(1)Development of Straight Style Transfer Equipment "ABLE" for Lower Limbs Disabled|
We developed a straight style transfer equipment for a person with disabled legs. People who use wheelchairs can live without some environmental improvements by using this equipment. Other advantages of this equipment are as follows: (1) getting over a step including stairs and (2) removing the mental pain caused by the difference height of eyes. This equipment consists of three modules: elastic crutches, mobile platforms and powered prostheses. We designed and produced the elastic crutches and mobile platforms. And we examined the performance of the elastic crutches when a person stood up from a chair.
(2)Companion Robot "SELF" that does not bore Human
We quantitatively analyzed weariness and impression that a human sensed for a robot when the human interacted with the robot through some movements. A red ball and a blue ball were displayed on a simulation screen. The human moved the red ball with a mouse and the computer moved the blue ball. By using this model, the impression that the action of the robot gave to the human was examined. Next, we analyzed the relationship between robot's interactive characteristics and produced impressions about the robot in human-robot-interaction experiments by using methods of information theory.
(3)Feasibility Study on an Excavation-type Demining Robot "PEACE"
In this study we propose a design of an excavation type mine removal robot that disposes a farm polluted by mines efficiently and safely. On the dangerous area the robot automatically takes in the soil in which mines are laid. The soil including mines is crushed up and is separated and discharged. The robot has a big bucket on its front. The robot goes ahead keeping the height of the bucket from the ground by the up and down motion of the bucket and the forward motion of the body. The possibility of the motion was confirmed through simulations, and the basic motion was tested by the 1/10 size experimental model.
(4)Position Estimation Using an Acceleration Sensor for a Mobile Robot
This research aims at the development of an inertial navigation system for ground vehicles including mobile robots. A high performance but cheap accelerometer is needed for this purpose. However, conventional sensors contain some drift and noise components in their outputs. Therefore, a new accelerometer, "Inductcoder" was developed, which causes little drift and receives little noise. Two types of systems were tested. The one consists of two springs and an iron ball, and the other consists of a cantilever beam and an iron weight.