Kei Sawai

Prototype Development of a Shape Presentation System Using Linear Actuators

We here propose a three-dimensional shape presentation system using linear actuators which can control the displacement of a rod to a precision of 0.1 mm. We assume that this system will be used as a device to present topographical/shape information to people with visual impairments. For this study, we produced a prototype system equipped with precision linear actuators, and conducted experiments to evaluate the capabilities of the system.

Improvement of a Tangible Programming Tool for the Study of the Subroutine Concept

We developed a tangible programming education tool “P-CUBE2” to aim at learning benefits of subroutine such as to create a function once and then reuse it. The target user of this tool are visual impairments and inexperienced persons who are not familiar with PC operation. We introduced the function mat, utterance function blocks and HIRAGANA (Japanese character) blocks so that user can learn subroutine concept. Users can create the function of utterance by combining and placing these blocks which on the function mat. The created function of utterance can be called on the main mat. By these operation, the user can control a robot which outputs sound as a controlled object. In this research, we introduce the system configuration of the P-CUBE2 and report the result of experiment for evaluation of the tool operability.

Multi-layer situation map for robot interaction based on situation

This paper proposes the Multi-Layer Situation Map to express the relationship between objects and storage places in cleanup task. Recently, service robots have to estimate, decide and act automatically in various situations to provide services like human beings. An interaction robot should perceive a vague situation and communicate with human about cleanup service. For an interaction robot that talks suitable contents according to a vague situation, we propose an estimation system which is called a Multi-Layer Situation Map, and express the relationship between objects and storages.

Improving motivation for training using a rehabilitation system for upper limbs to provide feedback on motor function scores

Many stroke survivors experience motor deficits. Rehabilitation is important for the maintenance and recovery of motor functions for activities of daily living. Motivated patients tend to show better rehabilitation effects. In this study, motor function was scored using the Simple Exercise Machine for Upper Limbs (SEMUL) rehabilitation system for upper limbs and the trainees were given feedback on their scores. Nine healthy participants took part in this study and aimed to use the SEMUL once a week for 6 months. We confirmed that their motivation was improved by seeing the changes in their scores.

Direct Perception and Action Decision for Unknown Object Grasping

This paper discusses the direct perception of an unknown object and the action decision to grasp an unknown object using depth sensor for social robots. Conventional methods estimate the accurate physical parameters when a robot wants to grasp an unknown object. Therefore, we propose a perceptual system based on an invariant concept in ecological psychology, which perceives the information relevant to the action of the robot. Firstly, we proposed the plane detection based approach for perceiving an unknown object. In this paper, we propose the sensation of grasping which is expressed by using inertia tensor, and applied with fuzzy inference using the relation between principle moment of inertia. The sensation of grasping encourages the decision for the grasping action directly without inferring from physical value such as size, posture and shape. As experimental results, we show that the sensation of grasping expresses the relative position and posture between the robot and the object, and the embodiment of the robot arm by one parameter. And, we verify the validity of the action decision from the sensation of grasping. Direct Perception and Action Decision for Unknown Object Grasping