Naohiro Inagawa

Research and Development of Compact Wrist Rehabilitation Robot System

Compact rehabilitation robot system which can support movement of the wrist of patients has been developed. The robot system can detect and analyze the patients intention to move the wrist by such a biological signal as muscle potential, then, assist the wrist exercise of patients. Also, both-wrist rehabilitation robot system by mirror effect has been successfully developed for practical use in the hospital and at home.

Development of compact rehabilitation robot for a wrist using biological signal

The authors developed the rehabilitation robot which detects and analyzes the intention that man tries to move a wrist with biological signal, such as muscle potential, and makes a wrist exercise as ones intention. It consists of a grip for wrists, an actuator, a biological signal primary means, biological signal processing part, and a rehabilitation controller. Its easy to carry because size is compact, rehabilitation can be performed in the small space at the hospital or home.

Development of a rehabilitative training robot for both wrists

The authors developed a rehabilitative training robot which detects and analyzes the intention when a person tries to move a wrist with a biological signal, such as muscle action potential, and makes a wrist movement as ones intention. It consists of a grip for wrists, an actuator, a biological signal primary means, biological signal processing part, and a training controller. Due to its small, compact size, training can be performed in a small space at a hospital or home. The new system which can conduct both wrists training is successfully developed for practical uses.

Research and Development of Unmanned Aviation Vehicle System for Disaster Countermeasures

The authors developed low cost unmanned helicopter, real time video data transmitting system and a new type flying robots. The effectiveness is confirmed by real field experiment tests. Hazard map for disaster countermeasures is made on the basis of data obtained by the aviation vehicle system. The hazard map is delivered directly to a smart phone and a tablet PC. Therefore residents can keep track of disaster information quickly and accurately.

Research and development of the multifunctional observation and data transfer system for disaster prevention

This paper describes a application of unmanned flying observation robot which can be used to survey disaster area and transmit real time video image to distanced headquarter. In addition, the field experiment was successfully performed in the experimental disaster area.

Development of wrist rehabilitation robot and interface system.

The authors have developed a practical wrist rehabilitation robot for hemiplegic patients. It consists of a mechanical rotation unit, sensor, grip, and computer system. A myoelectric sensor is used to monitor the extensor carpi radialis longus/brevis muscle and flexor carpi radialis muscle activity during training. The training robot can provoke training through myoelectric sensors, a biological signal detector and processor in advance, so that patients can undergo effective training of extention and flexion in an excited condition. In addition, both-wrist system has been developed for mirror effect training, which is the most effective function of the system, so that autonomous training using both wrists is possible. Furthermore, a user-friendly screen interface with easily recognizable touch panels has been developed to give effective training for patients. The developed robot is small size and easy to carry. The developed aspiring interface system is effective to motivate the training of patients. The effectiveness of the robot system has been verified in hospital trails.

Prototype of positioning system for automatic motion control of underwater robot

Recently, the needs of underwater robot used for many kinds of underwater work become higher and higher. In order to control the motion of underwater robot automatically, it is an indispensable to measure its position correctly in real time. Conventional systems are based on time difference or phase lag. However, they must use expensive components, such as transponders or atomic clock, and its system becomes complex. Additionally they require a lot of signal-processing time, so they cannot be used for motion control. As a result, there exist no system which can be used for automatic motion control of underwater robot. Since 2008, we have proposed a new positioning system based on sound propagation loss and sensor network. In this system, we set many buoys that install sound reception unit, GPS receiving equipment and sensor network system on the surface of water. We use sound propagation loss to calculate the distance between robot and buoys, and with combining distance and position data for each buoy, we estimate robot position. In former study, we found that we can get higher SN ratio of signal to measure distance with using the sound of multiple frequency, we proposed a new distance measurement method M_SPL. It was introduced on the paper of “Underwater Acoustics Positioning System Based on Propagation Loss and Sensor Network” (OCEANS 2012 KOREA). In this paper, we introduce the design and construction of prototype system for this positioning system as the results of latest study. It contains transmission unit, reception unit and center unit. Transmission unit follows with principle of M_SPL, is set into underwater robot used as sound source. We also complete reception unit to be used to receive sound signal and calculate distance automatically. Finally, center unit receive distance and each buoy position data what are sent from reception unit, position can be calculated by using these data. We confirmed the performance of transmission unit and receiving unit in water-tank, and it showed that both units can be used effectively. Now we are on a final test of this system in open sea for the actual use of surveying sea floor with the underwater robot made by NAGASAKI UNIVERSITY in Japan.

Development of Practical Wrist Rehabilitation Robot by Mirror Effect

The authors have developed wrist rehabilitation robot for hemiplegic patients. The robot is much effective for repetitive rehabilitation, and useful for patients. Mirror effect control system is developed based on the experience that a patient can easily move a limb while moving a limb on the other side. The effectiveness is successfully confirmed by the practical test in the hospital.

Research on geological survey system based on robotic fish technology

Geological surveying of the ocean floor holds considerable promise for the exploitation of mineral resources in the near future. However, new tools are required to carry out the surveys in an expedite manner. As a contribution to this goal, this paper advances the concept of a robotic fish-like device equipped with acoustic sensors to aid in the process of geological surveying at sea.

Research and Development of Biomechanical Robot for Medical Operation

In the surgical operation, the research and development of the surgical robot that has both safety and effectiveness is needed in consideration of the physical mental strain decrease of the surgeon and the patient. Through the observation of the motion of fish, it has been found that fish swim efficiently using flexibility of pliable fins, giving the actuator the name of flexible oscillating fin propulsion system. The author proposed the application to the realm of healing the elastic vibration wing promotion system. The flexible forceps robot for the surgical operation of a vibrating flexible fin promotion system application was developed.