Koji Makino

Human touch behavior classification to therapy robot using SOM

In this research, a classification method for human touching behaviors to haptic therapy robot is proposed. It is difficult to apply explicit discrete representation for human touch behaviors such as “slap”, “pat” due to the existence of intermediate touch behavioral patterns. Therefore a new classification approach for human touch behaviors using Self Organizing Map (SOM) is proposed, using its ability to classify the nearby data in to a group. Further in this research the axis of out put maps are defined to be meaningful by specifying the initial placement of the input data during the training process.

Gait analysis using Gravity-Center Fluctuation of the sole at walking based on Self-Organizing Map

It is important to evaluate the condition of a walk in rehabilitation. In this paper, we focus on Gravity-Center Fluctuation (GCF) of the sole, and analyze the gait motion using Self-Organizing Map (SOM). First, it is clear that the shape of the GCF that is obtained by developed measurement system includes the feature of the gait motion. Secondly, the relation between the shape of GCF and the gait motion is considered by the SOM. Next, we described that the stride width and the walking velocity are predicted. Finally, it is investigated that the position where new test data is arranged on the map is according to prediction. As a consequence, it is shown that the gait motion is able to be analyzed and estimated by the method based on the SOM.

Development of an Assisting Instrument of Standing-Up Motion Using Driving Springs for Elderly Persons

To assist standing-up motion from the deep flexion state, an assisting instrument using driving springs on the hip and knee joints has been developed. This instrument consists of an assisting mechanism for the hip joint which has an oscillating follower type cam with a spring drive, and an assisting mechanism for the knee joint which has a non-circular gear, two grooved cams and a loading flat spiral spring. Especially, to apply it to the deep flexion and extension motions of the hip and knee joints, a motion of standing-up from a flat floor is analysed. As a result, it is clear that the assisting force on the hip joint are needed in case of an extension from the deep flexion state, and that force on the knee joint are needed during all extension motion state. Furthermore, the prototype instrument has been tested, and it is confirmed that the instrument is useful for the standing-up motion.

Automatic rehabilitation of the Extension Lag using the developed knee assistive instrument

Patients with Extension Lag cannot extend their knee straightly single-handedly. However, they can extend their knee without pain, if the other (a physical therapist (PT)) stretch the knee. The recovery of the Extension Lag is not necessary surgery, and is often enough only to perform rehabilitation. However, the rehabilitation of the Extension Lag is hard work for the PTs. This paper proposes the control algorithm for the automatic rehabilitation of the Extension Lag by adapting the Knee Assistive Instruments for Rehabilitation (KAI-R) that has been developed for the walking rehabilitation after the surgery of the Total Knee Arthroplasty (TKA) in order to reduce the load of the PT. The safety and the effectiveness of the robot are necessary to be verified, because we are going to adopt the robot to a clinical trial. First, the validity of the motion of the robot that is installed the control algorithm is confirmed by the high speed movie camera. Secondly, the effectiveness is investigated by using surface myoelectric potential. Thirdly, the motion of the robot is confirmed by the doctor and the PTs. It is clear that the robot for the rehabilitation of the Extension Lag can be adopted to a clinical trial.

Evaluation method of degree of functional recovery on walking rehabilitation based on self-organizing map

It is important to evaluate the degree of functional recovery on a walk in rehabilitation. We have proposed two kinds of evaluation methods. One is the Gravity Center Fluctuation (GCF) obtained by the developed special shoes. The other is five element score method using the high speed camera, and is reliable to evaluate the functional recovery. In this paper, we consider the relation between the GCF and the score by the Sell-Organizing Map (SOM). As a consequence, we show the condition of the gait motion is able to be guessed by the SOM.

Management of a Lecture of Robot Contest for Many Students

Abstract This paper describes a method of management of a lecture on the robot contest for many students. A lecture on robot contest has many merits. For example, the student not only learns engineering knowledge, but also develops problem-solving. However, there is often a problem that a lot of faculty staffs are needed to handle many students. Therefore, we divide the students into the group. And we teach the group how to solve a question, after the member of the group discusses the question. In this paper, the schedule is shown first. Next, the point of the lecture and effectiveness that we expect are illustrated. Finally, the result is discussed through the robot contest.

Development of a Knee Joint Assistive-Mechanism Adapted for Bilateral Roll-Back Motion

To reduce the deployment cost of walking rehabilitation after surgery, a structure of knee joint assistive-mechanism that is adapted for bilateral roll-back motion has been proposed. This has two grooved cams which are not coincident with the locus of the knee joint’s imaginary rotation center. However, these generate the self-locking in case of the same motion directions of each follower roller. A design condition has been shown for avoiding these self-locking. X-ray fluoroscopy of a prototype mechanism is used to evaluate the misalignment between the rotation centers of the knee and knee joint mechanism. Then, a load test prototype was used to test the roll-back motion under rated-torque, and some differences in the characteristics of the right and left knee-assistive motions were investigated. Based on roll-back motion data obtained from the Japanese people with an average height, a maximum displacement of 15 mm and an angle of 55° is used for the prototype mechanisms’ imaginary rotation centers, and their cam shapes are generated using asymmetrical modified trapezoid motion curves. The results show that the proposed mechanism can be rotated smoothly to generate the exact knee roll-back motion and that its characteristics for right and left knee-assistive motions are almost identical.

Motion Planning of a Rotation Type Peach Fruit Moth Inspection System

A peach fruit moth is very serious problem while exporting the peach, because the peach fruit moth affects the ecological system of the destination country where it does not live in. This paper aims to develop a new type of a peach fruit moth inspection system and to evaluate its performance in terms of motion planning theoretically. The validity of the equation for system evaluation is confirmed by numerical computer simulation. Finally, the rotation type of the real system is developed, and the validity of the theoretical values is verified.

Development of a concavo-convex non-woven cloth to reduce shock to fruit

This paper describes an unique sheet developed from non-woven fabric that can be used to reduce transportation shock experienced by fruits that are easily damaged, such as peaches or strawberries, when transporting to foreign countries where there is a significant demand for these fruits. The proposed sheet comprises two non-woven fabric cloths suitable for packing these types of fruit. The non-woven cloth has useful characteristics such as air permeability, sealing properties, and X-ray transmission properties that make it suitable for transporting easily damaged fruit. In this paper, the application of the proposed sheet is applied for the packing of the fruits, however, the sheet that has the air permeability and shock resistance property is useful for the assistive robot and human interaction robot. And, the sheet is made manually, since the method to produce it is not constructed. The task of the human is reduced, if the mechanism for making the sheet can be realized. This paper describes that the properties of the sheet are introduced, and that the performance is investigated by experimental methods. Finally, the mechanism for producing the sheet is described and investigated using an experimental prototype.

A control method of a center of a swarm on collective motion in three-dimensional space

This paper describes a method that is extended to three-dimensional space newly, to organize and to control mobile agents only by employing simple virtual interactive forces. The point of the method is that two transfer functions (one from the command from supervising operator and the other from the influences of obstacles to the collective motion) can be designed independently. First, the difference of the response is investigated using various parameters in dynamics of the agent and the center of the swarm. Second, the simulations illustrate that a collective motion can be performed in the space with various obstacles successfully avoiding them. Third, the influence of the accidents is examined. As a consequence, it is clear that the extended method to three-dimensional space enables the swarm that consists of the agents keeping autonomy to be control.