes. Further, an identification method of the recovery condition is proposed to execute the effective rehabilitation. Some experiments show the availability of proposed rehabilitation robot system
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=TanakaToshihiro en-aut-sei=Tanaka en-aut-mei=Toshihiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=YamanakaTakashi en-aut-sei=Yamanaka en-aut-mei=Takashi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Bridgestone Corporation en-keyword=actuators kn-keyword=actuators en-keyword=manipulators kn-keyword=manipulators en-keyword=patient treatment kn-keyword=patient treatment en-keyword=pneumatic control equipment kn-keyword=pneumatic control equipment END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=2613 end-page=2618 dt-received= dt-revised= dt-accepted= dt-pub-year=1995 dt-pub=19955 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Robust positioning control of pneumatic servo system with pressure control loop en-subtitle= kn-subtitle= en-abstract= kn-abstract=The goal of this paper is to attain a robust positioning control of a pneumatic driving system. A positioning control system positively focusing on the pressure control is investigated from the view that the pressure control is indispensable for improvement of control performances. A disturbance observer is employed to improve the pressure response and compensate the influence of friction force and parameter change. Consequently the improvements of robustness against payload and of positioning accuracy have been attained
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=actuators kn-keyword=actuators en-keyword=friction kn-keyword=friction en-keyword=observers kn-keyword=observers en-keyword=pneumatic control equipment kn-keyword=pneumatic control equipment en-keyword=position control kn-keyword=position control en-keyword=pressure kn-keyword=pressure en-keyword=control kn-keyword=control en-keyword=robust control kn-keyword=robust control en-keyword=servomechanisms kn-keyword=servomechanisms END start-ver=1.4 cd-journal=joma no-vol=1 cd-vols= no-issue= article-no= start-page=423 end-page=428 dt-received= dt-revised= dt-accepted= dt-pub-year=2000 dt-pub=200011 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Potential problems and switching control for visual servoing en-subtitle= kn-subtitle= en-abstract= kn-abstract=This paper proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=feature extraction kn-keyword=feature extraction en-keyword=manipulators kn-keyword=manipulators en-keyword=mobile robots kn-keyword=mobile robots en-keyword=motion control kn-keyword=motion control en-keyword=multivariable control systems kn-keyword=multivariable control systems en-keyword=position control kn-keyword=position control END start-ver=1.4 cd-journal=joma no-vol=2 cd-vols= no-issue= article-no= start-page=2188 end-page=2193 dt-received= dt-revised= dt-accepted= dt-pub-year=2003 dt-pub=20030914 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Application of artificial pneumatic rubber muscles to a human friendly robot en-subtitle= kn-subtitle= en-abstract= kn-abstract=When robots work together with a human or contact with a human body directly in such as a medical welfare field, in order to avoid an accident from crash and so on, a flexibility is required for the robot. The purpose of this study is to realize a safe mechanism for a human-friendly robot. In this paper, the structure and the fundamental characteristics of a pneumatic rubber muscle and soft mechanism are described, and then the structure and the fundamental operation of the developed soft hand are shown. Finally, the shaking hands is discussed as an example of force communication tasks between a robot and a human.
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=SasakiDaisuke en-aut-sei=Sasaki en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=pneumatic actuators kn-keyword=pneumatic actuators en-keyword=robots kn-keyword=robots en-keyword=tactile sensors kn-keyword=tactile sensors END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=655 end-page=660 dt-received= dt-revised= dt-accepted= dt-pub-year=2004 dt-pub=20040804 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Wearable power assist device for hand grasping using pneumatic artificial rubber muscle en-subtitle= kn-subtitle= en-abstract= kn-abstract=The purpose of this study is to develop a wearable power assist device for hand grasping in order to support activity of daily living (ADL) safely and easily. In this paper, the mechanism of the developed power assist device is described, and then the effectiveness of this device is discussed experimentally.
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=YamamotoHiroshi en-aut-sei=Yamamoto en-aut-mei=Hiroshi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=SasakiDaisuke en-aut-sei=Sasaki en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University en-keyword=Power assist kn-keyword=Power assist en-keyword=Rubbet Artificial Muscle kn-keyword=Rubbet Artificial Muscle en-keyword=Pneumatics kn-keyword=Pneumatics END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=2482 end-page=2483 dt-received= dt-revised= dt-accepted= dt-pub-year=1996 dt-pub=199612 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Visual servoing with redundant features en-subtitle= kn-subtitle= en-abstract= kn-abstract=This paper presents how the control performance of the visual servo system is improved by utilizing the redundant features. We use the minimum singular value of the image Jacobian as a measure of the control accuracy (sensitivity) and we show that the sensitivity is strictly decreased by increasing the number of redundant features. Effectiveness of the control scheme with redundant features are verified by real time experiments on a PUMA 560 manipulator
en-copyright= kn-copyright= en-aut-name=HashimotoKoichi en-aut-sei=Hashimoto en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=AokiAtsuhito en-aut-sei=Aoki en-aut-mei=Atsuhito kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=Jacobian matrices kn-keyword=Jacobian matrices en-keyword=manipulators kn-keyword=manipulators en-keyword=redundancy kn-keyword=redundancy en-keyword=robot vision kn-keyword=robot vision en-keyword=servomechanisms kn-keyword=servomechanisms END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=1724 end-page=1727 dt-received= dt-revised= dt-accepted= dt-pub-year=2002 dt-pub=20028 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Recognition of elastic characteristic of object using pneumatic parallel manipulator en-subtitle= kn-subtitle= en-abstract= kn-abstract=The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. A pneumatic parallel manipulator is introduced as a driving mechanism, which consequently brings the capability of minute force displaying property owing to the air compressibility. A compliance control system without using force/moment sensor is constructed by introducing a disturbance observer, and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
en-copyright= kn-copyright= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=FujieKenichi en-aut-sei=Fujie en-aut-mei=Kenichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama Univeristy en-keyword=compliance control kn-keyword=compliance control en-keyword=force feedback kn-keyword=force feedback en-keyword=manipulators kn-keyword=manipulators en-keyword=observers kn-keyword=observers en-keyword=position control kn-keyword=position control en-keyword=virtual reality kn-keyword=virtual reality END start-ver=1.4 cd-journal=joma no-vol=1 cd-vols= no-issue= article-no= start-page=492 end-page=497 dt-received= dt-revised= dt-accepted= dt-pub-year=2003 dt-pub=20030804 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of compliance displaying device using pneumatic parallel manipulator en-subtitle= kn-subtitle= en-abstract= kn-abstract=The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism, which, consequently, brings capability of minute force displaying property owing to the air compressibility. Compliance displaying scheme based on the contact force and contact point detection is proposed. The validity of the proposed scheme is verified experimentally.
en-copyright= kn-copyright= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=compliance control kn-keyword=compliance control en-keyword=control engineering computing kn-keyword=control engineering computing en-keyword=manipulators kn-keyword=manipulators en-keyword=pneumatic control kn-keyword=pneumatic control en-keyword=equipment kn-keyword=equipment en-keyword=virtual reality kn-keyword=virtual reality END start-ver=1.4 cd-journal=joma no-vol=2 cd-vols= no-issue= article-no= start-page=806 end-page=811 dt-received= dt-revised= dt-accepted= dt-pub-year=2000 dt-pub=200010 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of pneumatic human interface and its application for compliance display en-subtitle= kn-subtitle= en-abstract= kn-abstract=The goal of this study is to develop a human interface that can display compliance for a human hand aiming at application in the field of virtual reality. A pneumatic parallel manipulator is introduced as a driving mechanism of the human interface, which yields the characteristic that the manipulator works as a kind of elastic body even when its position/orientation is under the control. Utilizing this elastic characteristic, a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally
en-copyright= kn-copyright= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=compliance control kn-keyword=compliance control en-keyword=haptic interfaces kn-keyword=haptic interfaces en-keyword=manipulators kn-keyword=manipulators en-keyword=position control kn-keyword=position control en-keyword=pressure control kn-keyword=pressure control en-keyword=virtual reality kn-keyword=virtual reality END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=2302 end-page=2307 dt-received= dt-revised= dt-accepted= dt-pub-year=2005 dt-pub=20054 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator en-subtitle= kn-subtitle= en-abstract= kn-abstract=In this study, we aim at developing a mechanical device to support humans rehabilitation motion of their wrist joint instead of or to help a physical therapist. Pneumatic parallel manipulator is introduced as the mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator’s feature of multiple degrees of freedom is suitable for a complex motion of human wrist joint. Impedance control system is introduced to realize several rehabilitation modes. The validity of the proposed system is confirmed through some experiments.
en-copyright= kn-copyright= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=Human Wrist joint kn-keyword=Human Wrist joint en-keyword=Parallel Manipulator kn-keyword=Parallel Manipulator en-keyword=Pneumatic servo system kn-keyword=Pneumatic servo system en-keyword=Rehabilitation kn-keyword=Rehabilitation END start-ver=1.4 cd-journal=joma no-vol=3 cd-vols= no-issue= article-no= start-page=4098 end-page=4103 dt-received= dt-revised= dt-accepted= dt-pub-year=2003 dt-pub=20030913 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of force displaying device using pneumatic parallel manipulator and application to palpation motion en-subtitle= kn-subtitle= en-abstract= kn-abstract=<P>The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
en-copyright= kn-copyright= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University en-keyword=compliance control kn-keyword=compliance control en-keyword=compressibility kn-keyword=compressibility en-keyword=display devices kn-keyword=display devices en-keyword=elastic constants kn-keyword=elastic constants en-keyword=manipulators kn-keyword=manipulators en-keyword=observers kn-keyword=observers en-keyword=pneumatic actuators kn-keyword=pneumatic actuators END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=185 end-page=190 dt-received= dt-revised= dt-accepted= dt-pub-year=1999 dt-pub=199909 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Application of pneumatic parallel manipulator as haptic human interface en-subtitle= kn-subtitle= en-abstract= kn-abstract=When humans and robots implement a cooperative task, information (intention) transfer between them is an important problem as the task becomes complicated. In the paper, a haptic interface using a pneumatic parallel manipulator is developed to realize “information transfer by means of contact”. The contact information given by the human, namely contact force vector and contact point on the manipulator, is detected by the interface itself and such information is transferred to the robot by being connected with some reference signal. The pneumatic parallel manipulator works as a kind of elastic body even when its position is controlled owing to the air compressibility. Focusing on this characteristic and introducing an idea of compliance center with a spherical shell, contact force vector and contact point are detected without a force sensor. The validity of the proposed method is confirmed through some experiments. en-copyright= kn-copyright= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Faculty of Engineering, Okayama University affil-num=2 en-affil= kn-affil=Faculty of Engineering, Okayama University en-keyword=Haptic Interface kn-keyword=Haptic Interface en-keyword=Pneumatic Driving System kn-keyword=Pneumatic Driving System en-keyword=Parallel Manipulator kn-keyword=Parallel Manipulator en-keyword=Elastic Characteristic kn-keyword=Elastic Characteristic END start-ver=1.4 cd-journal=joma no-vol=77 cd-vols= no-issue=778 article-no= start-page=2323 end-page=2335 dt-received= dt-revised= dt-accepted= dt-pub-year=2011 dt-pub=201106 dt-online= en-article= kn-article= en-subject= kn-subject= en-title=Analysis and Control of Model to Develop Support Device Using Biarticular Muscle with Rubber Artificial Muscles kn-title=二関節筋型ゴム人工筋を用いた支援装置モデルの解析と制御 en-subtitle= kn-subtitle= en-abstract= kn-abstract=In this paper, the authors aim at developing a wearable power assist wear for lower limb The system requires compact size and lightweight to achieve a practical application, therefore we discuss its effective structure using biarticular muscle. At first, two model of targeting at support device for human lower limb is described, followed by showing each alignment of rubber artificial muscles. Next, construction force generated by rubber artificial muscles to achieve static balance is calculated. At the end, Experiment apparatus is designed from calculation and experimental results is showed. en-copyright= kn-copyright= en-aut-name=InabaTomoya en-aut-sei=Inaba en-aut-mei=Tomoya kn-aut-name=稲葉智也 kn-aut-sei=稲葉 kn-aut-mei=智也 aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name=則次俊郎 kn-aut-sei=則次 kn-aut-mei=俊郎 aut-affil-num=2 ORCID= affil-num=1 en-affil= kn-affil=Okayama Univ. Dept. of System Engineering affil-num=2 en-affil= kn-affil=Okayama Univ. Dept. of System Engineering en-keyword=Biarticular Muscle kn-keyword=Biarticular Muscle en-keyword=Rubber Artificial Muscles kn-keyword=Rubber Artificial Muscles en-keyword=Pneumatic Actuator kn-keyword=Pneumatic Actuator END