[English] / [Japanese]
査読付き論文
| 2024 |
| 2023 |
| Immanuel Paradela, Jeanette Pao, Charles Alver Banglos, Carl John Salaan, Yuichi Ambe and Masashi Konyo, "Development of a Segmented Body Serpent Robot with Active Head Floating Control," Engineering Letters, vol. 31, no. 4, pp. 1928-1943, November. 2023. |
| Abstract: Traditionally, engaging in search and rescue operations within collapsed structures introduces a range of significant risks that directly impact the safety of the responders involved. Thus, robots have emerged as invaluable assets in search and rescue operations. Their unique capabilities address the challenges faced in locating and rescuing victims in various scenarios One of the remarkable solutions is the utilization of serpent-shaped robots for traversing through confined places of a collapsed building. Serpent robots can navigate over tight gaps depending on what surface is accessible. In this study, a segmented-body and cilia-driven serpent robot was developed. The serpent robot body and head assembly were designed and analyzed. 32 segments of the robot body were made, and it was found that a modularized segmented body is more functional. The single-segment and 32-segment bodies were tested on three different surfaces. The single segment showed higher speed in tiles and plywood since it is lightweight. In contrast, the 32-segment body was faster at 59.865 mm/s on concrete surfaces than on tiles and plywood surfaces. Active control for maneuvering and balancing control was developed. The implemented pneumatic floating head control for the serpent robot head was able to do left and right maneuvering by controlling its roll angle and yaw angle. The head is also capable of returning to its original position. It can move up to 245 mm distance from its initial position either during right or left maneuvering. Moreover, the developed segmented-body serpent robot was subjected to different obstacles and effectively traversed 40 mm obstacle height, passed through an 80 mm hole with a 200 mm length, and its head can elevate up to 138 mm height. |
BibTeX:
@article{Paradela2023-sh,
author = {Paradela, Immanuel and Pao, Jeanette and Banglos, Charles Alver and Salaan, Carl John and Ambe, Yuichi and Konyo, Masashi},
title = {Development of a Segmented Body Serpent Robot with Active Head Floating Control},
journal = {Engineering Letters},
year = {2023},
volume = {31},
number = {4},
pages = {1928--1943},
url = {https://www.engineeringletters.com/issues_v31/issue_4/},
doi = {}
}
|
| Saito Sakaguchi, Kaoru Saito, Naomi Arakawa and Masashi Konyo, "Stratum corneum compliance enhances tactile sensitivity through increasing skin deformation: A study protocol for a randomized controlled trial," Journal of cosmetic dermatology, vol. 23, no. 1, pp. 296-307, July. 2023. doi:10.1111/jocd.15934. |
| Abstract: BACKGROUND: Tactile sensation plays a crucial role in object manipulation, communication, and even emotional well-being. It has been reported that the deformability of skin (also described as skin compliance) that shows a large mechanical response to stimuli is associated with high tactile sensitivity. However, although the compliance of the stratum corneum, the outermost layer of skin, can change daily due to skin care and environmental factors, few studies have quantified the effect of the stratum corneum on tactile sensation. AIMS: We investigated the changes in tactile sensitivity resulting from skin hydration and identified corresponding alterations in the compliance of the stratum corneum. METHODS: A randomized controlled trial was conducted. Participants were randomly assigned to an intervention group (n = 20) that had a moisturizing cream applied to their cheeks or a control group (n = 19) that had Milli-Q water applied to their cheeks. Tactile discrimination performance was assessed using psychophysical techniques before and after application. The water content, mechanical response characteristics, and penetration of PEG/PPG-17/4 dimethyl ether from the cream in the stratum corneum were evaluated to identify hydration effects. Skin deformations occurring during tactile sensation were measured concurrently using a suction device employed for tactile stimulation. RESULTS: Tactile sensitivity was increased in participants who had cream applied to the skin surface, while no significant change was observed in participants who received Milli-Q water. The improved discrimination of tactile stimulus intensity was directly related to the magnitude of skin displacement. The higher water content of the stratum corneum due to cream application decreased the dynamic modulus of elasticity of the stratum corneum and increased the skin's extensibility in response to tactile stimuli. CONCLUSIONS: Hydrating the stratum corneum significantly enhances tactile sensitivity and is accompanied by an increase in skin extensibility, a factor in tactile intensity perception. The compliance of the thin stratum corneum layer plays a crucial role in tactile experiences that involve skin stretching. |
BibTeX:
@article{Sakaguchi2023-St,
author = {Sakaguchi, Saito and Saito, Kaoru and Arakawa, Naomi and Konyo, Masashi},
title = {Stratum corneum compliance enhances tactile sensitivity through increasing skin deformation: A study protocol for a randomized controlled trial},
journal = {Journal of cosmetic dermatology},
year = {2023},
volume = {23},
number = {1},
pages = {296--307},
url = {http://dx.doi.org/10.1111/jocd.15934},
doi = {10.1111/jocd.15934}
}
|
| Yuichi Ambe, Shuta Kamio, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama and Satoshi Tadokoro, "Air-jet levitation of continuum robots: Stable head floating by passive thrust vectoring for enhancing mobility," Journal of Intelligent and Robotic Systems, vol. 109, no. 2, pp. 1-18, September. 2023. doi:10.1007/s10846-023-01964-6. |
| Abstract: Flexible, continuum-type robots can access narrow spaces in debris areas during search-and-rescue missions. However, their current problem is the lifting capability of the head, which is necessary to surmount the rubble. This study proposes a passive-thrust vectoring method to stabilize head levitation for air-jet-actuated, long, continuum robots, and thus enhance their step-climbing abilities. An air jet can generate a thrust force that is sufficient for head levitation. A critical issue in levitation involves the backward bending of the head without using any air-jet control; however, thrust control is inappropriate because of the delay caused by the long channel. Therefore, the proposed method maintains the thrust direction constant. Sufficient conditions for global stability are derived and confirmed via dynamic simulations. The proposed method is simple and can be mechanically realized with a passive head-bending mechanism, thus contributing to a lightweight design. Experiments demonstrated that the developed air-floating-type, 7-m long robot, can achieve stabilized head levitation, and that the robot can climb a step with a height of 250 mm. Robot demonstrations in rubble justify the robot's capacity to surmount the rubble. This passive-thrust vectoring method is expected to contribute to the future enhancement of the mobility of continuum robots owing to its simplicity and practicality. |
BibTeX:
@article{Ambe2023-kd,
author = {Ambe, Yuichi and Kamio, Shuta and Yamauchi, Yu and Konyo, Masashi and Tadakuma, Kenjiro and Maruyama, Shigenao and Tadokoro, Satoshi},
title = {Air-jet levitation of continuum robots: Stable head floating by passive thrust vectoring for enhancing mobility},
journal = {Journal of Intelligent and Robotic Systems},
publisher = {Springer Science and Business Media LLC},
year = {2023},
volume = {109},
number = {2},
pages = {1-18},
url = {https://link.springer.com/10.1007/s10846-023-01964-6},
doi = {10.1007/s10846-023-01964-6}
}
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| Yukihiro Maezawa, Yuichi Ambe, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "Translational disturbance rejection for jet-actuated flying continuum robots on mobile bases," IEEE robotics and automation letters, vol. 8, no. 11, pp. 7456-7463, November. 2023. doi:10.1109/lra.2023.3318189. |
| Abstract: Although continuum robots have the potential to operate in narrow areas by changing their shapes and propelling their bodies, they easily vibrate under sudden or periodic applications of external forces. Suppressing vibrations is difficult in our jet-actuated continuum robot because the movements of its mobile base cannot be controlled with the same system as the movements of the robot, and mobile base oscillation increases the risk of resonance. In this study, a disturbance rejection was realized for the Dragon Firefighter, a jet-actuated flying continuum robot on a mobile base, for rapid and safe fire extinguishing using a 4-m-long flying fire hose consisting of two nozzle units and flexible hoses. An H∞ -based disturbance-rejection controller was designed to suppress the vibration of the head nozzle unit posture against the acceleration of the mobile base. Then, the robot parameters were identified from tensile tests and dynamic excitation experiments. Dynamic simulations confirmed that the controller reduced the peak gain of the frequency response by approximately 2 dB for various robot shapes. Robot experiments confirmed that the proposed method reduced the peak gain of the frequency response by approximately 3 dB, which increased the extra injection range of the nozzle by approximately 16%. |
BibTeX:
@article{Maezawa2023-ib,
author = {Maezawa, Yukihiro and Ambe, Yuichi and Yamauchi, Yu and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {Translational disturbance rejection for jet-actuated flying continuum robots on mobile bases},
journal = {IEEE robotics and automation letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
year = {2023},
volume = {8},
number = {11},
pages = {7456--7463},
url = {https://ieeexplore.ieee.org/document/10258382/},
doi = {10.1109/lra.2023.3318189}
}
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| Kosuke Yamaguchi, Masamune Waga, Masashi Konyo and Satoshi Tadokoro, "Improvement of Discrimination of Haptic Motion Experience by Reproducing Multi-point Spatial Distribution of Propagated Vibrations at the Wrist," Haptic Interaction. AsiaHaptics 2022, Lecture Notes in Computer Science, vol. 14063, pp. 147-161, November. 2023. doi:10.1007/978-3-031-46839-1\_12. |
| Abstract: In recent years, there has been a growing demand for technology to deliver haptic experiences related to skills remotely. This study attempts to reproduce the spatial pattern of vibrations generated at the wrist using a bracelet-type device equipped with multiple sensors and vibrators to convey haptic experiences of tool motions. First, we measured the frequency response characteristics of the propagation of vibrations applied to the fingertips to the wrist and confirmed that high frequencies above 1000 Hz could propagate to the wrist position. Then, we measured the tool and the wrist vibration at multiple points during multiple haptic movements. The relationship between the ability to discriminate between different haptic-related movements and spatial distribution reproduction is investigated by comparing the case of spatial reproduction at the wrist with a conventional tool-mounted device. The effect of the ISM method, which can modulate the waveform to a lower frequency while maintaining the original sensation, is also investigated. Results of discrimination experiments indicate that reproduction of the spatial distribution by vibration stimulation of multiple points on the wrist improves discrimination of different rotational directions and that ISM further improves discrimination of rotational directions compared to the raw signal. |
BibTeX:
@inproceedings{Yamaguchi2023-lk,
author = {Yamaguchi, Kosuke and Waga, Masamune and Konyo, Masashi and Tadokoro, Satoshi},
title = {Improvement of Discrimination of Haptic Motion Experience by Reproducing Multi-point Spatial Distribution of Propagated Vibrations at the Wrist},
booktitle = {Haptic Interaction. AsiaHaptics 2022, Lecture Notes in Computer Science},
publisher = {Springer International Publishing},
year = {2023},
volume = {14063},
pages = {147--161},
url = {http://dx.doi.org/10.1007/978-3-031-46839-1_12},
doi = {10.1007/978-3-031-46839-1\_12}
}
|
| Kenta Gunji, Kazunori Ohno, Ranulfo Bezerra, Shotaro Kojima, Hanif Aryadi, Yoshito Okada, Masao Kuwahara, Masashi Konyo and Satoshi Tadokoro, "LayoutSLAM++: Simultaneous Estimation of Layout and Object Map Based on Geometric Features of Object Placement," 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), pp. 1-8, August. 2023. doi:10.1109/CASE56687.2023.10260535. |
| Abstract: Managing production systems in a dynamic environment is a challenging task. As demand and worker utilization change in a factory, the number of work units must be adjusted, which can interfere with efficient component picking and delivery by transfer robots. If the robots could recognize the type of work unit, they could automatically update their maps of picking delivery points to avoid delays. However, this requires a flexible and autonomous method to recognize work units. In this paper, we propose a new approach, LayoutSLAM++, which estimates work units as layout information from sensor data collected by a robot. This method enables adding work unit information to the conventional object map information by simultaneously performing layout estimation and SLAM, considering object confidence and sensor data errors. Layout information can be extracted even when the same object appears in different work units. We validated the method using 15 environments with various geometric constraints and found that the layout information was estimated with 73.0%f-value. Even on a dataset with low geometrical constraints of the object placement, the layout class corresponding to the type of work unit was estimated with 100% precision. Although the recall of layout constraints estimation was as low as 77.7%, the map construction accuracy was improved by 10.6%, showing that the false negatives in layout estimation did not affect the map construction accuracy. By extracting work units as layout information, it is possible to determine the principal object for pick and delivery even when the object's position changes slightly or things belonging to a chair have different appearances. The proposed method can improve the efficiency of transfer robots in dynamic plant environments. |
BibTeX:
@inproceedings{Gunji2023-ly,
author = {Gunji, Kenta and Ohno, Kazunori and Bezerra, Ranulfo and Kojima, Shotaro and Aryadi, Hanif and Okada, Yoshito and Kuwahara, Masao and Konyo, Masashi and Tadokoro, Satoshi},
title = {LayoutSLAM++: Simultaneous Estimation of Layout and Object Map Based on Geometric Features of Object Placement},
booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
publisher = {IEEE},
year = {2023},
pages = {1--8},
url = {http://dx.doi.org/10.1109/CASE56687.2023.10260535},
doi = {10.1109/CASE56687.2023.10260535}
}
|
| Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Hanif A. Aryadi, Kenta Gunji, Masao Kuwahara, Yoshito Okada, Masashi Konyo and Satoshi Tadokoro, "Heterogeneous Multi-Robot Task Allocation for Garment Transformable Production using Deep Reinforcement Learning," 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), pp. 1-8, August. 2023. doi:10.1109/CASE56687.2023.10260437. |
| Abstract: This paper addresses the need for a more practical, flexible and scalable approach to garment manufacturing amidst the fashion industry's current shift towards transformable production. The current trend for personalized, on-demand orders has resulted in a need for greater involvement of static units capable of carrying out certain tasks (e.g. assembly, cutting, ironing) and mobile robots during the garment production process. Previous research has dealt with the development of a scheduler for these types of robots once all orders have been received. Although meaningful, this model remains impractical in realistic production settings. This paper introduces TransPRES (Transformable Production REsource Scheduler), a deep reinforcement learning-based scheduler that assigns three different kinds of static and mobile robots to individual tasks based on demand. This newly proposed method uses a tailor-made state to represent the transformable production, and an action that schedules the corresponding resource based on its type. To evaluate this approach, we developed a transformable production simulator that generates garment manufacturing orders with varying numbers of tasks, processing times, hierarchy, and resources required to complete them. Furthermore, we extended a heuristic-based approach and an additional reinforcement learning-based approach for comparison within a transformable production environment. Results show that our method outperforms previous approaches by being able to schedule 11% more tasks using 2 ms per flop which, in turn, demonstrates its effectiveness for the future of transformable production. |
BibTeX:
@inproceedings{Bezerra2023-it,
author = {Bezerra, Ranulfo and Ohno, Kazunori and Kojima, Shotaro and Aryadi, Hanif A and Gunji, Kenta and Kuwahara, Masao and Okada, Yoshito and Konyo, Masashi and Tadokoro, Satoshi},
title = {Heterogeneous Multi-Robot Task Allocation for Garment Transformable Production using Deep Reinforcement Learning},
booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
publisher = {IEEE},
year = {2023},
pages = {1--8},
url = {http://dx.doi.org/10.1109/CASE56687.2023.10260437},
doi = {10.1109/CASE56687.2023.10260437}
}
|
| Hanif A. Aryadi, Ranulfo Bezerra, Kazunori Ohno, Kenta Gunji, Shotaro Kojima, Masao Kuwahara, Yoshito Okada, Masashi Konyo and Satoshi Tadokoro, "Multi-Agent Pickup and Delivery in Transformable Production," 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), pp. 1-8, August. 2023. doi:10.1109/CASE56687.2023.10260587. |
| Abstract: This paper focuses on multi-agent pickup and delivery (MAPD) in the context of the transformable production system. With the increasing demand for personalized products in today's globalized world, manufacturers are providing customers with the option to purchase items with specific details. Transformable production is a solution to manufacture customized products, which involves both static agents responsible for manufacturing and mobile agents responsible for pickup and delivery tasks. Numerous works in the literature have studied the MAPD problem. However, these works consider pickup-and-delivery tasks to be independent of each other. In the transformable production system, a delivery task can only start if the corresponding manufacturing process is finished. Therefore, it is necessary to consider the task dependencies when addressing MAPD in transformable production. To tackle this challenge, we propose a framework to solve this problem. We employ a heuristic algorithm to assign tasks to static and mobile agents and introduce a parameter that adjusts the expected pickup and delivery duration. Additionally, we introduce heuristic cost functions for path finding tailored to our problem. Through comparative analysis using synthetic test sets, we highlight the significance of the parameter used in pickup-and-delivery task scheduling in obtaining improved results. Furthermore, we demonstrate that our proposed algorithm and cost functions achieve slightly better performance than the baseline algorithm. |
BibTeX:
@inproceedings{Aryadi2023-xg,
author = {Aryadi, Hanif A and Bezerra, Ranulfo and Ohno, Kazunori and Gunji, Kenta and Kojima, Shotaro and Kuwahara, Masao and Okada, Yoshito and Konyo, Masashi and Tadokoro, Satoshi},
title = {Multi-Agent Pickup and Delivery in Transformable Production},
booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
publisher = {IEEE},
year = {2023},
pages = {1--8},
url = {http://dx.doi.org/10.1109/CASE56687.2023.10260587},
doi = {10.1109/CASE56687.2023.10260587}
}
|
| Natsumi Morita, Akio Ichijo, Masashi Konyo, Haruki Kato, Kazuya Sase, Hikaru Nagano and Satoshi Tadokoro, "Wearable High-Resolution Haptic Display Using Suction Stimuli to Represent Cutaneous Contact Information on Finger Pad," IEEE transactions on haptics, vol. 16, no. 4, pp. 687-694, May. 2023. doi:10.1109/TOH.2023.3280391. |
| Abstract: A high-resolution haptic display that reproduces tactile distribution information on the contact surface between a finger and an object realizes the presentation of the softness of the object and the magnitude and direction of the applied force. In this article, we developed a 32-channel suction haptic display that can reproduce tactile distribution on fingertips with high resolution. The device is wearable, compact, and lightweight, thanks to the absence of actuators on the finger. A FE analysis of the skin deformation confirmed that the suction stimulus interfered less with adjacent stimuli in the skin than when pressing with positive pressure, thus allowing more precise control of local tactile stimuli. The optimal layout with the least error was selected from three configurations dividing 62 suction holes into 32 ports.The suction pressures were determined by calculating the pressure distribution by a real-time finite element simulation of the contact between the elastic object and the rigid finger. A discrimination experiment of softness with different Young's modulus and its JND investigation suggested that the higher resolution of the suction display improved the performance of the softness presentation compared to a 16-channel suction display previously developed by the authors. |
BibTeX:
@article{Morita2023,
author = {Morita, Natsumi and Ichijo, Akio and Konyo, Masashi and Kato, Haruki and Sase, Kazuya and Nagano, Hikaru and Tadokoro, Satoshi},
title = {Wearable High-Resolution Haptic Display Using Suction Stimuli to Represent Cutaneous Contact Information on Finger Pad},
journal = {IEEE transactions on haptics},
year = {2023},
volume = {16},
number = {4},
pages = {687--694},
url = {http://dx.doi.org/10.1109/TOH.2023.3280391},
doi = {10.1109/TOH.2023.3280391}
}
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| Yuto Kemmotsu, Keniiro Tadakuma, Kazuki Abe, Masahiro Watanabe, Masashi Konyo and Satoshi Tadokoro, "Balloon Pin Array Gripper: Mechanism for Deformable Grasping with Two-Step Shape Adaptation," 2023 IEEE International Conference on Soft Robotics (RoboSoft), pp. 1-8, April. 2023. doi:10.1109/RoboSoft55895.2023.10121917. |
| Abstract: Pin array grippers with many slidable pins arranged in parallel can adapt to complex object shapes. However, in conventional methods that move the pins only in specific directions, the conditions for successful grasping are limited by the shape, position, and orientation of the target object. In this study, we propose a balloon pin array gripper capable of inflating flexible balloons in the radial direction of each pin. This method makes the soft wrapping of objects possible from multiple directions in a two-step shape adaptation: pin array sliding and balloon expansion. A design method for combining balloons with a pin array, including an air supply system, was devised. Experiments and tests with the prototype demonstrated the validity of the concept. |
BibTeX:
@inproceedings{Kemmotsu2023-ld,
author = {Kemmotsu, Yuto and Tadakuma, Keniiro and Abe, Kazuki and Watanabe, Masahiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Balloon Pin Array Gripper: Mechanism for Deformable Grasping with Two-Step Shape Adaptation},
booktitle = {2023 IEEE International Conference on Soft Robotics (RoboSoft)},
publisher = {IEEE},
year = {2023},
pages = {1--8},
url = {http://dx.doi.org/10.1109/RoboSoft55895.2023.10121917},
doi = {10.1109/RoboSoft55895.2023.10121917}
}
|
| Hikaru Nagano, Naoki Saito, Kohei Matsumori, Taiki Kazama, Masashi Konyo and Yasutoshi Yokokohji, "On the Analysis of Tactile Sensation Based on Time Measurement: An Experimental Case Study on the Interaction Between Skin and Lotion," IEEE transactions on haptics, vol. 16, no. 2, pp. 339-344, March. 2023. doi:10.1109/TOH.2023.3260907. |
| Abstract: This paper presents a novel experimental case study in which tactile sensation is analyzed as 4-dimensional subjective data consisting of stimulus, participant, evaluation term, and temporal components, using a temporal measurement approach. Specifically, the skin and lotion interaction was evaluated using the Temporal Check-All-That-Apply (TCATA) method. Two practical analysis examples were conducted to experimentally demonstrate the potential use cases of time-series subjective tactile data. In the first example, stimulus classification accuracy was compared between different sampling periods, including the whole and late periods, with the latter being akin to the conventional Semantic Differential (SD) method condition. The results indicate that the whole and early periods exhibit higher accuracy compared to the latest period, implying that temporal measurements may capture more stimulus characteristics than the conventional approach. In the second example, cluster analysis based on the time-series subjective data was conducted. The results revealed that the participants were classified into two distinct clusters, with the trends of time-series changes being significantly different between the clusters. |
BibTeX:
@article{Nagano2023,
author = {Nagano, Hikaru and Saito, Naoki and Matsumori, Kohei and Kazama, Taiki and Konyo, Masashi and Yokokohji, Yasutoshi},
title = {On the Analysis of Tactile Sensation Based on Time Measurement: An Experimental Case Study on the Interaction Between Skin and Lotion},
journal = {IEEE transactions on haptics},
year = {2023},
volume = {16},
number = {2},
pages = {339--344},
url = {http://dx.doi.org/10.1109/TOH.2023.3260907},
doi = {10.1109/TOH.2023.3260907}
}
|
| Saito Sakaguchi, Kaoru Saito, Naomi Arakawa and Masashi Konyo, "The dynamic behavior of skin in response to vibrating touch stimuli affects tactile perception," Skin research and technology: official journal of International Society for Bioengineering and the Skin, vol. 29, no. 3, pp. e13295, March. 2023. doi:10.1111/srt.13295. |
| Abstract: BACKGROUND: The tactile perceptions arising on the skin mediate representations of the body and perceptions of the external physical world. Thus, these tactile sensations greatly impact our lives. Although tactile perception is caused by skin deformation, few studies have investigated the contribution of skin physical properties to tactile perception because the skin deformation in response to mechanical stimuli is difficult to measure in real time. In this study, we investigated how the skin deforms in response to externally applied mechanical stimuli and the effect of skin deformation on tactile perception. MATERIALS AND METHODS: Tactile perception was assessed using psychophysical methods. A suction device was used to measure skin deformation in response to mechanical stimuli while assessing tactile perception. The relationship between skin deformation and tactile perception was investigated. RESULTS: Individuals show different skin deformation behavior in response to stimuli of the same intensity, and the amount of skin deformation affects the perceived pressure induced by suction stimulation. Furthermore, when the amount of skin deformation is small, tactile perception becomes more difficult, and the ease of tactile perception varies. CONCLUSION: We argue that dynamic skin behavior is an important factor in tactile perception. Focusing on skin physical characteristics from a constructivist perspective of complex tactile perception may lead to improved tactile communication perception through the control of skin physical properties and realistic tactile presentation in remote environments. |
BibTeX:
@article{Sakaguchi2023,
author = {Sakaguchi, Saito and Saito, Kaoru and Arakawa, Naomi and Konyo, Masashi},
title = {The dynamic behavior of skin in response to vibrating touch stimuli affects tactile perception},
journal = {Skin research and technology: official journal of International Society for Bioengineering and the Skin},
publisher = {Wiley},
year = {2023},
volume = {29},
number = {3},
pages = {e13295},
url = {http://dx.doi.org/10.1111/srt.13295},
doi = {10.1111/srt.13295}
}
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| Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo and Satoshi Tadokoro, "Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism," IEEE robotics and automation letters, vol. 8, no. 2, pp. 736-743, February. 2023. doi:10.1109/LRA.2022.3224664. |
| Abstract: Machines such as robotic grippers use powerful actuators or gearboxes to exert large loads at the expense of energy consumption, volume, and mass. We propose a stepless force amplification mechanism that assists clamping by a pair of permanent magnets, in which the external control force required to adjust their distance, and thus the output force, is suppressed by compensation springs. For further sophistication, we invented a new width adjuster using a lever. By separating the actuation of fingers and compensated magnets temporarily, the adjuster eliminated the nonlinear influence of the object width on the clamping force. The prototype gripper for proof of concept revealed that the adjuster successfully linearized the width-force characteristic with an inclination of 0.15 N/mm, which is sufficiently insignificant compared to the major output force of approximately 50 N. The force amplification effect coexisted with this phenomenon, such that the clamping force was amplified to 137.5% while maintaining the energy consumption of a DC motor, and the force-energy efficiency was multiplied by 1.39. Thus, able to be driven by a weaker, smaller, and lighter actuator, the gripper contributes to extension of the operation time of robots with limited power. |
BibTeX:
@article{Shimizu2023,
author = {Shimizu, Tori and Tadakuma, Kenjiro and Watanabe, Masahiro and Abe, Kazuki and Konyo, Masashi and Tadokoro, Satoshi},
title = {Permanent-Magnetically Amplified Robotic Gripper With Less Clamping Width Influence on Compensation Realized by a Stepless Width Adjustment Mechanism},
journal = {IEEE robotics and automation letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
year = {2023},
volume = {8},
number = {2},
pages = {736--743},
url = {https://ieeexplore.ieee.org/document/9963721/},
doi = {10.1109/LRA.2022.3224664}
}
|
| Tomoya Takahashi, Masahiro Watanabe, Kazuki Abe, Kenjiro Tadakuma, Naoto Saiki, Masashi Konyo and Satoshi Tadokoro, "Inflated Bendable Eversion Cantilever Mechanism With Inner Skeleton for Increased Stiffness," IEEE robotics and automation letters, vol. 8, no. 1, pp. 168-175, January. 2023. doi:10.1109/LRA.2022.3221340. |
| Abstract: Inflatable structures used in soft robotics applications have unique characteristics. In particular, the tip-extension structure, which extends the structure from its tip, can grow without creating friction with the environment. However, these inflatable structures need high pressure to maintain their stiffness under various conditions. Excessive inner pressure limits their application in that it prevents the structure from maintaining its curved shape and from complying with specifications. This study aimed to simultaneously lower the pressure and increase the rigidity of the structure. Our work resulted in the proposal of a mechanism that combines a skeleton structure consisting of multi-joint links with functions to increase the rigidity. Insertion of this mechanism into an inflatable structure obviates the need for high inner pressure, yet enables the structure to bend and maintain the intended shape. We devised a design based on rigid articulated links and combined it with a membrane structure that utilizes the advantages of the tip-extension structure. The experimental results show that the payload of the structure designed to operate at low pressure increases compared to that of the membrane-only structure. The findings of this research can be applied to long robots that can be extended into open space without drooping and to mechanisms that enable structures to wrap around the human body. |
BibTeX:
@article{Takahashi2023,
author = {Takahashi, Tomoya and Watanabe, Masahiro and Abe, Kazuki and Tadakuma, Kenjiro and Saiki, Naoto and Konyo, Masashi and Tadokoro, Satoshi},
title = {Inflated Bendable Eversion Cantilever Mechanism With Inner Skeleton for Increased Stiffness},
journal = {IEEE robotics and automation letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
year = {2023},
volume = {8},
number = {1},
pages = {168--175},
url = {https://ieeexplore.ieee.org/document/9944846/},
doi = {10.1109/LRA.2022.3221340}
}
|
| 2022 |
| Yu Yamauchi, Yuichi Ambe, Hikaru Nagano, Masashi Konyo, Yoshiaki Bando, Eisuke Ito, Solvi Arnold, Kimitoshi Yamazaki, Katsutoshi Itoyama, Takayuki Okatani, Hiroshi G. Okuno and Satoshi Tadokoro, "Development of a continuum robot enhanced with distributed sensors for search and rescue," ROBOMECH journal, vol. 9, no. 1, pp. 1-13, December. 2022. doi:10.1186/s40648-022-00223-x. |
| Abstract: AbstractContinuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. However, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed. This is because attaching multiple sensors to the robot without compromising its body flexibility is challenging. In this study, we installed multiple small sensors in a distributed manner to develop a continuum-robot system with multiple information-gathering functions. In addition, a field experiment with the robot demonstrated that the gathered multiple information has a potential to improve the searching efficiency. Concretely, we developed an active scope camera with sensory functions, which was equipped with a total of 80 distributed sensors, such as inertial measurement units, microphones, speakers, and vibration sensors. Herein, we consider space-saving, noise reduction, and the ease of maintenance for designing the robot. The developed robot can communicate with all the attached sensors even if it is bent with a minimum bending radius of 250 mm. We also developed an operation interface that integrates search-support technologies using the information gathered via sensors. We demonstrated the survivor search procedure in a simulated rubble environment of the Fukushima Robot Test Field. We confirmed that the information provided through the operation interface is useful for searching and finding survivors. The limitations of the designed system are also discussed. The development of such a continuum robot system, with a great potential for several applications, extends the application of continuum robots to disaster management and will benefit the community at large. |
BibTeX:
@article{Yamauchi2022,
author = {Yamauchi, Yu and Ambe, Yuichi and Nagano, Hikaru and Konyo, Masashi and Bando, Yoshiaki and Ito, Eisuke and Arnold, Solvi and Yamazaki, Kimitoshi and Itoyama, Katsutoshi and Okatani, Takayuki and Okuno, Hiroshi G and Tadokoro, Satoshi},
title = {Development of a continuum robot enhanced with distributed sensors for search and rescue},
journal = {ROBOMECH journal},
publisher = {Springer Science and Business Media LLC},
year = {2022},
volume = {9},
number = {1},
pages = {1--13},
url = {https://robomechjournal.springeropen.com/articles/10.1186/s40648-022-00223-x},
doi = {10.1186/s40648-022-00223-x}
}
|
| Naoto Saiki, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo and Satoshi Tadokoro, "Experimental study of the mechanical properties of a spherical parallel link mechanism with arc prismatic pairs," IEEE robotics and automation letters, vol. 7, no. 4, pp. 11221-11227, October. 2022. doi:10.1109/lra.2022.3192760. |
BibTeX:
@article{Saiki2022,
author = {Saiki, Naoto and Tadakuma, Kenjiro and Watanabe, Masahiro and Abe, Kazuki and Konyo, Masashi and Tadokoro, Satoshi},
title = {Experimental study of the mechanical properties of a spherical parallel link mechanism with arc prismatic pairs},
journal = {IEEE robotics and automation letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
year = {2022},
volume = {7},
number = {4},
pages = {11221--11227},
url = {http://dx.doi.org/10.1109/lra.2022.3192760},
doi = {10.1109/lra.2022.3192760}
}
|
| Sandeep Kumar Nayak, Kazunori Ohno, Ranulfo Bezerra, Masashi Konyo and Satoshi Tadokoro, "Autonomous Human Navigation Using Wearable Multiple Laser Projection Suit," 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 53-60, November. 2022. doi:10.1109/SSRR56537.2022.10018708. |
| Abstract: Ahstract- Light projection-based visual feedback navigation systems are advantageous in easily conveying direction. It also shifts the mental attention of the user from the screen to the environment, which increases safety. However, building an autonomous navigation system for fast navigation using light projection has the challenge of human motion sensitivity and tuning of navigation parameters based on human needs. In this paper, we present an autonomous wearable multiple laser projection stimulus (mLPS) based navigation system. The mLPS consists of three discrete laser lights for representing directional cues. This enables very quick switching for high-speed movements and precise navigation by visual cues. We designed a chest-based wearable suit for minimizing the sensitivity of light projection to human motion. Furthermore, we present a waypoint-based human navigation system and tuning of its navigation parameters based on both navigation performance and perceived human stress. Finally, a successful demonstration of the concept is presented. |
BibTeX:
@inproceedings{Nayak2022,
author = {Nayak, Sandeep Kumar and Ohno, Kazunori and Bezerra, Ranulfo and Konyo, Masashi and Tadokoro, Satoshi},
title = {Autonomous Human Navigation Using Wearable Multiple Laser Projection Suit},
booktitle = {2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
year = {2022},
pages = {53--60},
url = {http://dx.doi.org/10.1109/SSRR56537.2022.10018708},
doi = {10.1109/SSRR56537.2022.10018708}
}
|
| Masahiro Watanabe, Yuto Kemmotsu, Kenjiro Tadakuma, Kazuki Abe, Masashi Konyo and Satoshi Tadokoro, "Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 480-487, October. 2022. doi:10.1109/IROS47612.2022.9982162. |
| Abstract: We propose a novel toroidal origami monotrack capable of smooth-skin driving and bending for closed-skin-drive robots. Monotracks are a promising solution for achieving high mobility in unstructured environments. Toroidal-drive mechanisms enable whole skin drive; however, conventional methods experience unexpected wrinkling and buckles that lead to a large resistance. In this study, we propose an origami bellows structure with multiple rollers that can maintain the skin tension and deal with the cause of large friction between the skin and the body. The origami structure design method is presented, and the bending angle range and required drive force were derived through a theoretical analysis. The validity of the effectiveness of the concept was verified through prototype testing. |
BibTeX:
@inproceedings{Watanabe2022,
author = {Watanabe, Masahiro and Kemmotsu, Yuto and Tadakuma, Kenjiro and Abe, Kazuki and Konyo, Masashi and Tadokoro, Satoshi},
title = {Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots},
booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2022},
pages = {480--487},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9982162},
doi = {10.1109/IROS47612.2022.9982162}
}
|
| Kenta Gunji, Kazunori Ohno, Shotaro Kojima, Ranulfo Bezerra, Yoshito Okada, Masashi Konyo and Satoshi Tadokoro, "LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2825-2832, October. 2022. doi:10.1109/IROS47612.2022.9981492. |
| Abstract: There is an increasing demand for robots that can be substituted for humans in various tasks. Mobile robots are being introduced in factories, stores, and public facilities for carrying goods and cleaning. In factories and stores, desks and shelves are arranged such that the work and movement of personnel are reduced. The surrounding furniture is also set to ensure that a single task can be performed in the same place. It is essential to study the intelligence of robots using information from such layouts, wherein human labor and movements are optimized. However, There is no method of map construction or location estimation that uses the characteristics of furniture arrangements that facilitate human work in a work space. Therefore, this study proposes a method for object mapping using layouts in crowded workspaces. Graphically represent the characteristics of furniture placement that make it easy for people to work in a workspace. The links in the graph represent the connections between the objects in the layout property. The nodes are the objects, and the weights of the links represent the strength of the layout properties. This graph is optimized by GraphSLAM to construct a map that considers the arrangement's characteristics. Using the graph structure improves the map's accuracy while allowing for relative changes in placement. The results show a 50.44% improvement in accuracy in a space with 18 desks, followed by two variations of similar desk layouts. The same improvement in accuracy was also observed when the relative positioning of objects changed significantly in each variation, such as a change to the left or right on the same side. |
BibTeX:
@inproceedings{Gunji2022,
author = {Gunji, Kenta and Ohno, Kazunori and Kojima, Shotaro and Bezerra, Ranulfo and Okada, Yoshito and Konyo, Masashi and Tadokoro, Satoshi},
title = {LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion},
booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2022},
pages = {2825--2832},
url = {http://dx.doi.org/10.1109/IROS47612.2022.9981492},
doi = {10.1109/IROS47612.2022.9981492}
}
|
| Ranulfo Bezerra, Kazunori Ohno, Shotaro Kojima, Hanif A. Aryadi, Kenta Gunji, Masao Kuwahara, Yoshito Okada, Masashi Konyo and Satoshi Tadokoro, "Heterogeneous Multi-Robot Task Scheduling Heuristics for Garment Mass Customization," 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), pp. 439-446, August. 2022. doi:10.1109/CASE49997.2022.9926509. |
| Abstract: Industrial environments that rely on Mass Customization are characterized by a high variety of product models and reduced batch sizes, demanding prompt adaptation of resources to a new product model. In such environment, it is important to schedule tasks that require manual procedures with different levels of complexity and repetitiveness. In a garment mass customization scenario, task scheduling needs to take into consideration the dependency of the tasks, meaning that in order to initiate a certain task, materials from previous tasks may be required. In order to carry out a smooth scheduling process within a garment mass customization factory, not only the tasks but also the transportation of materials to perform such tasks need to be scheduled to static and mobile robots, respectively. To tackle this problem, we propose a set of heuristics that are able to schedule both the task work and transportation of materials. We analyze these heuristics theoretically with respect to computational complexity. Subsequently, the performance of each algorithm is evaluated using a synthetic testset. The comparative analysis shows that the extended algorithms have close results among themselves, whereas for the heuristics, Minimum Transportation Cost (MTC) outperforms all of the other algorithms. Moreover, the combination of Predict Earliest Finish Time (PEFT) and MTC is more efficient compared to other algorithm combinations. |
BibTeX:
@inproceedings{Bezerra2022,
author = {Bezerra, Ranulfo and Ohno, Kazunori and Kojima, Shotaro and Aryadi, Hanif A and Gunji, Kenta and Kuwahara, Masao and Okada, Yoshito and Konyo, Masashi and Tadokoro, Satoshi},
title = {Heterogeneous Multi-Robot Task Scheduling Heuristics for Garment Mass Customization},
booktitle = {2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)},
year = {2022},
pages = {439--446},
url = {http://dx.doi.org/10.1109/CASE49997.2022.9926509},
doi = {10.1109/CASE49997.2022.9926509}
}
|
| Yuichi Ambe, Shinya Aoi, Masashi Konyo and Satoshi Tadokoro, "Local Sensory Feedback Generates Various Wave Gaits in Multi-legged Robots via Embodied Sensorimotor Interaction," 2022 13th Asian Control Conference (ASCC), pp. 1379-1383, May. 2022. doi:10.23919/ASCC56756.2022.9828259. |
| Abstract: According to the species and situations, multi-legged animals show three wave-like ipsilateral interlimb coordination. The swing leg movements propagate from posterior to anterior (direct-wave), from anterior to posterior (retrograde-wave), and in both directions with a source (source-wave). However, the gait generation mechanism is still unclear because of the complex interaction between neural control and dynamic body systems through sensory information (embodied sensorimotor interaction). Our previous study showed that local sensory feedback has a function to generate the three interlimb coordination observed in multi-legged animals using a simple model. In this study, to further understand the functional role of sensory feedback, we investigate the effect of the sensory feedback on a three-dimensional multi-legged robot model developed. The simulation result with the ten-legged dynamic robot model shows that the sensory feedback also generates various wave gaits in the robot due to the embodied sensorimotor interaction. The generated gaits are not predetermined but emerge in a decentralized manner. Parts of generated gaits are similar to direct and retrograde wave gaits. In addition, sink wave gait, in which the swing movements sink in the center of the robot, is also observed. |
BibTeX:
@inproceedings{Ambe2022,
author = {Ambe, Yuichi and Aoi, Shinya and Konyo, Masashi and Tadokoro, Satoshi},
title = {Local Sensory Feedback Generates Various Wave Gaits in Multi-legged Robots via Embodied Sensorimotor Interaction},
booktitle = {2022 13th Asian Control Conference (ASCC)},
year = {2022},
pages = {1379--1383},
url = {http://dx.doi.org/10.23919/ASCC56756.2022.9828259},
doi = {10.23919/ASCC56756.2022.9828259}
}
|
| Yu Yamauchi, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space," IEEE Access, vol. 10, pp. 37646-37657, March. 2022. doi:10.1109/ACCESS.2022.3162835. |
| Abstract: Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for extinguishing fires. The main challenge in implementing large shape deformations is accommodating the twisting of the body that results from the deformation. To address this problem, we proposed a two-dimensional passive rotating nozzle unit that can expand the directionality of net force against torsion; however, it has not yet been tested on a flying robot. In this study, we achieved the large shape deformations of a jet-actuated flying continuum robot using an improved passive rotating nozzle unit that can handle three-dimensional (3D) force. First, we developed a model of the improved nozzle unit and confirmed that the unit can increase the net force direction. Herein, the design strategy for the rotary damper to handle the instability that arises from motor limitations is discussed. The stabilized flight controller was applied to a continuum robot with the nozzle unit. Simulation results showed that the 2 m robot could perform large head bends (from 0° to 135°). Although the previous fixed nozzle unit twisted by approximately 40°, which made the extra movable range of the nozzles effectively zero, the proposed nozzle unit maintained the movable range to avoid twisting. We experimentally confirmed that the nozzle unit can expand the direction of the 3D net force, and that a large shape bending of approximately ±90° can be achieved using a 1.6 m flying robot. |
BibTeX:
@article{Yamauchi2022a,
author = {Yamauchi, Yu and Ambe, Yuichi and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space},
journal = {IEEE Access},
publisher = {ieeexplore.ieee.org},
year = {2022},
volume = {10},
pages = {37646--37657},
url = {http://dx.doi.org/10.1109/ACCESS.2022.3162835},
doi = {10.1109/ACCESS.2022.3162835}
}
|
| Issei Onda, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Tetsuyou Watanabe, Masashi Konyo and Satoshi Tadokoro, "Highly Articulated Tube Mechanism With Variable Stiffness and Shape Restoration Using a Pneumatic Actuator," IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3664-3671, February. 2022. doi:10.1109/LRA.2022.3147246. |
| Abstract: Recently, soft robotics research has focused on mechanisms to control the stiffness of robot structures. There are several types of variable stiffness mechanisms that can change the stiffness of such structures by altering friction force. Among these, the negative-pressurization method applies negative pressure to the particles or layers that are filled inside a bag so that they contact each other and increase stiffness. However, the maximum driving pressure that can be achieved using the negative-pressurization method is 0.1 MPa, which limits the stiffness. In this study, we devised a new fluid-driven mechanism that can change the stiffness through positive pressurization using pneumatic artificial muscles. The proposed structure constructed with hollow beads and inner muscles can hold arbitrary joint angles by the contraction force generated when a pressure is applied. We measured the torque in the pitch direction due to friction when the internal pressure and inner segment diameter were changed. We confirmed that the error between the measured and theoretical torque value was within a 20% at any inner diameter. Also, since a pneumatic artificial muscle is enclosed inside the structure, an actuation effect can occur when the pressure is applied. We measured the restoring angle and force of this effect when the valve opening ratio and inner segment diameter were changed. We confirmed the function that can change the shape restoration characteristics by changing the flow rate with a single rubber tube. Our approach will help design effective stiffening mechanisms using positive pressurization in soft robotics applications. In future, we will design a tensioner mechanism for arbitrarily changing the distance of segments in the axial direction, and we will investigate the holding torque, restoring angle and force when the distance of the segments is changed. |
BibTeX:
@article{Onda2022,
author = {Onda, Issei and Tadakuma, Kenjiro and Watanabe, Masahiro and Abe, Kazuki and Watanabe, Tetsuyou and Konyo, Masashi and Tadokoro, Satoshi},
title = {Highly Articulated Tube Mechanism With Variable Stiffness and Shape Restoration Using a Pneumatic Actuator},
journal = {IEEE Robotics and Automation Letters},
year = {2022},
volume = {7},
number = {2},
pages = {3664--3671},
url = {https://ieeexplore.ieee.org/document/9699021/},
doi = {10.1109/LRA.2022.3147246}
}
|
| Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Kazuki Abe, Masashi Konyo and Satoshi Tadokoro, "Permanent-magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring," IEEE Robotics and Automation Letters, January. 2022. doi:10.1109/LRA.2022.3143231. |
| Abstract: Electromagnetic (EM) brakes are widely used but consume electricity continuously to maintain their activated state. In this paper, for efficient braking and idling of robots and vehicles, we proposed a concept of a brake mechanism using a permanent magnet for the amplification of the pressing force between brake pads, allowing for the brake torque to be steplessly regulated by a minimal external force. The prototype of the proposed mechanism was developed with a newly devised compensation springnot the conventional conical coil springscomprising two linear springs to shorten the pad-detaching stroke. For proof of concept, evaluation experiments based on the Japanese Industrial Standards were conducted. Both the maximum static and average dynamic friction torques increased to 161.0% and 192.9%, respectively, when identical pads of an EM brake were used for comparison. Power saving was also achieved when braking for longer than 0.43 s; the torqueenergy efficiency increased by 8.7 when measured for 1.0 s, successfully revealing the effectiveness of the proposed principle. Further, based on the forcedisplacement characteristic of the compensated magnet, the theoretical response time was numerically analyzed as 13.6 mscomparable to the contrasted EM brakevalidating the actual behavior of 14.0 ms. |
BibTeX:
@article{Shimizu2022,
author = {Shimizu, Tori and Tadakuma, Kenjiro and Watanabe, Masahiro and Abe, Kazuki and Konyo, Masashi and Tadokoro, Satoshi},
title = {Permanent-magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2022},
doi = {10.1109/LRA.2022.3143231}
}
|
| Yuichi Ambe, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "Stabilized Controller for Jet Actuated Cantilevered Pipe Using Damping Effect of an Internal Flowing Fluid," IEEE Access, vol. 10, pp. 5238-5249, January. 2022. doi:10.1109/ACCESS.2022.3140760. |
| Abstract: Fluid jet actuation is a potential actuation technique for continuum robots. It can generate and rapidly control a relatively large force using a small and lightweight structure because a significant amount of energy can be transported through its internal channels. Recently, jet-actuated flying continuum robots have been developed using this advantageous characteristic. However, a challenging issue in controlling the robot is the fluid structure interaction between the flexible body and the internal flowing fluid. This interaction often causes instability in the pipe conveying fluid. In this study, as a first step to address this issue, we propose a stabilized controller (vertical position control) for a jet-actuated two-dimensional cantilevered pipe with a nozzle unit at the tip using the damping effect of the internal flowing fluid and verify the controller with a real robot. Specifically, a model is constructed with the net force of the jets as the control input. A simple controller that can constantly decrease the energy function is proposed by utilizing the damping effect of the flowing fluid. Numerical simulations verify the stability of the system regardless of the flow velocity. In particular, fluid damping mainly suppresses the higher-order mode oscillations. Moreover, the stability of the system can be improved by adjusting the controller gains. We also conduct experiments using an actual robot to verify the simulation results. The vibrations can be damped by the fluid effect, and the stability can be improved using the proposed controller. |
BibTeX:
@article{Ambe2022,
author = {Ambe, Yuichi and Yamauchi, Yu and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {Stabilized Controller for Jet Actuated Cantilevered Pipe Using Damping Effect of an Internal Flowing Fluid},
journal = {IEEE Access},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2022},
volume = {10},
pages = {5238--5249},
url = {https://doi.org/10.1109/ACCESS.2022.3140760},
doi = {10.1109/ACCESS.2022.3140760}
}
|
| 2021 |
| Eri Takane, Kenjiro Tadakuma, Masahiro Watanabe, Masashi Konyo and Satoshi Tadokoro, "Design and Control Method of a Planar Omnidirectional Crawler Mechanism," Journal of Mechanical Design, vol. 144, no. 1, pp. 1-29, July. 2021. doi:10.1115/1.4051354. |
| Abstract: Omnidirectional mobility is a popular method of moving in narrow spaces. In particular, the planar omnidirectional crawler previously developed by the authors can traverse unstable and uneven terrain with a large contact area. A novel point is that the proposed system is unique in its ability to carry heavy loads in all directions without getting stuck because of the large pressure-receiving area between the crawler and ground. This work will facilitate omnidirectional motion, which has important implications for the use of robots in spaces such as not only factories, distribution centers, and warehouses but also soft soil in disaster sites. The objective of the present study was to establish a design and control method for an omnidirectional crawler mechanism that can conduct holonomic and two-axis cross driving. Only two motors are set on the crawler base for translation in the X- and Y-directions, and two large crawler units are arranged for turning. We design a small crawler that has higher traversing ability with a derailment prevention mechanism and tapered track. Further, the relationship between the motor rotational speed as input and crawler velocity as output was verified for control. In addition, it was demonstrated experimentally that the proposed crawler could travel across various types of rough terrain in a target direction. |
BibTeX:
@article{Takane2021,
author = {Takane, Eri and Tadakuma, Kenjiro and Watanabe, Masahiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Design and Control Method of a Planar Omnidirectional Crawler Mechanism},
journal = {Journal of Mechanical Design},
publisher = {American Society of Mechanical Engineers Digital Collection},
year = {2021},
volume = {144},
number = {1},
pages = {1--29},
url = {http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/144/1/013302/6731692/md_144_1_013302.pdf},
doi = {10.1115/1.4051354}
}
|
| Yu Yamauchi, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "Passive Orientation Control of Nozzle Unit with Multiple Water Jets to Expand the Net Force Direction Range for Aerial Hose-Type Robots," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5634-5641, July. 2021. doi:10.1109/LRA.2021.3082019. (SICE International Young Authors Award (SIYA) for IROS 2021 and IEEE Robotics and Automation Society Japan Joint Chapter Young Award to the presenter: Y. Yamauchi) |
| Abstract: Fluid injection has promising potential as a novel actuation approach for robots to enable the rapid switching of large forces. We have proposed a nozzle unit with multiple active rotating nozzles for controlling the magnitude and direction of the net force simultaneously. However, a new fundamental challenge arises when multiple nozzle units are connected to a long flexible robot, hence addressing the need to expand the injection range caused by twisting. The proposed nozzle unit can drastically expand the injection range using a passive rotation mechanism to automatically follow the intended injection direction. Concretely, the nozzle unit consists of the passive joint to rotate and two active rotating nozzles to realize the net force. If the unit emits the jets inwardly, the nozzle posture converges to the direction of net force without any additional control. By modeling the proposed nozzle unit, we theoretically validate the global stability of the proposed unit and derive sufficient conditions for geometric parameters. Moreover, we demonstrate that some geometrical parameters could modify the responsiveness of the posture. The developed nozzle unit experimentally verifies that the nozzle unit can direct the net force direction in the range of 180 degrees from the upward to the downward direction. In addition, we observe the step responses of the posture for several gains and confirm that responsiveness could be tuned by geometrical parameters. The results of the experiments agree well with the model trends. |
BibTeX:
@article{Yamauchi2021,
author = {Yamauchi, Yu and Ambe, Yuichi and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {Passive Orientation Control of Nozzle Unit with Multiple Water Jets to Expand the Net Force Direction Range for Aerial Hose-Type Robots},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
volume = {6},
number = {3},
pages = {5634--5641},
url = {https://ieeexplore.ieee.org/document/9435971},
doi = {10.1109/LRA.2021.3082019}
}
|
| Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness," IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8333-8340, August. 2021. doi:10.1109/LRA.2021.3105744. (SICE International Young Authors Award (SIYA) for IROS 2021 and IEEE Robotics and Automation Society Japan Joint Chapter Young Award to the presenter: T. Takahashi) |
| Abstract: Thin construction is an advantage in the design of mechanisms. Among them, the soft-bending thin sheet actuator can fit into the shape of an object and grasp it after inserting a finger into a narrow space. However, to facilitate bending, these mechanisms are thin or made of soft materials, which leads to low stiffness. In this study, we proposed a thin metal sheet actuator that deforms its cross-section in accordance with the bending motion to achieve both thinness and rigidity. It was composed of two metal sheets connected with rotational joints and links. We focused on the anisotropic bending stiffness of the metal sheet and realized a three-dimensional deformation structure; it can be driven only with rotary-driven input using both torsional and bending deformations of the sheet. The experimental results indicate that the stiffness is up to 8.7 times higher compared to the undeformed sheet structure. In addition, we used this mechanism to realize a thin finger mechanism with a lifting motion after inserting a narrow gap between the object and the floor. Additionally, we realized a compliant contacting motion by focusing on different elasticities depending on the direction of bending. |
BibTeX:
@article{Takahashi2021,
author = {Takahashi, Tomoya and Watanabe, Masahiro and Tadakuma, Kenjiro and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
volume = {6},
number = {4},
pages = {8333--8340},
url = {https://doi.org/10.1109/LRA.2021.3105744},
doi = {10.1109/LRA.2021.3105744}
}
|
| Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Amplification of Clamping Mechanism Using Internally-Balanced Magnetic Unit," IEEE International Conference on Intelligent Robots and Systems, pp. 2765-2771, sep. 2021. doi:10.1109/IROS51168.2021.9636470. |
| Abstract: Machines tend to use powerful actuators and large gearboxes to bear large loads, which are inconvenient in terms of responsiveness as they affect the duration of operations. Thus, to compensate the force to grasp an object, we propose a clamping mechanism implementing the internally-balanced magnetic unit (IB Magnet) as a force amplifier, which is a mechanism able to switch attached and detached states of a permanent magnet with an external force considerably smaller than its original attractive force. To realize the bi-parting constitution of fingers, a new compensation method using conical coil springs was designed to provide both precision and miniaturization. Relative to the constitution with a single motored screw, the prototype gripper for proof of concept successfully amplified the grasping force at most to 292.2% assisted by the magnetic attraction, while keeping the increase in power consumption of a DC motor only by 11.8%, making the force-energy efficiency 2.6 times larger. Thus, it was verified that the proposed gripper enables the use of actuators and current supplies that require less power. |
BibTeX:
@inproceedings{Shimizu2021b,
author = {Shimizu, Tori and Tadakuma, Kenjiro and Watanabe, Masahiro and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Amplification of Clamping Mechanism Using Internally-Balanced Magnetic Unit},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
pages = {2765--2771},
url = {https://ieeexplore.ieee.org/abstract/document/9636470},
doi = {10.1109/IROS51168.2021.9636470}
}
|
| Kosuke Yamaguchi, Masashi Konyo and Satoshi Tadokoro, "Sensory Equivalence Conversion of High-Frequency Vibrotactile Signals using Intensity Segment Modulation Method for Enhancing Audiovisual Experience," 2021 IEEE World Haptics Conference, WHC 2021, pp. 674-679, July. 2021. doi:10.1109/WHC49131.2021.9517147. |
| Abstract: High-frequency vibrations over a wide range can enhance the audiovisual experience. However, they require a high-response actuator and often cause acoustic noise. This study proposes a general conversion method of high-frequency vibrations into lower frequency ones while maintaining the original vibrotactile sensation. We developed the intensity segment modulation (ISM) method, which relies on the intensity-based perception model and the human capacity to detect temporal fluctuations in intensity at less than 100 Hz frequencies. The ISM allows us to convert any high-frequency vibrations (including the human auditory range) into a lower-frequency vibration at 150 - 300 Hz, which is suitable for typical haptic vibrators. The method divides the original signals into time segments in a specific period to match the human temporal resolution. Then, it calculates the intensity of each segment by decomposing the signals. ISM can output an amplitude-modulated waveform with a single carrier frequency. The sensory equivalence experiment showed that harmonic and percussive types vibrations at 400 Hz and 600 Hz were successfully converted into vibrations of 150 - 300 Hz with almost similar sensations or slightly different. The subjective evaluation of two video contents, i.e., a violin player and fireworks, demonstrated that the proposed method could deliver better-augmented reality. |
BibTeX:
@inproceedings{Yamaguchi2021,
author = {Yamaguchi, Kosuke and Konyo, Masashi and Tadokoro, Satoshi},
title = {Sensory Equivalence Conversion of High-Frequency Vibrotactile Signals using Intensity Segment Modulation Method for Enhancing Audiovisual Experience},
booktitle = {2021 IEEE World Haptics Conference, WHC 2021},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
pages = {674--679},
url = {https://doi.org/10.1109/WHC49131.2021.9517147},
doi = {10.1109/WHC49131.2021.9517147}
}
|
| Naoto Saiki, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Nobutoki, Shintaro Suzuki, Masashi Konyo and Satoshi Tadokoro, "2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4680-4687, jul. 2021. doi:10.1109/LRA.2021.3064187. |
| Abstract: Most articulated robots comprise multiple joints and links that control the position and posture of the end effector. The kinematic pair arrangement determines characteristics such as output force. The link configurations can be classified as serial link and parallel link mechanisms. A typical parallel link mechanism is the spherical parallel mechanism (SPM), designed to ensure that the end effector has only rotational degrees of freedom. However, the kinematic pair arrangement has not been sufficiently examined in two degrees of freedom (2-DOF) SPMs. Herein, we present a basic design method for the proposed 2-DOF SPM curved biaxial swing mechanism, with inputs comprising arc sliders. The swinging area of the passive link was small, and infinite rotation around a certain axis was achieved without collision or transfer to a singular posture. Using the kinematics of this mechanism, we clarified the linear roll output and non-linear pitch output. Moreover, we fabricated a prototype and measured its basic drive characteristics. The results revealed that the output performance was greatly dependent on the rotation angle, high movable range in the roll axis, and low movable range in the pitch axis. |
BibTeX:
@article{Saiki2021,
author = {Saiki, Naoto and Tadakuma, Kenjiro and Watanabe, Masahiro and Takane, Eri and Nobutoki, Masashi and Suzuki, Shintaro and Konyo, Masashi and Tadokoro, Satoshi},
title = {2-DOF Spherical Parallel Mechanism Capable of Biaxial Swing Motion with Active Arc Sliders},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
volume = {6},
number = {3},
pages = {4680--4687},
url = {https://ieeexplore.ieee.org/document/9372822},
doi = {10.1109/LRA.2021.3064187}
}
|
| Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4576-4583, jul. 2021. doi:10.1109/LRA.2021.3060383. |
| Abstract: The force required to drive a mechanism can be compensated by adding an equivalent load in the opposite direction. By reversing the input and output of the load compensation, we proposed the concept of a displacement-force converter that enables the deformation of the elastic element to be controlled steplessly by a minimal external force. Its principle was proved in our previous study, but challenges arose owing to the use of a wire and pulley. Here, we introduce a new compensation method using a noncircular cam that generates a compensation torque due to the contact force from the follower, which is split in the tangential direction of the cam by the pressure angle varying at rotation. Using a prototype for proof of concept, the maximum control force required for the extension of the spring was successfully reduced by 23.2%. Furthermore, uniform forces were obtained between extension and compression so that the difference between them decreased from 543% to 49% relative to compression. Thus, actuators and current supplies requiring less power could be selected. Moreover, the prototype model was incorporated into a variable stiffness mechanism of a soft robotic gripper as a wire tensioner to show the expandability of the displacement-force converter. |
BibTeX:
@article{Shimizu2021,
author = {Shimizu, Tori and Tadakuma, Kenjiro and Watanabe, Masahiro and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam with Variable Pressure Angle},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
volume = {6},
number = {3},
pages = {4576--4583},
url = {https://ieeexplore.ieee.org/document/9357905},
doi = {10.1109/LRA.2021.3060383}
}
|
| Tomoya Takahashi, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Natsumi Hookabe, Hiroshi Kajiahara, Takeshi Yamasaki, Masashi Konyo and Satoshi Tadokoro, "Eversion Robotic Mechanism with Hydraulic Skeletonto Realize Steering Function," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5413-5420, jul. 2021. doi:10.1109/LRA.2021.3073653. |
| Abstract: For rescue or endoscope applications, snake-like robots have been extensively studied to access and explore confined spaces, such as small-diameter holes or complicated debris. Among them, eversion robot which can evert their flexible surface membrane to extend, exhibit high-mobility performance, even in fragile or soft ground, because they can move without friction or slippage. However, the steering mechanism of these flexible robots require a rigid environment or complex mechanisms to maintain their curved shape. In this study, we realize a long eversion robot with a selectable extension direction and with a retractable function using an 'unsealed' liquid-driven system that takes advantage of a high-density liquid. It comprises a container whose upper-part is open, an eversion robot, and a hollow steering mechanism inserted within the robot. The theoretical analysis of the steering is presented, and the generated friction and required tension under several conditions are measured. Experimentally, we determine the minimum diameter of the steering mechanism, which can minimize friction and enable retraction. The inner tubular mechanism can be operated independently during eversion of the outer membrane structure; therefore, the steering mechanism can be replaced with other structures, such as cameras and inspection sensors. |
BibTeX:
@article{Takahashi2021,
author = {Takahashi, Tomoya and Tadakuma, Kenjiro and Watanabe, Masahiro and Takane, Eri and Hookabe, Natsumi and Kajiahara, Hiroshi and Yamasaki, Takeshi and Konyo, Masashi and Tadokoro, Satoshi},
title = {Eversion Robotic Mechanism with Hydraulic Skeletonto Realize Steering Function},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2021},
volume = {6},
number = {3},
pages = {5413--5420},
url = {https://ieeexplore.ieee.org/document/9405417},
doi = {10.1109/LRA.2021.3073653}
}
|
| Issei Onda, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Pneumatic Driven Hollow Variable Stiffness Mechanism Aiming Non-Contact Insertion of Telescopic Guide Tubes," 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft), pp. 615-621, apr. 2021. doi:10.1109/ROBOSOFT51838.2021.9479293. |
| Abstract: Disaster robots that can work safely and quickly in complex and fragile environments are required for collecting information from debris for initial response and recovery work. Various snake-like robots have been proposed that can be inserted into a confined space. However, their propulsion mechanisms, such as the wheel, the continuous track, and the vibrating inclined cilia, must be in physical contact with the environment and may induce secondary disasters like a further break and fall of debris. This paper introduces a snake-like robot with a two radial-layer structure that can be propelled not only on an arbitrary trajectory but also without establishing contact with the environment by sliding its two coaxial tubes alternately and switching their stiffness by internal pressurization. This newly invented variable stiffness mechanism has a hollow structure that allows both simplicity of design and positive pressure activation. A prototype model was developed for proof of principle, and the average pulling forces required to actuate either the inner or the outer tube when the other tube is bent at 1/225 and fixed were measured to be namely 67.6 N and 5.66 N, respectively. This evaluation experiment validated the proposed principle of contactless propulsion mechanism. In the future, it might be possible to verify whether non-contact propulsion can be conducted in the air as well, thereby requiring the verification of a theoretical model. |
BibTeX:
@inproceedings{Onda2021,
author = {Onda, Issei and Watanabe, Masahiro and Tadakuma, Kenjiro and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Pneumatic Driven Hollow Variable Stiffness Mechanism Aiming Non-Contact Insertion of Telescopic Guide Tubes},
booktitle = {2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)},
publisher = {IEEE},
year = {2021},
pages = {615--621},
url = {https://ieeexplore.ieee.org/document/9479293/},
doi = {10.1109/ROBOSOFT51838.2021.9479293}
}
|
| 2020 |
| Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo and Satoshi Tadokoro, "Retraction Mechanism of Soft Torus Robot With a Hydrostatic Skeleton," IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6900-6907, oct. 2020. doi:10.1109/LRA.2020.3019736. |
| Abstract: Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective in robotic search applications. Robots that extend from the tip can lengthen their body without friction from the environment. However, the flexibility of the thin membrane inhibits the retraction motion of the tip due to buckling. Two methods have been proposed to resolve this issue; increasing the pressure of the internal fluid to reinforce rigidity, and mounting an actuator at the tip. The disadvantage of the former is that the increase is limited by the membrane pressure resistance, while the second method leads to robot complexity. In this letter, we present a tip-retraction mechanism with a hydrostatic skeleton that can prevent buckling and takes advantage of the friction from the external environment. Water is used as the internal fluid to increase ground pressure with the environment, which is different from the conventional methods that use pneumatic. We explore the failure pattern of the retraction motion and propose solutions by using a hydrostatic skeleton robot. Additionally, we develop a prototype robot that successfully retracts by using the proposed methodology. Our solution can contribute to the advancement of mechanical design in the soft robotics field with applications to soft snakes and manipulators. |
BibTeX:
@article{Takahashi2020,
author = {Takahashi, Tomoya and Watanabe, Masahiro and Tadakuma, Kenjiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Retraction Mechanism of Soft Torus Robot With a Hydrostatic Skeleton},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2020},
volume = {5},
number = {4},
pages = {6900--6907},
url = {https://ieeexplore.ieee.org/document/9178411/},
doi = {10.1109/LRA.2020.3019736}
}
|
| Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo and Satoshi Tadokoro, "Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement," IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5537-5544, oct. 2020. doi:10.1109/LRA.2020.2986993. |
| Abstract: Herein, we focus on the design method of a robot, named Wave Wheel, capable of generating a smooth continuous peristaltic wave, which is driven by a bundled rotary helix drive mechanism. Wave Wheel mainly consists of a braided mesh tube, multiple helices that are arranged on the circumference, and spur gears. When a single motor rotates the helices, the wheel generates peristaltic waves. The proposed mechanism has some unique characteristics: (i) In principle, smooth peristalsis can be generated with a simple structure. (ii) It can be driven by a single motor and can propagate waves at high speed by infinite rotation of the shaft. (iii) The structure is a circle in the transversal plane and can be used as an omnidirectional drive wheel. The basic design method, such as waveform, velocity, and the collision condition are discussed from a geometrical point of view. Based on the model accounting for the mechanical constraints, we have designed and fabricate a prototype robot and experimentally tested it. The prototype (diameter of 57 mm) reached the top speed of the peristaltic locomotion of 43 mm/s when angular velocity of the helix was 60 rad/s. We obtained the trajectory of the mesh surface by motion capture, and the result showed that the velocity was not constant on the whole surface but periodically changed with time due to the sliding between the mesh and the helix. |
BibTeX:
@article{Watanabe2020,
author = {Watanabe, Masahiro and Tadakuma, Kenjiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Bundled Rotary Helix Drive Mechanism Capable of Smooth Peristaltic Movement},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2020},
volume = {5},
number = {4},
pages = {5537--5544},
doi = {10.1109/LRA.2020.2986993}
}
|
| Rio Mukaide, Masahiro Watanabe, Kenjiro Tadakuma, Yu Ozawa, Tomoya Takahashi, Masashi Konyo and Satoshi Tadokoro, "Radial-Layer Jamming Mechanism for String Configuration," IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5221-5228, oct. 2020. doi:10.1109/LRA.2020.2983679. |
| Abstract: In the soft robotics field, soft structures are required for safe human interactions, adaptive shape grippers, and haptic interfaces. Conversely, rigid structures are necessary for high force transmission devices and precise position control applications. The tunable stiffness mechanism is a crucial technology in such areas, and various methods were proposed. Extant studies examine fixing the segments of the string by the tension of a tendon to instantly stiffen the structure and they can be constituted with rigid materials. However, the conventional wire tensioning mechanism exhibits a limitation in the holding torque, and the optimum segment morphology and stiffening performance are not clear. In the study, we demonstrate a new tendon-driven jamming mechanism referred to as a 'radial-layer jamming' with multiple layered joints that can realize high holding torque. Three basic segment structures are presented, and the design method is demonstrated. We measured the holding torque of the joints and compared the torque between three different designs. The results indicate that all three structures can control the holding torque by the pulling force of the wire. Furthermore, the findings suggest that the radial layer jamming can maintain the joints as fixed even if it has an extended structure. The holding force of the radial layer jamming did not significantly decrease when compared to other structures even if the number of joints increased. These layered approaches can contribute to the performance improvement of various variable stiffness mechanisms that utilize friction. |
BibTeX:
@article{Mukaide2020,
author = {Mukaide, Rio and Watanabe, Masahiro and Tadakuma, Kenjiro and Ozawa, Yu and Takahashi, Tomoya and Konyo, Masashi and Tadokoro, Satoshi},
title = {Radial-Layer Jamming Mechanism for String Configuration},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2020},
volume = {5},
number = {4},
pages = {5221--5228},
doi = {10.1109/LRA.2020.2983679}
}
|
| Hisato Ando, Yuichi Ambe, Tomoka Yamaguchi, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama and Satoshi Tadokoro, "Fire extinguishment using a 4 m long flying-hose-type robot with multiple water-jet nozzles," Advanced Robotics, vol. 34, no. 11, pp. 700-714, jun. 2020. doi:10.1080/01691864.2020.1769723. |
| Abstract: Several ground-based robots have been developed to support dangerous fire extinguishing activities; however, in such cases, it is difficult to access the fire sources directly. The concept of a hose-type robot called ‘dragon firefighter' (DFF) is proposed herein; it emits high-pressure water from a fire hose and floats it for direct transmission to the fire point. A stable levitation with 2 m length was realized; however, for practical use, we must extend the floating length of the robot. This study was aimed at extending the floating length of a hose-like body. Two primary issues need to be addressed for achieving this aim: lack of a sufficient reaction force for flying and torsion along the longitudinal direction of the body. Therefore, our robot was first extended using a middle nozzle. A flow channel model was constructed, and an injection hole was designed to achieve a cross-sectional area that could generate a sufficient reaction force. An adjustable jet direction nozzle was designed with four degrees of freedom to control the net force and torsion torque. Finally, a simple proportional-derivative control was incorporated to adjust the twist angle, float the DFF (3.6 m length), surmount a wall, and subsequently, extinguish the fire. |
BibTeX:
@article{Ando2020,
author = {Ando, Hisato and Ambe, Yuichi and Yamaguchi, Tomoka and Yamauchi, Yu and Konyo, Masashi and Tadakuma, Kenjiro and Maruyama, Shigenao and Tadokoro, Satoshi},
title = {Fire extinguishment using a 4 m long flying-hose-type robot with multiple water-jet nozzles},
journal = {Advanced Robotics},
publisher = {Robotics Society of Japan},
year = {2020},
volume = {34},
number = {11},
pages = {700--714},
url = {https://www.tandfonline.com/doi/abs/10.1080/01691864.2020.1769723},
doi = {10.1080/01691864.2020.1769723}
}
|
| Hikaru Nagano, Hideto Takenouchi, Nan Cao, Masashi Konyo and Satoshi Tadokoro, "Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots," Advanced Robotics, vol. 34, no. 11, pp. 730-743, jun. 2020. doi:10.1080/01691864.2020.1769725. |
| Abstract: This study proposes a methodology to deliver contact information on construction robots to the remote operator by transmitting measured collision vibrations, which are often beyond the human-perceivable range. We focus on the human capacity to discriminate the envelope of high-frequency vibrations as an essential cue to perceive contact materials and collision conditions. The proposed method preserves the envelope shapes with amplitude-modulated waves with a single carrier frequency in the human sensitive range. In the preliminary experiments, a miniature shovel digging experiment confirmed that the proposed method improves the discriminability of the contact materials and sliding velocities. A psychophysical experiment also showed that the participants could discriminate the envelope differences irrespective of the carrier frequency. The proposed method was applied to the tactile transmission system for a construction robot developed in the ImPACT program. A vibration sensor was attached on the robot arm, and the vibrotactile feedback was applied to the operator's wrist. Performance evaluations under a delicate teleoperated task (insertion of a bar into bricks) showed that the peak force was reduced by the proposed method significantly for two out of the three participants. The results show that our proposal could improve the maneuverability of teleoperation. |
BibTeX:
@article{Nagano2020,
author = {Nagano, Hikaru and Takenouchi, Hideto and Cao, Nan and Konyo, Masashi and Tadokoro, Satoshi},
title = {Tactile feedback system of high-frequency vibration signals for supporting delicate teleoperation of construction robots},
journal = {Advanced Robotics},
publisher = {Robotics Society of Japan},
year = {2020},
volume = {34},
number = {11},
pages = {730--743},
url = {https://www.tandfonline.com/doi/abs/10.1080/01691864.2020.1769725},
doi = {10.1080/01691864.2020.1769725}
}
|
| Tori Shimizu, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force," 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 1840-1846, May. 2020. doi:10.1109/ICRA40945.2020.9197151. (IEEE Robotics and Automation Society Japan Joint Chapter Young Award to the presenter: T. Shimizu) |
| Abstract: To detach a permanent magnet using a control force much smaller than its original attractive force, the internally-balanced magnetic unit (IB Magnet) was invented. It has been applied to magnetic devices such as wall-climbing robots, ceiling-dangling drones, and modular swarm robots. In contrast to its significant reduction rate with regard to the control force, the IB Magnet has two major problems in its nonlinear spring, which serves the purpose of cancelling out the internal force on the magnet. These problems include the complicated design procedure and the trade-off relationship between balancing the precision and the volume of the mechanism. This paper proposes a principle for a new balancing method for the IB Magnet. This method uses a like-pole pair of magnets as a magnetic spring, whose repulsive force should equal the attractive force of an unlike-pole pair. To verify the proposed principle, a prototype of the IB Magnet was designed using a magnetic spring and verified through experiments such that its reduction rate is comparable to those of conventional IB Magnets. Moreover, a robotic clamp was developed as an application example that contains the proposed IB Magnets as its internal mechanism. |
BibTeX:
@inproceedings{Shimizu2020,
author = {Shimizu, Tori and Tadakuma, Kenjiro and Watanabe, Masahiro and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force},
booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2020},
pages = {1840--1846},
doi = {10.1109/ICRA40945.2020.9197151}
}
|
| Kenjiro Tadakuma, Toshiaki Fujimoto, Masahiro Watanabe, Tori Shimizu, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism," 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020, pp. 740-747, may. 2020. doi:10.1109/RoboSoft48309.2020.9116036. |
| Abstract: Able to grasp objects of any shape and size, universal grippers using variable stiffness phenomenon such as granular jamming have been developed for disaster robotics application. However, as their contact interface is mainly composed of unrigid and burnable silicone rubber, conventional soft grippers are not applicable to objects with sharp sections such as broken valves and glass fragments, especially on fire. In this research, the authors proposed a new method of variable stiffness mechanism using a string of beads that can be composed of cut-resistant and incombustible metals, arrange the mechanism to form a torus gripper, and conducted experiments to show its effectiveness. |
BibTeX:
@inproceedings{Tadakuma2020,
author = {Tadakuma, Kenjiro and Fujimoto, Toshiaki and Watanabe, Masahiro and Shimizu, Tori and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism},
booktitle = {2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2020},
pages = {740--747},
doi = {10.1109/RoboSoft48309.2020.9116036}
}
|
| 2019 |
| Hisato Ando, Yuichi Ambe, Tomoka Yamaguchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama and Satoshi Tadokoro, "Fire Fighting Tactics with Aerial Hose-type Robot “Dragon Firefighter”," 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), pp. 291-297, oct. 2019. doi:10.1109/ARSO46408.2019.8948716. |
| Abstract: We herein propose the method for developing an “aerial hose type robot” called the “Dragon Firefighter (DFF)” that can fly along with the water jet. We focus on realizing a novel concept through which obstacles can be avoided and fire spots can be accessed from a distance, thereby enabling direct firefighting, and evaluating fire suppression ability from a close distance of fire source for practical useage. Using robotics, we aim to extinguish the fire from a distance, simultaneously guaranteeing firefighters' safety. We were able to realize stable floating of a hose of length 2.8 m (total length of 3.6 m), which is twice that of a conventional one, overcoming the height gap of approximately 1.5 m and the size of frontage 1.0 × 2.5 m . We demonstrated a fire extinguishing, however the ability of fire extinguishing about DFF was unknown. Hence, we conducted a mist spray experiment from a close distance to validate the cooling effect of water. Considering the aerial nature of our robot, we concluded that a mist spray from its nozzle module will be more effective for extinguishing fires. Finally, we presented the consideration of firefighting tactics using the proposed DFF for practical implementation. |
BibTeX:
@inproceedings{Ando2019,
author = {Ando, Hisato and Ambe, Yuichi and Yamaguchi, Tomoka and Konyo, Masashi and Tadakuma, Kenjiro and Maruyama, Shigenao and Tadokoro, Satoshi},
title = {Fire Fighting Tactics with Aerial Hose-type Robot “Dragon Firefighter”},
booktitle = {2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)},
publisher = {IEEE},
year = {2019},
pages = {291--297},
url = {https://ieeexplore.ieee.org/document/8948716/},
doi = {10.1109/ARSO46408.2019.8948716}
}
|
| Takumi Fujikawa, Yu Yamauchi, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "Development of Practical Air-floating-type Active Scope Camera and User Evaluations for Urban Search and Rescue," 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019, pp. 180-187, sep. 2019. doi:10.1109/SSRR.2019.8848966. |
| Abstract: Flexible serpentine robots have high potential in the exploration of narrow spaces inside debris. To use these robots in actual search and rescue missions, they should not only have sufficient mobility but also exhibit various characteristics, such as information-gathering ability, operability, and durability. However, only a few robots have been developed focused on operability and durability. Therefore, this paper presents a flexible serpentine robot that realizes mobility, operability, and durability; further, it is capable of gathering information. The robot was evaluated in field experiments and feedback was obtained from rescue workers. In particular, we improved the mobility of a conventional Active Scope Camera (ASC) by installing a developed active air jet nozzle on the head. The thrust from the nozzle enables the ASC to move over a step of 22 cm height and quickly changes the head direction (580 mm in 0.4 s). In addition, a high operability is ensured by compacting the system components using an air cylinder. The entire robot system can be carried and operated by 2 people and the time for setup is approximately 3 min. The field experiments in a simulated disaster site showed that the developed ASC was able to explore a wider rubble environment in a shorter time than a conventional ASC. In addition, we confirmed that the system enables three operators to search for and locate a hidden object inside an unknown debris environment. Furthermore, 14 members of a rescue party operated the robot system and evaluated the system through a survey. The survey reveals which situations the proposed system was able to work properly in, which revealed the aspects in which the robot can be improved. |
BibTeX:
@inproceedings{Fujikawa2019,
author = {Fujikawa, Takumi and Yamauchi, Yu and Ambe, Yuichi and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {Development of Practical Air-floating-type Active Scope Camera and User Evaluations for Urban Search and Rescue},
booktitle = {2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2019},
pages = {180--187},
doi = {10.1109/SSRR.2019.8848966}
}
|
| Daniel Marcell Gongora Flores, Masashi Konyo, Hikaru Nagano and Satoshi Tadokoro, "Haptic Exploration during Fast Video Playback: Vibrotactile Support for Event Search in Robot Operation Videos," IEEE Transactions on Haptics, December. 2019. doi:10.1109/TOH.2019.2957792. |
| Abstract: Fast playback allows quick video exploration, but it also decreases the saliency of short events. We propose a haptic exploration for detection of short events during fast video playback, considering that event-related information in vibrotactile feedback can be preserved during fast playback using tsm methods developed for audio. We evaluate our proposal in two collision detection experiments using fpv videos. In the first experiment, viewers watched at a fixed playback speed, i.e., 1&x00D7; or 2&x00D7;, videos recorded with a camera mounted on a platform cart. In this experiment, event-related vibrations were measured at the back of the camera. In the second experiment, viewers used a media controller to adjust the playback speed in videos simulating an exploration with a mobile robot. In this experiment, event-related vibrations were generated from the measurements used in the first experiment. We show that a haptic exploration improves collision awareness under either constant or adjustable playback speed. In both experiments, the number of collisions reported without vibrotactile feedback deviated the greatest from the actual number of collisions in a video. Moreover, collision detection performance with vibrations time-scaled without tsm methods was not significantly different from performance without vibrations. |
BibTeX:
@article{GongoraFlores2019,
author = {Gongora Flores, Daniel Marcell and Konyo, Masashi and Nagano, Hikaru and Tadokoro, Satoshi},
title = {Haptic Exploration during Fast Video Playback: Vibrotactile Support for Event Search in Robot Operation Videos},
journal = {IEEE Transactions on Haptics},
publisher = {Institute of Electrical and Electronics Engineers},
year = {2019},
doi = {10.1109/TOH.2019.2957792}
}
|
| Hikaru Nagano, Kazuya Sase, Masashi Konyo and Satoshi Tadokoro, "Wearable Suction Haptic Display with Spatiotemporal Stimulus Distribution on a Finger Pad," 2019 IEEE World Haptics Conference, WHC 2019, pp. 389-394, jul. 2019. doi:10.1109/WHC.2019.8816156. |
| Abstract: Stimulus distribution on a finger pad dynamically changes during dynamic interactions such as manipulation or handling of an object. This is caused by the magnitude and direction of the applied force on the finger pad and the elasticity of materials handled. Several past studies proposed wearable tactile systems. However, generation of distributed stimuli on a finger pad (multiple degrees of freedom stimulation) has not yet been achieved. Herein, we propose a rendering system for stimulus distribution on a finger pad. The proposed system consists of a display using multi-channel suction that presents distributed stimuli to a finger pad skin, and a real-time simulator that calculates dynamic pressure distribution on the finger pad when in contact with an elastic object. The developed display has good wearability as lightweight (5 g) and compact because it does not have an actuator on the fingertip in spite of multiple outputs (16 suction ports). We performed two different experiments using the proposed system. These experiments proved that it is possible to present different stimulus distribution depending on the contact posture between a finger and an object (experiment 1) and to present the softness of the virtual material with different elasticity values (experiment 2). |
BibTeX:
@inproceedings{Nagano2019,
author = {Nagano, Hikaru and Sase, Kazuya and Konyo, Masashi and Tadokoro, Satoshi},
title = {Wearable Suction Haptic Display with Spatiotemporal Stimulus Distribution on a Finger Pad},
booktitle = {2019 IEEE World Haptics Conference, WHC 2019},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2019},
pages = {389--394},
doi = {10.1109/WHC.2019.8816156}
}
|
| Kaoru Saito, Masashi Konyo, Hikaru Nagano, Saito Sakaguchi and Naomi Arakawa, "Simultaneous Measurement of Skin Deformation and Perceptual Sensitivity Using Suction Pressure," 2019 IEEE World Haptics Conference, WHC 2019, pp. 265-270, jul. 2019. doi:10.1109/WHC.2019.8816161. |
| Abstract: The measurement of perceptual sensitivity can be used for the clinical diagnosis and assessment of skin conditions. However, conventional approaches to evaluating the direct relationship between perceptual sensitivity and the skin mechanical properties have limitations. This study proposed a new approach to achieving the simultaneous measurement of skin deformation and perceptual sensitivity. We introduced suction stimulation on the skin, which is commonly used for evaluating the skin mechanical properties. However, the standard suction stimuli cannot produce sufficient stimuli to be perceived. We solved this issue by applying oscillated suction pressure in the frequency of 10 Hz. We presented the device mechanism and control method of the pressure. As a pilot study, we investigated the relationship between the deformation of the forearm skin and perceptual sensitivity in thirteen participants. Experimental results suggested that the amount of skin displacement achieves better discrimination performance than the suction pressure levels. |
BibTeX:
@inproceedings{Saito2019,
author = {Saito, Kaoru and Konyo, Masashi and Nagano, Hikaru and Sakaguchi, Saito and Arakawa, Naomi},
title = {Simultaneous Measurement of Skin Deformation and Perceptual Sensitivity Using Suction Pressure},
booktitle = {2019 IEEE World Haptics Conference, WHC 2019},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2019},
pages = {265--270},
doi = {10.1109/WHC.2019.8816161}
}
|
| Tori Shimizu, Sosuke Hayashi, Toshiki Midorikawa, Takumi Fujikawa, Eri Takane, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo and Satoshi Tadokoro, "Small Swarm Search Robot System with Rigid-Bone Parachute Rapidly Deployable from Aerial Vehicles," 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019, pp. 88-93, sep. 2019. doi:10.1109/SSRR.2019.8848955. |
| Abstract: In this research, the authors aim to construct a system of the small swarm search robot dropped from aerial vehicles to realize the efficient wide area exploration for rapid disaster response. The authors propose a jumping mechanism using an internally balanced magnet unit and a rigid bone parachute mechanism that can prevent entanglement and move effectively on rough terrains such as rubbles or narrow spaces. For this purpose, the platform of the robot requires small dimensions and mass to transport by aerial vehicles and enter confined spaces. However, if the diameter of the wheel is reduced, the height of the step that can be overcome decreases, and the mobility performance on a rough train would also decrease. For that reason, the authors propose a mechanism that can jump over the debris and a parachute mechanism that does not get caught by the debris, the environment, and itself. In this paper, the authors first show the basic concept and requirements of the swarm search robot. Next, the basic design of the mechanical structure and electrical system are shown, and the prototype of the two-wheeled robot is fabricated as a platform. Finally, experiments using the prototypes are conducted to verify the principle of the jumping mechanism and parachute mechanism and to discuss their effectiveness. |
BibTeX:
@inproceedings{Shimizu2019,
author = {Shimizu, Tori and Hayashi, Sosuke and Midorikawa, Toshiki and Fujikawa, Takumi and Takane, Eri and Watanabe, Masahiro and Tadakuma, Kenjiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Small Swarm Search Robot System with Rigid-Bone Parachute Rapidly Deployable from Aerial Vehicles},
booktitle = {2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2019},
pages = {88--93},
doi = {10.1109/SSRR.2019.8848955}
}
|
| Eri Takane, Kenjiro Tadakuma, Tori Shimizu, Sosuke Hayashi, Masahiro Watanabe, Shingo Kagami, Keiji Nagatani, Masashi Konyo and Satoshi Tadokoro, "Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method," IEEE International Conference on Intelligent Robots and Systems, pp. 2732-2739, nov. 2019. doi:10.1109/IROS40897.2019.8968507. |
| Abstract: We introduced the disturbance degree of ground and proposed an evaluation method to measure the mobile performance of a crawler on soft ground during direction switching. First, we developed a planar omnidirectional crawler, which had a configuration with two left and right unit crawlers for performing turning motion, as the target for evaluation. Second, by utilizing the proposed disturbance degree of ground evaluation method, we investigated how the turning and translational motions of the crawler mechanism affected soft ground by measuring the flow of sand on a horizontal surface. It was quantitatively shown that translational motion switched the travel direction with lesser disturbance to the road surface compared to turning motion. We confirmed that ground disturbance could be evaluated during direction switching using the proposed method. |
BibTeX:
@inproceedings{Takane2019,
author = {Takane, Eri and Tadakuma, Kenjiro and Shimizu, Tori and Hayashi, Sosuke and Watanabe, Masahiro and Kagami, Shingo and Nagatani, Keiji and Konyo, Masashi and Tadokoro, Satoshi},
title = {Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
year = {2019},
pages = {2732--2739},
doi = {10.1109/IROS40897.2019.8968507}
}
|
| Tomoka Yamaguchi, Yuichi Ambe, Hisato Ando, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama and Satoshi Tadokoro, "A Mechanical Approach to Suppress the Oscillation of a Long Continuum Robot Flying With Water Jets," IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4346-4353, aug. 2019. doi:10.1109/lra.2019.2932582. (IEEE Robotics and Automation Society Japan Joint Chapter Young Award to the presenter: T. Yamaguchi) |
| Abstract: Flexible continuum robots exhibit a strong potential for approaching narrow and intricate spaces. However, such long flexible bodies often experience oscillations, making them unstable. To enhance their performance in order to realize rapid and precise movements, unnecessary vibrations should be suppressed. The authors have proposed a new type of continuum robot, aimed for firefighting; this robot, Dragon Firefighter (DFF), can fly using water jets. The DFF suffers from the same problem of body oscillation. In particular, a more challenging issue for the DFF is the use of limited number of actuators owing to the constraints of weight and water flow. Discrete locations of the actuators on the long body of a robot can generate uncontrollable resonant modes. This letter proposes a mechanical approach to suppress the oscillation passively without actuation control. The proposed mechanism is composed of wires threaded along the body and connected to rotary dampers to restrict the deformation of the body. First, a numerical model to simulate the oscillation and damping behavior was reported. A basic experiment with a 1-m-long flexible tube shows that the damping mechanism suppresses the vibration appropriately, which also corresponds well with the simulation. Second, a stability analysis of the simulation of the flying motion shows that the passive damping mechanism can improve the stability, with the convergence time becoming approximately 2.4 times shorter than that in the case without the mechanism. Finally, we apply the damping mechanism to a 3.6-m-long flying robot. The demonstration shows that the robot can float stably and that the damping mechanism works correctly. textcopyright 2016 IEEE. |
BibTeX:
@article{Yamaguchi2019,
author = {Yamaguchi, Tomoka and Ambe, Yuichi and Ando, Hisato and Konyo, Masashi and Tadakuma, Kenjiro and Maruyama, Shigenao and Tadokoro, Satoshi},
title = {A Mechanical Approach to Suppress the Oscillation of a Long Continuum Robot Flying With Water Jets},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
year = {2019},
volume = {4},
number = {4},
pages = {4346--4353},
doi = {10.1109/lra.2019.2932582}
}
|
| Dennis Babu, Masashi Konyo, Hikaru Nagano, Ryunosuke Hamada and Satoshi Tadokoro, "Stable haptic feedback generation for mid-air gesture interactions: a hidden Markov model-based motion synthesis approach," ROBOMECH Journal, vol. 6, no. 1, pp. 2, feb. 2019. doi:10.1186/s40648-019-0130-5. |
| Abstract: Generation of stable and realistic haptic feedback during mid-air gesture interactions have recently garnered significant research interest. However, the limitations of the sensing technologies such as unstable tracking, range limitations, nonuniform sampling duration, self occlusions, and motion recognition faults significantly distort motion based haptic feedback to a large extent. In this paper, we propose and implement a hidden Markov model (HMM)-based motion synthesis method to generate stable concurrent and terminal vibrotactile feedback. The system tracks human gestures during interaction and recreates smooth, synchronized motion data from detected HMM states. Four gestures—tapping, three-fingered zooming, vertical dragging, and horizontal dragging—were used in the study to evaluate the performance of the motion synthesis methodology. The reference motion curves and corresponding primitive motion elements to be synthesized for each gesture were obtained from multiple subjects at different interaction speeds by using a stable motion tracking sensor. Both objective and subjective evaluations were conducted to evaluate the performance of the motion synthesis model in controlling both concurrent and terminal vibrotactile feedback. Objective evaluation shows that synthesized motion data had a high correlation for shape and end-timings with the reference motion data compared to measured and moving average filtered data. The mean Rˆ2 values for synthesized motion data was always greater than 0.7 even under unstable tracking conditions. The experimental results of subjective evaluation from nine subjects showed significant improvement in perceived synchronization of vibrotactile feedback based on synthesized motion. |
BibTeX:
@article{Babu2019,
author = {Babu, Dennis and Konyo, Masashi and Nagano, Hikaru and Hamada, Ryunosuke and Tadokoro, Satoshi},
title = {Stable haptic feedback generation for mid-air gesture interactions: a hidden Markov model-based motion synthesis approach},
journal = {ROBOMECH Journal},
publisher = {Springer International Publishing},
year = {2019},
volume = {6},
number = {1},
pages = {2},
url = {https://robomechjournal.springeropen.com/articles/10.1186/s40648-019-0130-5},
doi = {10.1186/s40648-019-0130-5}
}
|
| Nan Cao, Masashi Konyo, Hikaru Nagano and Satoshi Tadokoro, "Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms," IEEE Access, vol. 7, pp. 20840-20849, February. 2019. doi:10.1109/ACCESS.2019.2898029. |
| Abstract: Humans perceive and discriminate high-frequency tactile vibrations based on the intensity and envelope of the stimuli. However, no studies have investigated exactly how the envelope and intensity each affect the ability to discriminate. The objectives of this paper are to identify the boundary at which the envelope begins not to strongly affect the ability to discriminate vibrations and to investigate the effects of the carrier frequency and intensity on the discrimination ability. The results of our testing showed that the ability to discriminate was dependent on the envelope frequency and that the ability to discriminate sinusoidal and amplitude-modulated (AM) vibrations in which the envelope frequency ranged from 12 to 50 Hz was higher than that required to discriminate sinusoidal and AM vibrations in which the envelope frequency was above 80 Hz. When the envelope frequency of an AM vibration was 125 Hz, the ability to discriminate sinusoidal and AM vibrations was found to be low and no significant difference was noted in comparison to discriminating AM vibrations with the same envelope frequency. These results suggest that the boundary for envelope perception was at an envelope frequency of around 80–125 Hz at low intensities and that the carrier frequency had little effect on the discrimination, although the discrimination ability tended to increase as the intensity increased. |
BibTeX:
@article{Cao2019,
author = {Cao, Nan and Konyo, Masashi and Nagano, Hikaru and Tadokoro, Satoshi},
title = {Dependence of the Perceptual Discrimination of High-Frequency Vibrations on the Envelope and Intensity of Waveforms},
journal = {IEEE Access},
year = {2019},
volume = {7},
pages = {20840--20849},
url = {https://ieeexplore.ieee.org/document/8636937/},
doi = {10.1109/ACCESS.2019.2898029}
}
|
| Kosuke Higashi, Shogo Okamoto, Yoji Yamada, Hikaru Nagano and Masashi Konyo, "Hardness Perception Based on Dynamic Stiffness in Tapping," Frontiers in Psychology, vol. 9, pp. 2654, jan. 2019. doi:10.3389/fpsyg.2018.02654. |
| Abstract: A human can judge the hardness of an object based on the damped natural vibration caused by tapping the surface of the object using a fingertip. In this study, we investigated the influence of the dynamic characteristics of vibrations on the hardness perceived by tapping. Subjectively reported hardness values were related to the dynamic stiffness of several objects. The dynamic stiffness, which characterizes the impulsive response of an object, was acquired across the 40-1,000 Hz frequency range for cuboids of 14 types of materials by administering a hammering test. We performed two psychophysical experiments-a ranking task and a magnitude-estimation tasks-wherein participants rated the perceived hardness of each block by tapping it with a finger. We found that the perceptual effect of dynamic stiffness depends on the frequency. Its effect displayed a peak around 300 Hz and decreased or disappeared at higher frequencies, at which human perceptual capabilities are limited. The acquired results help design hardness experienced by products. |
BibTeX:
@article{Higashi2019,
author = {Higashi, Kosuke and Okamoto, Shogo and Yamada, Yoji and Nagano, Hikaru and Konyo, Masashi},
title = {Hardness Perception Based on Dynamic Stiffness in Tapping},
journal = {Frontiers in Psychology},
publisher = {Frontiers},
year = {2019},
volume = {9},
pages = {2654},
url = {https://www.frontiersin.org/article/10.3389/fpsyg.2018.02654/full},
doi = {10.3389/fpsyg.2018.02654}
}
|
| 2018 |
| Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "High-speed sliding-inchworm motion mechanism with expansion-type pneumatic hollow-shaft actuators for in-pipe inspections," Mechatronics, vol. 56, pp. 101-114, November. 2018. doi:10.1016/J.MECHATRONICS.2018.10.010. |
| Abstract: Conventional mechanisms for in-pipe locomotion involved difficulties with high-speed movement in narrow pipes. Previously, we introduced a new mechanism that used a single device to produce both impellent and holding forces via a sliding-inchworm motion. This involved cyclical impelling and holding movements, producing longer strokes and higher speeds than those of previous techniques. This study built on our previous work by presenting a detailed discussion, model, and advanced evaluation of this new technique. The robot locomotion was re-conceptualized to highlight why it was significantly fast. Two different sliding-inchworm motion patterns, called single- and dual-drive, were also theoretically analyzed, indicating that the single-drive pattern should be three times faster than the dual-drive pattern. Rolling resistance, key to improving the actuator performance, was evaluated with a friction model via experiments. The major factors affecting the rolling resistance were identified, and the main cause of the rolling resistance was concluded to be elastic hysteresis loss. The results of the rolling resistance investigation were integrated into a static model that considered force generation, and the range of the optimal roller radius was determined to be larger than 1.83 mm. Finally, the propulsion performance of a prototype mechanism for horizontal, vertical, and bent pipes with diameters of 53 mm was evaluated. The results exhibited that the proposed mechanism was able to achieve average speeds of 100 mm/s and 40 mm/s for horizontal and vertical pipes, respectively, and to facilitate passage through a 90-degree bent pipe. These experimental results agreed well with the motion models presented in this study. |
BibTeX:
@article{Yamamoto2018,
author = {Yamamoto, Tomonari and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {High-speed sliding-inchworm motion mechanism with expansion-type pneumatic hollow-shaft actuators for in-pipe inspections},
journal = {Mechatronics},
publisher = {Pergamon},
year = {2018},
volume = {56},
pages = {101--114},
url = {https://www.sciencedirect.com/science/article/abs/pii/S0957415818301673},
doi = {10.1016/J.MECHATRONICS.2018.10.010}
}
|
| Hisato Ando, Yuichi Ambe, Akihiro Ishii, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama and Satoshi Tadokoro, "Aerial Hose Type Robot by Water Jet for Fire Fighting," IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1128-1135, apr. 2018. doi:10.1109/LRA.2018.2792701. |
| Abstract: Disaster response, especially fire-fighting and rescue, is highly risky for firefighters engaged in action. As a result, many robots intended for fire-fighting have been proposed. However, it is difficult for them to directly access fire sources because their mobility is limited. Specifically, existing robots are large and heavy. Therefore, we propose a novel hose-type robot, which can fly directly into the fire source via a water jet. First, to control the reaction force for stable flying, we developed a nozzle module. By combining two nozzles whose outlet direction can be controlled, the resultant reaction force can be controlled. Finally, we developed a robot with a nozzle module and conducted an experiment. The experiment demonstrates that a robot with a length of approximately 2 m can fly stably in the air by leveraging the water jet. In addition, the head direction can also be controlled. |
BibTeX:
@article{ando2018aerial,
author = {Ando, Hisato and Ambe, Yuichi and Ishii, Akihiro and Konyo, Masashi and Tadakuma, Kenjiro and Maruyama, Shigenao and Tadokoro, Satoshi},
title = {Aerial Hose Type Robot by Water Jet for Fire Fighting},
journal = {IEEE Robotics and Automation Letters},
publisher = {IEEE},
year = {2018},
volume = {3},
number = {2},
pages = {1128--1135},
url = {http://ieeexplore.ieee.org/document/8255553/},
doi = {10.1109/LRA.2018.2792701}
}
|
| Dennis Babu, Masashi Konyo, Hikaru Nagano and Satoshi Tadokoro, "Introducing Whole Finger Effects in Surface Haptics: An Extended Stick-Slip Model Incorporating Finger Stiffness," IEEE Transactions on Haptics, vol. 11, no. 3, pp. 417-430, jul. 2018. doi:10.1109/TOH.2018.2806458. |
| Abstract: The kinematic serial chain configuration of a finger modulates the frictional properties during tactile exploration tasks. This paper analyzes and subsequently models the effects of the entire finger during sliding operations on a surface. Qualitative and quantitative study of finger movement patterns with postures, sliding directions, and contact angles first indicate the effect of finger stiffness on contact mechanics. A ``stiffness ellipse'' is subsequently modeled to incorporate finger pose effects, and then coupled with the lumped mass-spring-damper model of the finger pad to estimate resultant contact forces. The performance of the proposed model is verified by comparing with experimental results obtained from 10 subjects. The proposed model could estimate the general tendencies of contact forces with change in postures (Extended and Flexed), sliding directions (proximal and distal), and contact angles ( 20∘ , 40∘ , and 60∘ ). The experimental results indicates that finger stiffness significantly modulates the contact forces, stick-slip frequency, preloading duration, and initial spike during sliding. Introduction of finger posture effects could explain the change in finger normal force during tactile exploration tasks. The proposed haptic rendering model can be used to give a more natural user feedback in virtual fingertip-surface interactions. |
BibTeX:
@article{babu2018introducing,
author = {Babu, Dennis and Konyo, Masashi and Nagano, Hikaru and Tadokoro, Satoshi},
title = {Introducing Whole Finger Effects in Surface Haptics: An Extended Stick-Slip Model Incorporating Finger Stiffness},
journal = {IEEE Transactions on Haptics},
publisher = {IEEE},
year = {2018},
volume = {11},
number = {3},
pages = {417--430},
url = {https://ieeexplore.ieee.org/document/8292944/},
doi = {10.1109/TOH.2018.2806458}
}
|
| Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii, Tatsuya Kawahara and Hiroshi G. Okuno, "Speech Enhancement Based on Bayesian Low-Rank and Sparse Decomposition of Multichannel Magnitude Spectrograms," IEEE/ACM Transactions on Audio, Speech, and Language Processing, vol. 26, no. 2, pp. 215-230, feb. 2018. doi:10.1109/TASLP.2017.2772340. |
| Abstract: This paper presents a blind multichannel speech enhancement method that can deal with the time-varying layout of microphones and sound sources. Since nonnegative tensor factorization (NTF) separates a multichannel magnitude (or power) spectrogram into source spectrograms without phase information, it is robust against the time-varying mixing system. This method, however, requires prior information such as the spectral bases (templates) of each source spectrogram in advance. To solve this problem, we develop a Bayesian model called robust NTF (Bayesian RNTF) that decomposes a multichannel magnitude spectrogram into target speech and noise spectrograms based on their sparseness and low rankness. Bayesian RNTF is applied to the challenging task of speech enhancement for a microphone array distributed on a hose-shaped rescue robot. When the robot searches for victims under collapsed buildings, the layout of the microphones changes over time and some of them often fail to capture target speech. Our method robustly works under such situations, thanks to its characteristic of time-varying mixing system. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method outperforms conventional blind methods in enhancement performance by the signal-to-noise ratio of 1.03 dB. |
BibTeX:
@article{Bando2018,
author = {Bando, Yoshiaki and Itoyama, Katsutoshi and Konyo, Masashi and Tadokoro, Satoshi and Nakadai, Kazuhiro and Yoshii, Kazuyoshi and Kawahara, Tatsuya and Okuno, Hiroshi G.},
title = {Speech Enhancement Based on Bayesian Low-Rank and Sparse Decomposition of Multichannel Magnitude Spectrograms},
journal = {IEEE/ACM Transactions on Audio, Speech, and Language Processing},
year = {2018},
volume = {26},
number = {2},
pages = {215--230},
url = {http://ieeexplore.ieee.org/document/8103886/},
doi = {10.1109/TASLP.2017.2772340}
}
|
| Masahiro Fujita, Kenjiro Tadakuma, Hirone Komatsu, Eri Takane, Akito Nomura, Tomoya Ichimura, Masashi Konyo and Satoshi Tadokoro, "Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions," Advanced Robotics, vol. 32, no. 11, pp. 590-604, jun. 2018. doi:10.1080/01691864.2018.1451368. |
| Abstract: ABSTRACTA gripper comprising a jamming membrane was developed with the capability of grasping collapsible, soft, and fragile objects without applying heavy pressure. In disaster sites, it is necessary for robots to grab various types of objects, such as fragile objects. Deformable grippers that contain bags filled with powder cannot handle collapsible or soft objects without excessive pressure. Changing powder density relatively by changing inner volume is one approach to overcome this problem. By expanding the concept and simplifying the variable inner volume of the gripping mechanism, we developed a jamming membrane comprising the following three layers: outer layer and inner layer made of rubber and a powder layer in between the outer and inner rubber layer. This jamming membrane allows collapsible, soft, or fragile objects to be held securely without applying too much pressure. We designed and developed a prototype of the jamming membrane gripper. Our experiments confirmed the validity of the proposed... |
BibTeX:
@article{Fujita2018,
author = {Fujita, Masahiro and Tadakuma, Kenjiro and Komatsu, Hirone and Takane, Eri and Nomura, Akito and Ichimura, Tomoya and Konyo, Masashi and Tadokoro, Satoshi},
title = {Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions},
journal = {Advanced Robotics},
publisher = {Taylor & Francis},
year = {2018},
volume = {32},
number = {11},
pages = {590--604},
url = {https://www.tandfonline.com/doi/full/10.1080/01691864.2018.1451368},
doi = {10.1080/01691864.2018.1451368}
}
|
| Kenjiro Tadakuma, Eri Takane, Masahiro Fujita, Akito Nomura, Hirone Komatsu, Masashi Konyo and Satoshi Tadokoro, "Planar Omnidirectional Crawler Mobile Mechanism---Development of Actual Mechanical Prototype and Basic Experiments," IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 395-402, January. 2018. doi:10.1109/LRA.2017.2739101. |
| Abstract: This letter proposes a planar omnidirectional crawler mobile mechanism. This mechanism is the basis for the mobility of search and rescue robots. A planar omnidirectional crawler aims to facilitate penetration into a narrow path and soft or fragile ground. In this letter, the effectiveness of the proposed transmission mechanism is experimentally determined. In addition, a planar omnidirectional crawler equipped with a transmission mechanism was developed, and its characteristics were investigated through experiments for the pressure applied to the ground. |
BibTeX:
@article{Tadakuma2018,
author = {Tadakuma, Kenjiro and Takane, Eri and Fujita, Masahiro and Nomura, Akito and Komatsu, Hirone and Konyo, Masashi and Tadokoro, Satoshi},
title = {Planar Omnidirectional Crawler Mobile Mechanism---Development of Actual Mechanical Prototype and Basic Experiments},
journal = {IEEE Robotics and Automation Letters},
publisher = {IEEE},
year = {2018},
volume = {3},
number = {1},
pages = {395--402},
url = {http://ieeexplore.ieee.org/abstract/document/8008757/},
doi = {10.1109/LRA.2017.2739101}
}
|
| Yu Yamauchi, Toshiaki Fujimoto, Akihiro Ishii, Shingo Araki, Yuichi Ambe, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "A robotic thruster that can handle hairy flexible cable of serpentine robots for disaster inspection," 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 107-113, jul. 2018. doi:10.1109/AIM.2018.8626018. (AIM2018 Best Paper Award) |
| Abstract: Snake-like robots are useful for exploring narrow spaces such as in collapsed buildings after a severe disaster. Two people are usually required for operating serpentine robot, one for pushing and twisting, and the other for controlling the tip. In this paper, we propose a way to control a snake robot with a single operator, by the use of robotic thruster. Further, a robotic thruster has the advantage of improving the estimation of tip position and shape, by measuring the inserted length of the cable. In this study, the focus is on “ hairy ” robots, so called because an Active Scope Camera (ASC) is covered by inclined cilia acting as a self-propelling mechanism. When operating a snake robot, the most difficult challenge is to insert it without damaging the cilia. First, opposed flexible rollers are proposed to push the robot whose cylindrical surfaces are covered by tensed flexible wires. The wires sandwich the robotic body between the hairs to avoid damage. Then, by using the rollers, a thruster is proposed which can push and twist the ASC, and measure both the inserted length and twisting angles. Basic performance experiments showed that the thruster could successfully push and twist an ASC of approximately 5 m. The accuracy of the inserted length and twisting angle were less than 10% and 45%, respectively. The thruster was able to push and twist the ASC on flat environments with obstacles, and in a three-dimensional rubble environment. |
BibTeX:
@inproceedings{Yamauchi2018,
author = {Yamauchi, Yu and Fujimoto, Toshiaki and Ishii, Akihiro and Araki, Shingo and Ambe, Yuichi and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {A robotic thruster that can handle hairy flexible cable of serpentine robots for disaster inspection},
booktitle = {2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
publisher = {IEEE},
year = {2018},
pages = {107--113},
url = {https://ieeexplore.ieee.org/document/8626018/},
doi = {10.1109/AIM.2018.8626018}
}
|
| Nan Cao, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Sound Reduction of Vibration Feedback by Perceptually Similar Modulation," 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 934-939, aug. 2018. doi:10.1109/ROMAN.2018.8525571. |
BibTeX:
@inproceedings{Cao2018,
author = {Cao, Nan and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Sound Reduction of Vibration Feedback by Perceptually Similar Modulation},
booktitle = {2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
publisher = {IEEE},
year = {2018},
pages = {934--939},
url = {https://ieeexplore.ieee.org/document/8525571/},
doi = {10.1109/ROMAN.2018.8525571}
}
|
| Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto and Satoshi Tadokoro, "A Pilot Study: Introduction of Time-Domain Segment to Intensity-Based Perception Model of High-Frequency Vibration," Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science, pp. 321-332, jun. 2018. doi:10.1007/978-3-319-93445-7_28. (Eurohaptics 2018 Best Poster Award) |
| Abstract: The intensity of a high-frequency vibration is the primary cue to convey vibrotactile information perceived by the Pacinian system. However, the conventional intensity-based spectral power model is not sufficient to interpret a relatively slow time-variant pattern of vibration such as amplitude-modulated (AM) vibrations. This paper introduced a time-domain segment to the intensity-based model such that a long-term vibration pattern is divided into multiple short-term sinusoidal vibrations that maintain the same energy. We expected that such short-term segmentation could deliver the similar perception if the energy of each segment of the reproduced vibration is the same as the original waveform even though the time-segmented reproduced waveform has a step-wise envelope shape. We conducted a pilot psychophysical experiment in which the participants discriminated between the original AM vibrations and the time-segmented vibrations by changing the segment size from 1/6 to 1/2 of the AM period. The experiment is conducted under different combinations of the carrier frequencies (300 Hz and 600 Hz) and envelope frequencies (15 Hz, 30 Hz, and 45 Hz) frequencies. The results showed that the participants had low discrimination ratios (the mean values are less than 0.6) at the segment size from 1/6 to 1/3 of the AM period and the participants could discriminate easily between the flat sinusoidal vibration and the original AM vibration (the mean discrimination ratios are larger than 0.90) even if the energies of the two vibrations were maintained. The results suggest that the time-segmented intensity-based model could reproduce perceptually-similar vibrations for AM vibrations at the segment size from 1/6 to 1/3 of the AM period. |
BibTeX:
@inproceedings{cao2018pilot,
author = {Cao, Nan and Nagano, Hikaru and Konyo, Masashi and Okamoto, Shogo and Tadokoro, Satoshi},
editor = {Prattichizzo D., Shinoda H., Tan H., Ruffaldi E., Frisoli A.},
title = {A Pilot Study: Introduction of Time-Domain Segment to Intensity-Based Perception Model of High-Frequency Vibration},
booktitle = {Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science},
publisher = {Springer, Cham},
year = {2018},
pages = {321--332},
url = {http://link.springer.com/10.1007/978-3-319-93445-728},
doi = {10.1007/978-3-319-93445-7_28}
}
|
| Daniel Gongora, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Vibrotactile Feedback Improves Collision Detection in Fast Playback of First-Person View Videos," Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science, pp. 636-647, jun. 2018. doi:10.1007/978-3-319-93399-3_54. |
| Abstract: Fast playback of First-Person View (FPV) videos reduces watching time but it also increases the perceived intensity of camera trembling and makes transient events, such as collisions, less evident. Here we propose using camera vibrations as vibrotactile feedback to support collision detection in fast video playback. To preserve camera vibrations pitch during fast playback, we use Time-Scale Modification (TSM) methods developed for audio. We show that camera vibrations delivered to the palm of the dominant hand improved collision detection performance in a pilot study. We found that reducing the levels of terrain vibrations is beneficial for collision detection. Furthermore, we found that without vibrotactile feedback participants are likely to underestimate the number of collisions in a video. Our results suggest that vibrotactile feedback has potential to support the detection of transient events during fast playback of FPV videos. |
BibTeX:
@inproceedings{Gongora2018,
author = {Gongora, Daniel and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
editor = {Prattichizzo D., Shinoda H., Tan H., Ruffaldi E., Frisoli A.},
title = {Vibrotactile Feedback Improves Collision Detection in Fast Playback of First-Person View Videos},
booktitle = {Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science},
publisher = {Springer, Cham},
year = {2018},
pages = {636--647},
url = {http://link.springer.com/10.1007/978-3-319-93399-354},
doi = {10.1007/978-3-319-93399-3_54}
}
|
| Kosuke Higashi, Shogo Okamoto, Yoji Yamada, Hikaru Nagano and Masashi Konyo, "Hardness Perception Through Tapping: Peak and Impulse of the Reaction Force Reflect the Subjective Hardness," Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science, pp. 366-375, jun. 2018. doi:10.1007/978-3-319-93445-7_32. |
| Abstract: Humans can judge the hardness of an object by tapping its surface. To investigate physical indicators for estimating subjective hardness, we analyzed the short-time reaction force caused by tapping various types of objects. We focused on five indicators in the time domain, including the peak force value, peak time, duration, maximum increase rate, and impulse of the reaction force. A strong correlation was observed between the peak force value, peak time, duration, and maximum increase rate. We found that subjective hardness can be predicted by combining the peak force value and impulse of the reaction force. Results suggest that the hardness involving stiffness and damping factor of objects can be estimated from the reaction force caused by tapping objects. Especially, the former and latter are, respectively, associated with the peak force value and impulse of the reaction force. |
BibTeX:
@inproceedings{Higashi2018,
author = {Higashi, Kosuke and Okamoto, Shogo and Yamada, Yoji and Nagano, Hikaru and Konyo, Masashi},
editor = {Prattichizzo D., Shinoda H., Tan H., Ruffaldi E., Frisoli A.},
title = {Hardness Perception Through Tapping: Peak and Impulse of the Reaction Force Reflect the Subjective Hardness},
booktitle = {Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science},
publisher = {Springer, Cham},
year = {2018},
pages = {366--375},
url = {http://link.springer.com/10.1007/978-3-319-93445-732},
doi = {10.1007/978-3-319-93445-7_32}
}
|
| Arata Horie, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Buttock Skin Stretch: Inducing Shear Force Perception and Acceleration Illusion on Self-motion Perception," Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science, pp. 135-147, jun. 2018. doi:10.1007/978-3-319-93399-3_13. |
| Abstract: This study presents a new concept of buttock skin stretch to induce the perception of shear force while sitting. Skin stretch is a potential approach to deliver kinesthetic information by cutaneous stimuli with a compact and portable device. We first introduce the buttock skin stretch approach for a virtual motion platform to enhance the experience of self-motion acceleration. We developed a single degree-of-freedom skin stretch device to deform the buttock skin in the lateral direction of the frontal plane. To deal with the shape difference of buttocks, the initial position of the sliding contactors was calibrated with the buttock pressure distribution on the seat. We investigated the relationship between the contactor displacement and the perceived shear force on each lateral side. The estimated magnitudes of the perceived force showed a monotonically increasing trend corresponding to the skin stretch displacement on each side. The observed similarity between the left and right sides suggests the good reproducibility of the proposed method. We also investigated the bias effect of the buttock skin stretch to the perceived acceleration of self-motion, which was induced by the vection illusion presented with an optical flow. The results of the magnitude estimation suggest that skin displacement of 9 mm biased the perceived acceleration more than that of 3 mm displacement. These findings suggest that the shear force induced by the buttock skin stretch can enhance the perception of self-motion. |
BibTeX:
@inproceedings{horie2018buttock,
author = {Horie, Arata and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
editor = {Prattichizzo D., Shinoda H., Tan H., Ruffaldi E., Frisoli A.},
title = {Buttock Skin Stretch: Inducing Shear Force Perception and Acceleration Illusion on Self-motion Perception},
booktitle = {Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science},
publisher = {Springer, Cham},
year = {2018},
pages = {135--147},
url = {http://link.springer.com/10.1007/978-3-319-93399-313},
doi = {10.1007/978-3-319-93399-3_13}
}
|
| Akihiro Ishii, Yuichi Ambe, Yu Yamauchi, Hisato Ando, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "Design and Development of Biaxial Active Nozzle with Flexible Flow Channel for Air Floating Active Scope Camera," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 442-449, oct. 2018. doi:10.1109/IROS.2018.8594437. |
| Abstract: Long flexible continuum robots have a high potential for search and rescue operations that explore deep layered debris. A general problem of these robots is in the control of the head motion because their thin bodies limit the space available to mount multiple actuators. This paper develops a biaxial active nozzle which can rotate the air jet direction along a roll and pitch axis in order to control the direction of reaction force and the head motion of a long flexible robot. A major challenge is how to change the air jet direction without a large resistance to the flow, which reduces the reaction force induced by the air jet. We propose a nozzle whose outlet is connected with a flexible air tube. The direction of the air jet is controlled by the smooth shape deformation of the tube. The nozzle should be compact enough to be installed on a thin robot, although the shape deformation of the tube may cause buckling. The flexible tube is modeled and simulated by a multiple link model used to derive the geometric parameters of the nozzle so that the nozzle is compact and the tube does not buckle. Based on the derived parameters, the biaxial active nozzle was developed. A basic performance experiment shows that the nozzle can change the reaction force direction by deforming the tube shape, while the magnitude of the reaction force is almost constant. We integrated the proposed nozzle with a conventional Active Scope Camera (ASC). The range where the robot can look around in a vertical exploration was significantly improved, which was three times larger than the previous ASC whose head was controlled by pneumatic actuators. The rubble field test demonstrates that the integrated ASC could move over rubble (maximum height of 200 mm) and steer the course. |
BibTeX:
@inproceedings{Ishii2018,
author = {Ishii, Akihiro and Ambe, Yuichi and Yamauchi, Yu and Ando, Hisato and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {Design and Development of Biaxial Active Nozzle with Flexible Flow Channel for Air Floating Active Scope Camera},
booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2018},
pages = {442--449},
url = {https://ieeexplore.ieee.org/document/8594437/},
doi = {10.1109/IROS.2018.8594437}
}
|
| 2017 |
| Shota Iizuka, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Toward Multi-Finger Haptic Interaction: Presenting Vibrotactile Stimuli from Proximal Phalanges to Fingertips," Proc. 2017 IEEE/SICE International Symposium on System Integration (SII), pp. 905-911, December. 2017. doi:10.1109/SII.2017.8279338. |
| Abstract: Multiple contacts with fingers have potentials to enhance the perceived haptic information both quantitatively and qualitatively. Although it is crucial to mount a multi-finger vibrator device on the fingers, it may restrict direct touch interaction with the user's hands. In this study, we propose a new approach to stimulating a fingertip with a vibrator attached on the dorsal side of the proximal phalanx. The objective of the paper is to investigate the propagation mechanism of that phenomenon and find requirements to design an effective device. The experimental results showed that the lateral clamp condition increased the fingertip vibration by 4.3 times compared to the vertical clamp. We also developed a prototype of the multi-finger vibrotactile display based on the hypothesized mechanism. Finger posture effects and the isolation capability were confirmed. |
BibTeX:
@inproceedings{Iizuka2017,
author = {Iizuka, Shota and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Toward Multi-Finger Haptic Interaction: Presenting Vibrotactile Stimuli from Proximal Phalanges to Fingertips},
booktitle = {Proc. 2017 IEEE/SICE International Symposium on System Integration (SII)},
publisher = {IEEE},
year = {2017},
pages = {905--911},
url = {http://ieeexplore.ieee.org/document/8279338/},
doi = {10.1109/SII.2017.8279338}
}
|
| Yoshihiro Kato, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Wearable Gait Logging System Attached on Ankles to Estimate Foot Steps and Trajectories," Proc. 2017 IEEE/SICE International Symposium on System Integration (SII), pp. 294-299, December. 2017. doi:10.1109/SII.2017.8279228. |
| Abstract: Conventional pedestrian dead-reckoning systems that use shoe-mounted inertial sensors are not suitable for use in daily life. For example, such systems are not convenient because they compel individuals to wear such pairs of shoes; moreover, these systems are not suitable for use in barefoot conditions. A new gait logging system is proposed to estimate foot steps and walking trajectories using a combination of high frequency vibrations and inertial measurements from the upper part of the ankle. First, a three-step method is proposed to estimate Heel Strike and Toe Off. It is verified that the present method is suitable for estimating Midstance (MSt) time. Then, a trajectory and position estimation procedure is proposed that considers the MSt ankle velocity. A model for MSt ankle velocity is derived. The performance of the trajectory estimation is evaluated with various types of footwear. It is verified that the proposed method is suitable for estimating step lengths of each stride and total distance regardless of the footwear. Furthermore, the trajectories estimated using the proposed method approximated the actual walking path with high accuracy. |
BibTeX:
@inproceedings{Kato2017,
author = {Kato, Yoshihiro and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Wearable Gait Logging System Attached on Ankles to Estimate Foot Steps and Trajectories},
booktitle = {Proc. 2017 IEEE/SICE International Symposium on System Integration (SII)},
publisher = {IEEE},
year = {2017},
pages = {294--299},
url = {http://ieeexplore.ieee.org/document/8279228/},
doi = {10.1109/SII.2017.8279228}
}
|
| Hideto Takenouchi, Nan Cao, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Extracting Haptic Information from High-Frequency Vibratory Signals Measured on a Remote Robot to Transmit Collisions with Environments," Proc. 2017 IEEE/SICE International Symposium on System Integration (SII), pp. 968-973, December. 2017. doi:10.1109/SII.2017.8279348. |
| Abstract: To support the teleoperation of remote robots, this study propose a methodology for modulating vibrotactile signals to enhance human perceptual characteristics. The methodology is needed because the frequencies of the vibrotactile signals occurring on robots are often too high for humans to perceive; thus, our objective is to transmit important information, e.g., the contact characteristics contained in high-frequency vibrotactile signals, to operators. We considered that the envelope of the vibrotactile signals contains contact characteristics, e.g., the material properties and the robots’ motion. Our proposed method modulates the amplitude of the sinusoidal vibration with the upper and lower envelopes of the measured vibratory signals. We propose two modulation types modulated from the original signals (option (a)), which are (b) the envelope of the original signals, and (c) the amplitude-modulated vibration, whose amplitude is modulated with the envelopes of the original vibratory signals and whose carrier frequency range is sensible by humans. Before evaluating our proposed method, we conducted an experiment to determine the carrier frequency of method (c). Finally, we conducted a discrimination experiment whose results showed that our modulation method (c) best improved the human discriminability. |
BibTeX:
@inproceedings{Takenouchi2017,
author = {Takenouchi, Hideto and Cao, Nan and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Extracting Haptic Information from High-Frequency Vibratory Signals Measured on a Remote Robot to Transmit Collisions with Environments},
booktitle = {Proc. 2017 IEEE/SICE International Symposium on System Integration (SII)},
publisher = {IEEE},
year = {2017},
pages = {968--973},
url = {http://ieeexplore.ieee.org/document/8279348/},
doi = {10.1109/SII.2017.8279348}
}
|
| Yoshiaki Bando, Hiroshi Saruwatari, Nobutaka Ono, Shoji Makino, Katsutoshi Itoyama, Daichi Kitamura, Masaru Ishimura, Moe Takakusaki, Narumi Mae, Kouei Yamaoka, Yutaro Matsui, Yuichi Ambe, Masashi Konyo, Satoshi Tadokoro, Kazuyoshi Yoshii and Hiroshi G. Okuno, "Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot," Journal of Robotics and Mechatronics, vol. 27, no. 1, pp. 198-212, feb. 2017. doi:10.20965/jrm.2017.p0198. |
| Abstract: This paper presents the design and implementation of a two-stage human-voice enhancement system for a hose-shaped rescue robot. When a microphone-equipped hose-shaped robot is used to search for a victim under a collapsed building, human-voice enhancement is crucial because the sound captured by a microphone array is contaminated by the ego-noise of the robot. For achieving both low latency and high quality, our system combines online and offline human-voice enhancement, providing an overview first and then details on demand. The online enhancement is used for searching for a victim in real time, while the offline one facilitates scrutiny by listening to highly enhanced human voices. Our online enhancement is based on an online robust principal component analysis, and our offline enhancement is based on an independent low-rank matrix analysis. The two enhancement methods are integrated with Robot Operating System (ROS). Experimental results showed that both the online and offline enhancement methods outperformed conventional methods. |
BibTeX:
@article{Bando2017jrm,
author = {Bando, Yoshiaki and Saruwatari, Hiroshi and Ono, Nobutaka and Makino, Shoji and Itoyama, Katsutoshi and Kitamura, Daichi and Ishimura, Masaru and Takakusaki, Moe and Mae, Narumi and Yamaoka, Kouei and Matsui, Yutaro and Ambe, Yuichi and Konyo, Masashi and Tadokoro, Satoshi and Yoshii, Kazuyoshi and Okuno, Hiroshi G},
title = {Low Latency and High Quality Two-Stage Human-Voice-Enhancement System for a Hose-Shaped Rescue Robot},
journal = {Journal of Robotics and Mechatronics},
year = {2017},
volume = {27},
number = {1},
pages = {198--212},
url = {https://www.fujipress.jp/jrm/rb/robot002900010198/},
doi = {10.20965/jrm.2017.p0198}
}
|
| Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto and Satoshi Tadokoro, "Envelope effect study on collision vibration perception through investigating just noticeable difference of time constant," 2017 IEEE World Haptics Conference (WHC), pp. 528-533, June. 2017. doi:10.1109/WHC.2017.7989957. |
| Abstract: It is known that human can feel the vibratory envelope on periodic sinusoidal vibrations; however, the role of the envelope on non-periodic transient vibrations is still not clear. This study investigated Just Noticeable Difference (JND) of the time constant in the decaying sinusoidal vibration model, which is one reasonable factor relating to discrimination of tapped materials. The authors conducted psychophysical experiments to evaluate JNDs for two referenced time constants (10.8 and 50 ms) among five frequencies (150, 250, 500, 800 and 1000 Hz). The analysis showed that significant frequency effect on JNDs was only found for the lower JNDs of reference time constant 50 ms. JNDs of the time constant was lower around 250 Hz (150 to 500 Hz, average JND was 12.8%) and was higher at high frequencies (800 to 1000 Hz, average JND was 27.9%). No significant frequency effects were found in the upper JNDs of reference 50 ms (average JND was 23%) and upper JNDs of reference 10.8 ms (average JND was 65%). |
BibTeX:
@inproceedings{Cao2017,
author = {Cao, Nan and Nagano, Hikaru and Konyo, Masashi and Okamoto, Shogo and Tadokoro, Satoshi},
title = {Envelope effect study on collision vibration perception through investigating just noticeable difference of time constant},
booktitle = {2017 IEEE World Haptics Conference (WHC)},
year = {2017},
pages = {528--533},
url = {http://ieeexplore.ieee.org/abstract/document/7989957/},
doi = {10.1109/WHC.2017.7989957}
}
|
| Daniel Gongora, Hikaru Nagano, Yosuke Suzuki, Masashi Konyo and Satoshi Tadokoro, "Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations," 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 461-468, May. 2017. doi:10.1109/ICRA.2017.7989059. |
| Abstract: Unnoticed collisions compromise the success of remote exploratory tasks with mobile robots. We propose a vibrotactile stimulation method to represent frontal collisions that is based on the way people perceive impacts on a bar held with both hands. We observed that to estimate the impact point in a bimanual impact localization task people relied on amplitude and duration differences of the impact vibrations delivered to their hands. Then, to apply these results, we obtained a psychophysical function that relates impact points and vibration parameters. Finally, we used a differential drive mobile robot equipped with a high speed tactile sensor on the front bumper to evaluate our method in a simplified teleoperation task. We observed that participants required less time to complete the task when vibrotactile feedback was available. |
BibTeX:
@inproceedings{Gongora2017,
author = {Gongora, Daniel and Nagano, Hikaru and Suzuki, Yosuke and Konyo, Masashi and Tadokoro, Satoshi},
title = {Collision representation using vibrotactile cues to bimanual impact localization for mobile robot operations},
booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017},
pages = {461--468},
url = {http://ieeexplore.ieee.org/abstract/document/7989059/},
doi = {10.1109/ICRA.2017.7989059}
}
|
| Daniel Gongora, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Vibrotactile rendering of camera motion for bimanual experience of first-person view videos," 2017 IEEE World Haptics Conference (WHC), pp. 454-459, June. 2017. doi:10.1109/WHC.2017.7989944. |
| Abstract: We propose a vibrotactile rendering method for the motion of a camera in first-person view videos that enables people to feel the movement of the camera with both hands. Concretely, we consider an arrangement of two vibrotactile actuators to render panning movements on the horizontal axis as vibrations that move from hand to hand, and to represent sudden vertical displacements of the camera as transient vibrations on both hands. We investigate three representation methods for the panning motion based on the estimated velocity and acceleration of the camera and a combination of both. In a preliminary user experiment, we observed favorable effects of applying our proposed rendering method on the perceived realism and satisfaction associated with the experience of watching a video. |
BibTeX:
@inproceedings{Gongora2017a,
author = {Gongora, Daniel and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Vibrotactile rendering of camera motion for bimanual experience of first-person view videos},
booktitle = {2017 IEEE World Haptics Conference (WHC)},
year = {2017},
pages = {454--459},
url = {http://ieeexplore.ieee.org/abstract/document/7989944/},
doi = {10.1109/WHC.2017.7989944}
}
|
| Kosuke Higashi, Shogo Okamoto, Yoji Yamada, Hikaru Nagano and Masashi Konyo, "Hardness perception by tapping: Effect of dynamic stiffness of objects," 2017 IEEE World Haptics Conference (WHC), pp. 37-41, June. 2017. doi:10.1109/WHC.2017.7989853. |
| Abstract: Humans can judge the hardness of an object by tapping its surface using a fingertip. The damped natural vibration caused by tapping is a vibrotactile cue for hardness perception. We investigated how dynamic characteristics of an object or vibration influence the hardness perceived by tapping. Using multivariate analyses, the subjectively reported hardness was linked with the dynamic stiffness of an object. Dynamic stiffness, which characterizes the impulsive response of an object, was acquired across 40-1,000 Hz for fourteen types of material cuboid through a hammering test. These blocks were also ranked by seven participants based on their hardness perceived when the participants tapped them with a finger. It was found that the dynamic stiffness did not equally affect the hardness perception across the wide frequency range. Its sensitivity displayed a peak around 200-400 Hz and decreased or disappeared at greater frequency bands in which human perceptual capability is limited. |
BibTeX:
@inproceedings{Higashi2017,
author = {Higashi, Kosuke and Okamoto, Shogo and Yamada, Yoji and Nagano, Hikaru and Konyo, Masashi},
title = {Hardness perception by tapping: Effect of dynamic stiffness of objects},
booktitle = {2017 IEEE World Haptics Conference (WHC)},
year = {2017},
pages = {37--41},
url = {http://ieeexplore.ieee.org/abstract/document/7989853/},
doi = {10.1109/WHC.2017.7989853}
}
|
| Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot," 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 1900-1907, May. 2017. doi:10.1109/ICRA.2017.7989221. |
| Abstract: This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize and design the novel expansion mechanism and introduce its associated mathematical model to formulate the holding force and mechanism design. The characteristics and capabilities of the mechanism are elucidated by experiments. From the experimental results, we optimize the applied pressure and the design of the mechanism. The proposed mechanism generates a maximum holding force of 69.7 N, which is 5.2 times higher than that of the previous mechanism, and drastically improves the robot's bent-pipe-passing capability. Finally, the performance of this mechanism is confirmed in a simulated pipe test. In this trial, a robot equipped with the proposed mechanism smoothly and steadily moves through complex pipe configurations, including the vertical and bent pipes. |
BibTeX:
@inproceedings{Yamamoto2017,
author = {Yamamoto, Tomonari and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot},
booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017},
pages = {1900--1907},
url = {http://ieeexplore.ieee.org/abstract/document/7989221/},
doi = {10.1109/ICRA.2017.7989221}
}
|
| Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma and Satoshi Tadokoro, "A Flexible In-Pipe Robot Capable of Moving in Open Spaces via a Pneumatic Rotary Mechanism," IFAC-PapersOnLine, vol. 50, no. 1, pp. 1050-1055, jul. 2017. doi:10.1016/j.ifacol.2017.08.216. |
| Abstract: In this paper, we propose a flexible pneumatic robot that can move in narrow pipes and across open spaces. The development of such robots is necessary to access the insides of Fukushima Daiichi Nuclear Power Plant's pressure containment and reactor pressure vessels via pipes and to then move around inside and investigate damage to them. The novel flexible pneumatic robot proposed here realizes both in-pipe and open-space locomotion by integrating expansion-type pneumatic hollow-shaft actuators and a pneumatic rotary steering mechanism. We first present the propulsion and steering concept of the proposed robot before detailing its design and the developed prototype. Further, we present the experimental evaluation of the characteristics and performances of the steering and propulsion mechanisms. We found that each expansion-type pneumatic hollow-shaft actuator can generate a maximum traction force of 11 N, whereas the steering mechanism generates a maximum steering force of 0.55 N. Finally, we conducted a trial to confirm the locomotion performance of the robot both in pipes and across open space. The results show that the robot can smoothly touch down into open space from high-lying pipes and subsequently move around across open spaces toward a given coordinate. |
BibTeX:
@inproceedings{Yamamoto2017a,
author = {Yamamoto, Tomonari and Konyo, Masashi and Tadakuma, Kenjiro and Tadokoro, Satoshi},
title = {A Flexible In-Pipe Robot Capable of Moving in Open Spaces via a Pneumatic Rotary Mechanism},
booktitle = {IFAC-PapersOnLine},
year = {2017},
volume = {50},
number = {1},
pages = {1050--1055},
url = {http://linkinghub.elsevier.com/retrieve/pii/S2405896317305281},
doi = {10.1016/j.ifacol.2017.08.216}
}
|
| 2016 |
| Eri Takane, Kenjiro Tadakuma, Tomonari Yamamoto, Masashi Konyo and Satoshi Tadokoro, "A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots," ROBOMECH Journal, vol. 3, no. 1, pp. 28, nov. 2016. doi:10.1186/s40648-016-0067-x. |
| Abstract: A mechanism that allows a robotic arm to quickly grip various forms of objects at disaster sites will enhance the mobility of rescue robots by keeping their bodies stable and maintaining manipulability for target objects, such as debris. Such a mechanism requires the ability to quickly and omnidirectionally change arm postures toward the target and hold it in a stable manner. Continuum robots are expected to provide this functionality. Conventional continuum robots realize the function of changing arm postures and grasping objects by controlling pneumatic actuators with multiple air chambers arranged in parallel. However, conventional robots cannot be applied to potential disaster sites filled with flammable gases, gasoline, or high radiation levels because they require electronic components (e.g., solenoid valves, and sensors) to control air pressures. This study proposes a unique approach to realize reflexive omnidirectional bending motion using only mechanical components without any electrical devices. The proposed system realizes a reflexive motion to bend the arm in the target's direction by detecting a contact location using a mechanical reactive system. The proposed simple mechanism has the advantages of high durability and easy implementation. This paper aims to confirm the proposed concept by prototyping a drive mechanism coupled with contact detection and bending motion using mechanical port valves. We report the design concept and development of this prototype. The fundamental characteristics and feasibility of the proposed mechanism are experimentally confirmed. First, a prototype is developed using a mathematical model. Its performance in the bending and omnidirectional motions is evaluated. The results show that the model has a margin of −4.9% error in the bending angle and −7.4% error in the central curvature compared with the experimental values. We also confirm that using a higher pressure could realize a smaller radius of curvature and reduce an unnecessary twisting motion. We also tested a second prototype to confirm the grasping motion and force by changing the applied pressures. The influence of the bending direction was then evaluated. We confirm that a higher pressure generated a larger grasping force. The prototype can omnidirectionally produce approximately the same forces although the generated forces depend on the number of air chambers excited by the contact pads. Subsequently, we experimentally confirm the influence of gravity. The test shows that the effect of own weight greatly influences the posture after the object is in contact. This effect should not be ignored. Furthermore, the curve became sufficiently large when its contact pad is pressed. This result experimentally proved that self-holding is possible. The experimental results show the potential of the proposed mechanism. |
BibTeX:
@article{Takane2016a,
author = {Takane, Eri and Tadakuma, Kenjiro and Yamamoto, Tomonari and Konyo, Masashi and Tadokoro, Satoshi},
title = {A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots},
journal = {ROBOMECH Journal},
publisher = {Springer International Publishing},
year = {2016},
volume = {3},
number = {1},
pages = {28},
url = {http://robomechjournal.springeropen.com/articles/10.1186/s40648-016-0067-x},
doi = {10.1186/s40648-016-0067-x}
}
|
| Yuichi Ambe, Tomonari Yamamoto, Shotaro Kojima, Eri Takane, Kenjiro Tadakuma, Masashi Konyo and Satoshi Tadokoro, "Use of active scope camera in the Kumamoto Earthquake to investigate collapsed houses," 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 21-27, oct. 2016. doi:10.1109/SSRR.2016.7784272. |
| Abstract: The Kumamoto Earthquake occurred in April 2016. We conducted an investigation using the active scope camera to examine the interiors of the collapsed houses. The robot video scope can move by itself to probe narrow gaps. We could safely gather information by inserting it inside houses. We further considered the future possible improvements to the robot based on the investigation. We also determined the constraints to be considered for the robot operation in disaster areas. In addition, we created a test field imitating the features of collapsed houses. We used this field to evaluate our robot mobility and related technologies that are being developed for future applications. |
BibTeX:
@inproceedings{Ambe2016,
author = {Ambe, Yuichi and Yamamoto, Tomonari and Kojima, Shotaro and Takane, Eri and Tadakuma, Kenjiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Use of active scope camera in the Kumamoto Earthquake to investigate collapsed houses},
booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
publisher = {IEEE},
year = {2016},
pages = {21--27},
url = {http://ieeexplore.ieee.org/document/7784272/},
doi = {10.1109/SSRR.2016.7784272}
}
|
| Masahiro Fujita, Kenjiro Tadakuma, Eri Takane, Tomoya Ichimura, Hirone Komatsu, Akito Nomura, Masashi Konyo and Satoshi Tadokoro, "Variable inner volume mechanism for soft and robust gripping — Improvement of gripping performance for large-object gripping," 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 390-395, oct. 2016. doi:10.1109/SSRR.2016.7784332. |
| Abstract: In this study, we developed a gripper capable of gripping a soft object with low pressure. At disaster sites, it is necessary for robots to grip various kinds of objects. The universal gripper (UG) is an example of a gripping tool, being a soft gripper that exploits the jamming effect of grain inside an elastomer bag. However, the UG cannot fit to objects precisely, because it is filled with coffee granules. Consequently, strong pressure must be used to fit the gripper onto an object. As one approach to overcoming this problem, a method to change the grain quantity is required. Therefore, we have devised a variable-inner-volume mechanism using an air cylinder. The grain quantity changes relative to changes in the inner volume, allowing the variable-inner-volume gripper to grip various objects. Herein, we also measured the pressure necessary for object gripping. |
BibTeX:
@inproceedings{Fujita2016,
author = {Fujita, Masahiro and Tadakuma, Kenjiro and Takane, Eri and Ichimura, Tomoya and Komatsu, Hirone and Nomura, Akito and Konyo, Masashi and Tadokoro, Satoshi},
title = {Variable inner volume mechanism for soft and robust gripping — Improvement of gripping performance for large-object gripping},
booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
publisher = {IEEE},
year = {2016},
pages = {390--395},
url = {http://ieeexplore.ieee.org/document/7784332/},
doi = {10.1109/SSRR.2016.7784332}
}
|
| Eri Takane, Kenjiro Tadakuma, Masahiro Fujita, Hirone Komatsu, Akito Nomura, Tomoya Ichimura, Tomonari Yamamoto, Yuichi Ambe, Masashi Konyo and Satoshi Tadokoro, "Two axes orthogonal drive transmission for omnidirectional crawler with surface contact," 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 378-383, oct. 2016. doi:10.1109/SSRR.2016.7784330. |
| Abstract: In this paper, we propose an omnidirectional mobile mechanism with surface contact. This mechanism is expected to perform on rough terrain and weak ground at disaster sites. In the discussion on the drive mechanism, we explain how a two axes orthogonal drive transmission system is important and we propose a principle drive mechanism for omnidirectional motion. In addition, we demonstrated that the proposed drive mechanism has potential for omnidirectional movement on rough ground by conducting experiments with prototypes. |
BibTeX:
@inproceedings{Takane2016,
author = {Takane, Eri and Tadakuma, Kenjiro and Fujita, Masahiro and Komatsu, Hirone and Nomura, Akito and Ichimura, Tomoya and Yamamoto, Tomonari and Ambe, Yuichi and Konyo, Masashi and Tadokoro, Satoshi},
title = {Two axes orthogonal drive transmission for omnidirectional crawler with surface contact},
booktitle = {2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
publisher = {IEEE},
year = {2016},
pages = {378--383},
url = {http://ieeexplore.ieee.org/document/7784330/},
doi = {10.1109/SSRR.2016.7784330}
}
|
| Takahito Funamizu, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Visuo-haptic transmission of contact information improve operation of Active Scope Camera," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1126-1132, oct. 2016. doi:10.1109/IROS.2016.7759190. |
| Abstract: Disaster response robots for searching in a narrow area have limited space to mount tactile sensors, but the operators require sensory feedback to recognize contact situations with the surrounding environment. This study proposes a new approach to transmitting contact information of a remoteoperated snake-like robot called Active Scope Camera (ASC) to the operator using simple configurations for the sensing and display methods. For the sensing side, we develop a contact estimation method with a limited number of tactile sensors. We establish the method to localize the contact position and the magnitude by sensing multiple propagated vibrations based on experiments and formulations. Preliminary experiments show that the developed method estimates a collision angle with high probability (93.8% at the worst condition) at several collisional situations. For the display side, we combine visual and vibrotactile feedback to provide the operator both directional and temporal cues to perceive contact events. The proposed visualization method uses colored bars, peripherally superposed on the video image, to show the estimated contact location and magnitude. A single DoF vibrotactile feedback is used for a joystick interface to control the head movement of the ASC. The effect of vibrotactile feedback on the response time to contact events is evaluated. Finally, we investigate the performance of the operation by identifying the contact behavior at simulated scenarios. Experimental results show that collision times per operation time is decreased by the developed feedback system compared with a simple video-based operation. |
BibTeX:
@inproceedings{Funamizu2016,
author = {Funamizu, Takahito and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Visuo-haptic transmission of contact information improve operation of Active Scope Camera},
booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2016},
pages = {1126--1132},
url = {http://ieeexplore.ieee.org/document/7759190/},
doi = {10.1109/IROS.2016.7759190}
}
|
| Tomoya Ichimura, Kenjiro Tadakuma, Eri Takane, Masashi Konyo and Satoshi Tadokoro, "Development of a spherical tether-handling device with a coupled differential mechanism for tethered teleoperated robots," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2604-2609, oct. 2016. doi:10.1109/IROS.2016.7759405. (IEEE Robotics and Automation Society Japan Joint Chapter Young Award to the presenter: T. Ichimura) |
| Abstract: Tethered robots often experience entangling of their cables with obstacles in uncertain disaster environments. This paper proposes a spherical tether handling device that unfastens a robot's tether during surveys by releasing the tether and carrying it aside. By using a differential mechanism, the device drives shells and rollers that hold the tether. On flat surfaces, the device moves forward by driving the shells. When the device climbs over steps, the rollers are driven by the differential mechanism to pull the tether automatically. After prototyping the device, we confirm the surmountability of the proposed device against steps. The results show that the device can climb a height 90.9% of its diameter. We also demonstrate a scenario to handle the tether and untangle multiple tangles in an environment with several obstacles. |
BibTeX:
@inproceedings{Ichimura2016,
author = {Ichimura, Tomoya and Tadakuma, Kenjiro and Takane, Eri and Konyo, Masashi and Tadokoro, Satoshi},
title = {Development of a spherical tether-handling device with a coupled differential mechanism for tethered teleoperated robots},
booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2016},
pages = {2604--2609},
url = {http://ieeexplore.ieee.org/document/7759405/},
doi = {10.1109/IROS.2016.7759405}
}
|
| Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii and Hiroshi G. Okuno, "Variational Bayesian multi-channel robust NMF for human-voice enhancement with a deformable and partially-occluded microphone array," 2016 24th European Signal Processing Conference (EUSIPCO), pp. 1018-1022, aug. 2016. doi:10.1109/EUSIPCO.2016.7760402. |
| Abstract: This paper presents a human-voice enhancement method for a deformable and partially-occluded microphone array. Although microphone arrays distributed on the long bodies of hose-shaped rescue robots are crucial for finding victims under collapsed buildings, human voices captured by a microphone array are contaminated by non-stationary actuator and friction noise. Standard blind source separation methods cannot be used because the relative microphone positions change over time and some of them are occasionally shaded by rubble. To solve these problems, we develop a Bayesian model that separates multichannel amplitude spectrograms into sparse and low-rank components (human voice and noise) without using phase information, which depends on the array layout. The voice level at each microphone is estimated in a time-varying manner for reducing the influence of the shaded microphones. Experiments using a 3-m hose-shaped robot with eight microphones show that our method outperforms conventional methods by the signal-to-noise ratio of 2.7 dB. |
BibTeX:
@inproceedings{Bando2016,
author = {Bando, Yoshiaki and Itoyama, Katsutoshi and Konyo, Masashi and Tadokoro, Satoshi and Nakadai, Kazuhiro and Yoshii, Kazuyoshi and Okuno, Hiroshi G},
title = {Variational Bayesian multi-channel robust NMF for human-voice enhancement with a deformable and partially-occluded microphone array},
booktitle = {2016 24th European Signal Processing Conference (EUSIPCO)},
publisher = {IEEE},
year = {2016},
pages = {1018--1022},
url = {http://ieeexplore.ieee.org/document/7760402/},
doi = {10.1109/EUSIPCO.2016.7760402}
}
|
| Dennis Babu, Seonghwan Kim, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Can Haptic Feedback Improve Gesture Recognition in 3D Handwriting Systems?," Proceedings the 9th International Conference of Intelligent Robotics and Applications (ICIRA 2016), Lecture Notes in Computer Science, vol. 9834, pp. 462-471, August. 2016. doi:10.1007/978-3-319-43506-0_41. (ICIRA2016 Best Student Paper Award) |
| Abstract: Current gesture interfaces accept relatively simple postures and motions for reliable inputs, which are still far from natural and intuitive experiences for the users. This paper suggests a unique idea that haptic feedback has a potential to improve not only user experiences but also gesture recognition performances. We expect haptic feedback to provide users cues for natural writing movement and accordingly generate movement easily recognized by the system. We developed a writing gesture recognition system using the K-Means clustering algorithm for writing state estimation and a haptic feedback system which involved frictional sensation during writing and impulsive sensation at the beginning and ending of writing. The experiments on five participants showed an approximately 5 % and 4 % improvement in the true positive and the false negative gesture recognition rate with visual-haptic feedback compared to visual feedback alone. We confirmed that the improvement was due to changes in hand motion by haptic feedback, which led to a higher correlation between reference waveform and performed motion and an increase of the finger stopping time at the end of the writing. We also confirmed the positive effects of our haptic feedback on the user experiences. |
BibTeX:
@inproceedings{Babu2016,
author = {Babu, Dennis and Kim, Seonghwan and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
editor = {Kubota, Naoyuki and Kiguchi, Kazuo and Liu, Honghai and Obo, Takenori},
title = {Can Haptic Feedback Improve Gesture Recognition in 3D Handwriting Systems?},
booktitle = {Proceedings the 9th International Conference of Intelligent Robotics and Applications (ICIRA 2016), Lecture Notes in Computer Science},
publisher = {Springer International Publishing},
year = {2016},
volume = {9834},
pages = {462--471},
url = {http://dx.doi.org/10.1007/978-3-319-43506-0_41},
doi = {10.1007/978-3-319-43506-0_41}
}
|
| Ye Hua, Masashi Konyo and Satoshi Tadokoro, "Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots," Advanced Robotics, vol. 30, no. 19, pp. 1260-1272, aug. 2016. doi:10.1080/01691864.2016.1205511. |
| Abstract: A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz. |
BibTeX:
@article{Hua2016,
author = {Hua, Ye and Konyo, Masashi and Tadokoro, Satoshi},
title = {Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots},
journal = {Advanced Robotics},
publisher = {Taylor & Francis},
year = {2016},
volume = {30},
number = {19},
pages = {1260--1272},
url = {https://www.tandfonline.com/doi/full/10.1080/01691864.2016.1205511},
doi = {10.1080/01691864.2016.1205511}
}
|
| Shunya Sakata, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "Multipoint Vibrotactile Stimuli Based on Vibration Propagation Enhance Collision Sensation," EuroHaptics 2016: Haptics: Perception, Devices, Control, and Applications, Lecture Notes in Computer Science, vol. 9775, pp. 65-74, jul. 2016. doi:10.1007/978-3-319-42324-1_7. |
| Abstract: This study investigated the influence of multipoint vibrotactile stimuli on the basis of propagated vibration on the perception of collision sensation through two experiments. In the first experiment, we measured the vibration waveforms generated by a tennis ball hitting at the gripped racket, wrist, and elbow. The measured vibrations on the three positions displayed different profiles and frequency spectra, which appeared to be caused by the vibration propagation. In the second experiment, participants evaluated the vibrations reproduced on the basis of the measured vibration in terms of the display conditions using subjective evaluation. The results showed that multipoint vibrotactile stimuli improve the magnitude and size of area of collision sensation compared with a single-point vibration, and the unnatural condition in which multipoint stimuli containing recorded and unrecorded waveforms degraded the reality of reproduced collision sensation. |
BibTeX:
@incollection{Sakata2016,
author = {Sakata, Shunya and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {Multipoint Vibrotactile Stimuli Based on Vibration Propagation Enhance Collision Sensation},
booktitle = {EuroHaptics 2016: Haptics: Perception, Devices, Control, and Applications, Lecture Notes in Computer Science},
publisher = {Springer International Publishing},
year = {2016},
volume = {9775},
pages = {65--74},
url = {http://link.springer.com/10.1007/978-3-319-42324-17},
doi = {10.1007/978-3-319-42324-1_7}
}
|
| Tatsuma Sakurai, Masashi Konyo and Hiroyuki Shinoda, "Sharp Tactile Line Presentation Using Edge Stimulation Method," IEEE Transactions on Haptics, vol. 9, no. 1, pp. 90-99, jan. 2016. doi:10.1109/TOH.2015.2477839. |
| Abstract: We report on a tactile shape presentation display that has a rigid plane for a surface and can present highly localized tactile stimuli using small vibrotactile stimuli. We have proposed an edge stimulation (ES) method that can present sharp tactile sensation along the boundary edge of vibratory surfaces. The basic concept is to use the ES method for shape presentation. The ES method allows the tactile display surface to be a flat plane; it can be mounted on a flat surface of any devices and can project images on this surface. The ES method uses low-frequency and small-amplitude vibrations that achieves low power actuation. Previously, we have developed an edge stimulation device (ES device) with voice coil actuators in 2×2 array and examined the concept of the ES method for shape presentation, though it was low rigidity (display surface was easy to be bent) and not capable for various shape presentation. In this study, we developed 3×3 array shape presentation display with rigid piezo-vibrators taking advantage of ES method. Psychophysical experiment on detection thresholds for vibratory stimuli demonstrated the display can make 5 μm at 30 Hz vibration perceivable, even though they normally require a 30 μm amplitude for simple vibrations. In the shape recognition test results, users correctly scored of 96 % for 8 patterns discrimination tasks. |
BibTeX:
@article{Sakurai2016,
author = {Sakurai, Tatsuma and Konyo, Masashi and Shinoda, Hiroyuki},
title = {Sharp Tactile Line Presentation Using Edge Stimulation Method},
journal = {IEEE Transactions on Haptics},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
year = {2016},
volume = {9},
number = {1},
pages = {90--99},
doi = {10.1109/TOH.2015.2477839}
}
|
| 2015 |
| Dennis Babu, Daniel Gongora, Shunya Sakata, Seonghwan Kim, Hikaru Nagano, Masashi Konyo and Satoshi Tadokoro, "HelloHapticWorld: A haptics educational kit for interacting with robots," 2015 IEEE/SICE International Symposium on System Integration (SII), pp. 157-162, dec. 2015. doi:10.1109/SII.2015.7404971. |
| Abstract: User interactions with the recent smart-phones and tablets are visually rich but poor in the sense of touch and thus is not fully immersive. We propose HelloHapticWorld: a haptics educational kit which uses the variable friction of the TPad to virtually simulate the haptic sensation of tele-operated robot onto the fingertips of the user. The kit contains a mobile robot controlled by TPad and a reconfigurable field consisting of obstacles and road slopes of different sizes and shapes. The frequency and amplitude of the signals are modulated for representing slope and distance informations. Psychophysical analysis on 5 adult subjects for the signal excitation of haptic feedback were conducted using the method of constant stimuli based on which sinusoidal waveform rendering was selected for haptic slope and distance rendering. Methods of magnitude estimation and Confusion matrix analysis was further used to evaluate the linearity of haptic obstacle perception and discriminability of haptic slope perception respectively. The result shows 81.2% slope discrimination and 90% linear obstacle perception during robot teleoperation using HelloHapticWorld. |
BibTeX:
@inproceedings{babu2015hellohapticworld,
author = {Babu, Dennis and Gongora, Daniel and Sakata, Shunya and Kim, Seonghwan and Nagano, Hikaru and Konyo, Masashi and Tadokoro, Satoshi},
title = {HelloHapticWorld: A haptics educational kit for interacting with robots},
booktitle = {2015 IEEE/SICE International Symposium on System Integration (SII)},
publisher = {IEEE},
year = {2015},
pages = {157--162},
url = {http://ieeexplore.ieee.org/document/7404971/},
doi = {10.1109/SII.2015.7404971}
}
|
| Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii and Hiroshi G. Okuno, "Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array," 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1-6, oct. 2015. doi:10.1109/SSRR.2015.7442949. (SSRR 2015 Most Innovative Paper Award / People's Choice Demo Award) |
| Abstract: This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR. |
BibTeX:
@inproceedings{Bando2015human,
author = {Bando, Yoshiaki and Itoyama, Katsutoshi and Konyo, Masashi and Tadokoro, Satoshi and Nakadai, Kazuhiro and Yoshii, Kazuyoshi and Okuno, Hiroshi G.},
title = {Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array},
booktitle = {2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
publisher = {IEEE},
year = {2015},
pages = {1--6},
url = {http://ieeexplore.ieee.org/document/7442949/},
doi = {10.1109/SSRR.2015.7442949}
}
|
| Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii and Hiroshi G. Okuno, "Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5580-5586, sep. 2015. doi:10.1109/IROS.2015.7354168. |
| Abstract: 3D posture estimation for a hose-shaped robot is critical in rescue activities due to complex physical environments. Conventional sound-based posture estimation assumes rather flat physical environments and focuses only on 2D, resulting in poor performance in real world environments with rubble. This paper presents novel 3D posture estimation by exploiting microphones and accelerometers. The idea of our method is to compensate the lack of posture information obtained by sound-based time-difference-of arrival (TDOA) with the tilt information obtained from accelerometers. This compensation is formulated as a nonlinear state-space model and solved by the unscented Kalman filter. Experiments are conducted by using a 3m hose-shaped robot with eight units of a microphone and an accelerometer and seven units of a loudspeaker and a vibration motor deployed in a simple 3D structure. Experimental results demonstrate that our method reduces the errors of initial states to about 20 cm in the 3D space. If the initial errors of initial states are less than 20 %, our method can estimate the correct 3D posture in real-time. |
BibTeX:
@inproceedings{bando2015microphone,
author = {Bando, Yoshiaki and Itoyama, Katsutoshi and Konyo, Masashi and Tadokoro, Satoshi and Nakadai, Kazuhiro and Yoshii, Kazuyoshi and Okuno, Hiroshi G},
title = {Microphone-accelerometer based 3D posture estimation for a hose-shaped rescue robot},
booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2015},
pages = {5580--5586},
url = {http://ieeexplore.ieee.org/document/7354168/},
doi = {10.1109/IROS.2015.7354168}
}
|
| Tomohiro Miyazaki, Fumi Seto, Masashi Konyo and Satoshi Tadokoro, "Evaluating human motor function of lower limbs in periodic motion during pedaling exercise," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2216-2223, sep. 2015. doi:10.1109/IROS.2015.7353674. |
| Abstract: The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, we propose a method that can estimate the impedance characteristics of the lower limbs of a human subject applying torque perturbations during a pedaling exercise. To improve the accuracy of the proposed estimation method, the effects of inertia and gravity in the measurement data were considered by representing the lower limbs by a multi-link model. Experiments were performed in two participants to estimate the stiffness and viscosity at different phases of the periodic movement. The distributions of these parameters showed symmetric properties for both legs in a pedaling cycle-a tendency that was observed in both participants. This agreement suggests that our method could extract a component of human motor control strategy that adjust mechanical impedances during pedaling exercises. |
BibTeX:
@inproceedings{miyazaki2015evaluating,
author = {Miyazaki, Tomohiro and Seto, Fumi and Konyo, Masashi and Tadokoro, Satoshi},
title = {Evaluating human motor function of lower limbs in periodic motion during pedaling exercise},
booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2015},
pages = {2216--2223},
url = {http://ieeexplore.ieee.org/document/7353674/},
doi = {10.1109/IROS.2015.7353674}
}
|
| Tomonari Yamamoto, Masashi Konyo and Satoshi Tadokoro, "A high-speed locomotion mechanism using pneumatic hollow-shaft actuators for in-pipe robots," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4724-4730, sep. 2015. doi:10.1109/IROS.2015.7354050. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: T. Yamamoto) |
| Abstract: This study proposes a high-speed locomotion mechanism for a pipe-inspection robot. As a result of the narrow and complex structures of pipeline networks, it is difficult for robots to move quickly within the pipes. The new pneumatic mechanism proposed here realizes high-speed locomotion along with advantageous features for pipe inspection including a small diameter, flexibility, and low weight. First, we present the design concept of the novel locomotion mechanism using pneumatic flexible hollow-shaft actuators, which was previously developed by the authors. The prototype constructed to realize this concept and the associated mathematical model are then introduced. Second, the basic characteristics of the proposed mechanism are evaluated in terms of the holding force (generated by an expansion mechanism against the pipe wall) and the impellent force that induces forward motion in the robot. Finally, the in-pipe movement performance is confirmed. The experimental results show that the designed robot can be propelled inside a 53-mm-diameter pipe at a maximum speed of 250 mm/s, which is exceedingly faster than conventional designs. |
BibTeX:
@inproceedings{yamamoto2015high,
author = {Yamamoto, Tomonari and Konyo, Masashi and Tadokoro, Satoshi},
title = {A high-speed locomotion mechanism using pneumatic hollow-shaft actuators for in-pipe robots},
booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2015},
pages = {4724--4730},
url = {http://ieeexplore.ieee.org/document/7354050/},
doi = {10.1109/IROS.2015.7354050}
}
|
| Yoshiaki Bando, Takuma Otsuka, Takeshi Mizumoto, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai and Hiroshi G. Okuno, "Posture estimation of hose-shaped robot by using active microphone array," Advanced Robotics, vol. 29, no. 1, pp. 35-49, jan. 2015. doi:10.1080/01691864.2014.981291. (Advanced Robotics Best Paper Award) |
| Abstract: Hose-shaped rescue robots have been developed for searching narrow spaces such as under collapsed buildings. The posture estimation independent of the past history is critical, because conventional inertial-sensor-based posture estimation has two main problems; a cumulative error problem peculiar to inertial sensors, and a sudden posture change problem caused by external forces. For coping with the two problems, we developed a novel posture estimation method by putting an active microphone array, a set of microphones and loudspeakers, on the robot. The method calculates the time difference of arrival (TDOA) of the reference signal emitted from one loudspeaker, and estimates the posture from the distance obtained by TDOA. This concise method still has three problems: (1) external noise, (2) reverberation and reflection, and (3) obstacles. These problems are tackled by (1) TSP signal, (2) GCC-PHAT and a threshold-based onset detection, and (3) rejecting incorrect onset times, respectively. Experiments with simulated sounds and actual recordings demonstrate that the method attains the performance of estimation comparable to that of conventional methods, that is, less than 20 cm of the tip position error. Even without historical data, the method attains the similar performance while conventional methods fail. |
BibTeX:
@article{bando2015posture,
author = {Bando, Yoshiaki and Otsuka, Takuma and Mizumoto, Takeshi and Itoyama, Katsutoshi and Konyo, Masashi and Tadokoro, Satoshi and Nakadai, Kazuhiro and Okuno, Hiroshi G.},
title = {Posture estimation of hose-shaped robot by using active microphone array},
journal = {Advanced Robotics},
publisher = {Taylor & Francis},
year = {2015},
volume = {29},
number = {1},
pages = {35--49},
url = {http://www.tandfonline.com/doi/abs/10.1080/01691864.2014.981291},
doi = {10.1080/01691864.2014.981291}
}
|
| 2014 |
| Yoshiaki Bando, Katsutoshi Itoyama, Masashi Konyo, Satoshi Tadokoro, Kazuhiro Nakadai, Kazuyoshi Yoshii and Hiroshi G. Okuno, "A sound-based online method for estimating the time-varying posture of a hose-shaped robot," 2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1-6, oct. 2014. doi:10.1109/SSRR.2014.7017665. (SSRR 2014 Best Student Paper Award to the presenter: Y. Bando) |
| Abstract: This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time. |
BibTeX:
@inproceedings{bando2014sound,
author = {Bando, Yoshiaki and Itoyama, Katsutoshi and Konyo, Masashi and Tadokoro, Satoshi and Nakadai, Kazuhiro and Yoshii, Kazuyoshi and Okuno, Hiroshi G},
title = {A sound-based online method for estimating the time-varying posture of a hose-shaped robot},
booktitle = {2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
publisher = {IEEE},
year = {2014},
pages = {1--6},
url = {http://ieeexplore.ieee.org/document/7017665/},
doi = {10.1109/SSRR.2014.7017665}
}
|
| Junichi Fukuda, Masashi Konyo, Eijiro Takeuchi and Satoshi Tadokoro, "Remote vertical exploration by Active Scope Camera into collapsed buildings," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1882-1888, sep. 2014. doi:10.1109/IROS.2014.6942810. (IROS2014 Best Paper Award Finalist / IROS2014 ABB Best Student Paper Award Finalist to the presenter: J. Fukuda / IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: J. Fukuda) |
| Abstract: Remote robotic explorations for collapsed buildings in a severe disaster are demanded. However, rescue robots cannot approach the rubble due to safety risks. This study proposes a remote vertical exploration system for collapsed buildings with a robotic inspection system hoisted by a crane. An Active Scope Camera (ASC) has many advantages for the vertical exploration such as a light and flexible continuum body to produce distributed driving forces. The purpose of this paper is to confirm the feasibility of the vertical exploration system with the ASC. The vertical explorations have proper problems related to contact and hanging conditions of the scope cable. We developed a new ASC that has a two-step bending mechanism to produce larger head movement in multi-DOF. We also evaluated the performances of the prototype when the contact areas were small. Finally, we conducted a remote vertical exploration experiments at the simulated collapsed building in 6 m height. The robot could explore in six different pathways by changing head directions and running the rubbles within seven trials. The experimental results showed that the proposed system has high potential to get inserted in the deep area in the rubble. |
BibTeX:
@inproceedings{fukuda2014remote,
author = {Fukuda, Junichi and Konyo, Masashi and Takeuchi, Eijiro and Tadokoro, Satoshi},
title = {Remote vertical exploration by Active Scope Camera into collapsed buildings},
booktitle = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2014},
pages = {1882--1888},
url = {http://ieeexplore.ieee.org/document/6942810/},
doi = {10.1109/IROS.2014.6942810}
}
|
| Daiki Maemori, Lope Ben Porquis, Masashi Konyo and Satoshi Tadokoro, "A Multi-DOF Haptic Representation Using Suction Pressure Stimuli on Finger Pads," Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014, vol. 8619, pp. 285-294, jun. 2014. doi:10.1007/978-3-662-44196-1_35. |
| Abstract: Humans can perceive external forces applied on a grasping tool based on skin pressure distribution at multiple contact areas during grasp. The authors have tried to represent external forces and torques by controlling the skin pressure distributions using suction stimuli and confirmed the potential but in a heuristic manner. In this paper, we investigate an improved method of skin stimulation based on a combination of psychophysical experiments and mechanical simulation. We focus on a simplification method of the complex strain energy density (SED) distribution at the contact areas with four quadrant values (SED index). The relationship between suction pressure and SED index was achieved by connecting the experiment and the mechanical simulation. We confirmed that a suitable SED index could represent the magnitudes of forces in multiple directions with a linear function. Experimental results also showed that the proposed method could represent arbitrary directions between pairs of the orthogonal axes. |
BibTeX:
@inproceedings{maemori2014multi,
author = {Maemori, Daiki and Porquis, Lope Ben and Konyo, Masashi and Tadokoro, Satoshi},
title = {A Multi-DOF Haptic Representation Using Suction Pressure Stimuli on Finger Pads},
booktitle = {Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014},
publisher = {Springer Berlin Heidelberg},
year = {2014},
volume = {8619},
pages = {285--294},
url = {http://link.springer.com/10.1007/978-3-662-44196-135},
doi = {10.1007/978-3-662-44196-1_35}
}
|
| Shuhei Kadoya, Naohisa Nagaya, Masashi Konyo and Satoshi Tadokoro, "A precise gait phase detection based on high-frequency vibration on lower limbs," 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1852-1857, may. 2014. doi:10.1109/ICRA.2014.6907102. |
| Abstract: A novel gait phase detection method that can extract the timing of foot contact conditions (Heel Strike and Toe Off) by a single piezo film sensor attached on each leg is proposed. We focused on the occurrence of high-frequency vibrations (textgreater 100 Hz) in the beginning and the end of stance phases during gait. After the features of vibration waveforms during gait were confirmed, we proposed the phase detection method. The optimal parameters were investigated to detect the phases robustly despite the walking speed and the shoe types. Experimental results showed that the detected ground contact events had high accuracy of timing. Finally, we confirmed the feasibility with the prototype wearable device in usual environments. |
BibTeX:
@inproceedings{kadoya2014precise,
author = {Kadoya, Shuhei and Nagaya, Naohisa and Konyo, Masashi and Tadokoro, Satoshi},
title = {A precise gait phase detection based on high-frequency vibration on lower limbs},
booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2014},
pages = {1852--1857},
url = {http://ieeexplore.ieee.org/document/6907102/},
doi = {10.1109/ICRA.2014.6907102}
}
|
| Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo and Satoshi Tadokoro, "Presenting virtual stiffness by modulating the perceived force profile with suction pressure," 2014 IEEE Haptics Symposium (HAPTICS), pp. 289-294, feb. 2014. doi:10.1109/HAPTICS.2014.6775469. (IEEE Haptics Symposium 2014 Best Demonstration Award) |
| Abstract: This paper reports a study on modulating the perceived stiffness by controlling the perceived force evoked from suction pressure stimuli. It demonstrates an early attempt of using suction pressure stimuli for augmenting the perceived stiffness of a spring. The purpose of this work is twofold; 1) to validate a requirement needed for the device in force enhancement applications, 2) to tentatively explore the effect of suction pressure stimuli on stiffness perception. In this study, we used physical springs for the stiffness stimuli, and a tool (tactile interface) was used for stiffness exploration. Human subjects were requested to explore and estimate the stiffness of a spring sample. Suction pressure stimuli were applied on the contact areas between the finger the tool during stiffness exploration. The amount of suction stimuli adjusts correspondingly with the measured force, but it is regulated by a psychophysical function. We introduced the gain to scale the measured force, thereby adjusting the profile of the pressure stimuli. We found that the perceived stiffness of the spring appears to increase with higher gain. The result seems to suggest that stiffness augmentation is feasible by modulating the stiffness perception using multipoint suction pressure stimuli. |
BibTeX:
@inproceedings{ben2014presenting,
author = {Porquis, Lope Ben and Maemori, Daiki and Nagaya, Naohisa and Konyo, Masashi and Tadokoro, Satoshi},
title = {Presenting virtual stiffness by modulating the perceived force profile with suction pressure},
booktitle = {2014 IEEE Haptics Symposium (HAPTICS)},
publisher = {IEEE},
year = {2014},
pages = {289--294},
url = {http://ieeexplore.ieee.org/document/6775469/},
doi = {10.1109/HAPTICS.2014.6775469}
}
|
| Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo and Satoshi Tadokoro, "Presenting virtual stiffness by modulating the perceived force profile with suction pressure," 2014 IEEE Haptics Symposium (HAPTICS), pp. 289-294, feb. 2014. doi:10.1109/HAPTICS.2014.6775469. |
| Abstract: This paper reports a study on modulating the perceived stiffness by controlling the perceived force evoked from suction pressure stimuli. It demonstrates an early attempt of using suction pressure stimuli for augmenting the perceived stiffness of a spring. The purpose of this work is twofold; 1) to validate a requirement needed for the device in force enhancement applications, 2) to tentatively explore the effect of suction pressure stimuli on stiffness perception. In this study, we used physical springs for the stiffness stimuli, and a tool (tactile interface) was used for stiffness exploration. Human subjects were requested to explore and estimate the stiffness of a spring sample. Suction pressure stimuli were applied on the contact areas between the finger the tool during stiffness exploration. The amount of suction stimuli adjusts correspondingly with the measured force, but it is regulated by a psychophysical function. We introduced the gain to scale the measured force, thereby adjusting the profile of the pressure stimuli. We found that the perceived stiffness of the spring appears to increase with higher gain. The result seems to suggest that stiffness augmentation is feasible by modulating the stiffness perception using multipoint suction pressure stimuli. |
BibTeX:
@inproceedings{porquis2014presenting,
author = {Porquis, Lope Ben and Maemori, Daiki and Nagaya, Naohisa and Konyo, Masashi and Tadokoro, Satoshi},
title = {Presenting virtual stiffness by modulating the perceived force profile with suction pressure},
booktitle = {2014 IEEE Haptics Symposium (HAPTICS)},
publisher = {IEEE},
year = {2014},
pages = {289--294},
url = {http://ieeexplore.ieee.org/document/6775469/},
doi = {10.1109/HAPTICS.2014.6775469}
}
|
| 2013 |
| Lope Ben Porquis, Daiki Maemori, Naohisa Nagaya, Masashi Konyo and Satoshi Tadokoro, "Haptic cue of forces on tools: Investigation of multi-point cutaneous activity on skin using suction pressure stimuli," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2023-2029, nov. 2013. doi:10.1109/IROS.2013.6696626. |
| Abstract: This paper presents an initial data that could show a possible contribution of mechanoreceptor activity to the perception of forces applied on grasped objects. Here, we obtained detailed psychophysical characteristics of perceived force-magnitude in multiple degrees of freedom (MDOF) using multi-point suction pressure stimuli. To obtain such data, we developed a multi-point stimulation method that can represent MDOF perceived force on a tool. We characterized the perceived force response of human subjects to suction pressure stimuli through psychophysical experiments. Moreover, we analyzed the strain energy density (SED) on the finger pads considering the force applied through finite element simulation. The results of the psychophysical experiments showed that multi-point stimulation method is effective for evoking MDOF perceived force on a tool. Interestingly, we found that the results of the finite element analysis agree with those of the psychophysical data. Therefore, we have verified that it is possible to use multi-point suction pressure stimulation for representing perceived force on objects held in a hand. In addition, a preliminary insight into the role of SED for perceiving force on tools is provided. |
BibTeX:
@inproceedings{ben2013haptic,
author = {Ben Porquis, Lope and Maemori, Daiki and Nagaya, Naohisa and Konyo, Masashi and Tadokoro, Satoshi},
title = {Haptic cue of forces on tools: Investigation of multi-point cutaneous activity on skin using suction pressure stimuli},
booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2013},
pages = {2023--2029},
url = {http://ieeexplore.ieee.org/document/6696626/},
doi = {10.1109/IROS.2013.6696626}
}
|
| Kazuhito Wakana, Hiroaki Namari, Masashi Konyo and Satoshi Tadokoro, "Pneumatic flexible hollow shaft actuator with high speed and long stroke motion," 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 357-363, may. 2013. doi:10.1109/ICRA.2013.6630600. |
| Abstract: A novel flexible pneumatic linear actuator is proposed in this paper. The proposed actuator realizes high-speed reciprocating motion by the moving part which has multiple rollers moves smoothly along the flexible hollow shaft. An effective application of this actuator is its use in endoscope robots and tether robots because cables of cameras or sensors can be passed inside the actuator by using the hollow structure. First, we discuss the physical model of the actuator pressurized in the resting state, and we provide an analysis of the generated force of the actuator. The model relates the generated force to the relevant design parameters such as the applied pressure, the material of the pressure chamber, the size of the moving part, etc. Second, we describe the measurement experiment of the generated force, and we show the validity of our model by comparing the experimental results with the analysis results. Third, we present the motion evaluation using a prototype of the actuator. We found that the maximum velocity of the moving parts is 9 m/s and that the moving parts can move smoothly even if the actuator is curved. Finally, we present the drive mechanism that uses the actuator, as an application example. |
BibTeX:
@inproceedings{wakana2013pneumatic,
author = {Wakana, Kazuhito and Namari, Hiroaki and Konyo, Masashi and Tadokoro, Satoshi},
title = {Pneumatic flexible hollow shaft actuator with high speed and long stroke motion},
booktitle = {2013 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2013},
pages = {357--363},
url = {http://ieeexplore.ieee.org/document/6630600/},
doi = {10.1109/ICRA.2013.6630600}
}
|
| Takayasu Sakurai, Hiroyuki Shinoda and Masashi Konyo, "Sharp tactile sensation using superposition of vibrotactile stimuli in different phases," 2013 IEEE World Haptics Conference (WHC), pp. 235-240, apr. 2013. doi:10.1109/WHC.2013.6548414. (IEEE WHC2013 Best Poster Award) |
| Abstract: The overlapping of vibrations that are in different phases and in close proximity to each other produces a tactile image that is more localized than one produced by pin vibrators. The mechanism behind the former is still unclear; it may be attributed to the fact that the resultant vibration is highly localized and of a high frequency, making the tactile sensations more perceptible by the human hand. In this study, a finite element (FE) model of a human finger is analyzed to investigate the reason for the difference in the sizes of tactile images produced under different mechanical conditions. In the dynamic analysis, we observed the spatial distribution of the strain energy density (SED) in the model and estimated the perceptual area of the mechanical stimuli. To determine the perceptual area, the threshold SED for perceiving the vibratory stimuli was determined by analyzing the FE finger model on a flat vibratory surface. In the deformation analysis results, we observed that the spatial distribution of SED was more localized by the overlapped vibrations than in a pin vibrator. Moreover, spectral analysis revealed that a higher-frequency vibration was generated locally between the two vibrations. A psychophysical experiment was conducted to determine the effect of the high frequency component on detection thresholds. |
BibTeX:
@inproceedings{sakurai2013sharp,
author = {Sakurai, Takayasu and Shinoda, Hiroyuki and Konyo, Masashi},
title = {Sharp tactile sensation using superposition of vibrotactile stimuli in different phases},
booktitle = {2013 World Haptics Conference (WHC)},
publisher = {IEEE},
year = {2013},
pages = {235--240},
url = {http://ieeexplore.ieee.org/document/6548414/},
doi = {10.1109/WHC.2013.6548414}
}
|
| 2012 |
| Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo and Satoshi Tadokoro, "Shape estimation of flexible cable," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2539-2546, oct. 2012. doi:10.1109/IROS.2012.6385700. |
| Abstract: In this paper, an estimation method using the flexible multi-body dynamics model, inertial/magnetic sensor system, and probabilistic state estimation is proposed for estimating the shape of a flexible cable. Sensors mounted on flexible cables, such as endoscopes, are often picked up noise, and their size and number are restricted. The proposed method can estimate motion using the flexible dynamics model if there are few sensors. In addition, this method is robust against noise because it can integrate some types of sensor information by probabilistic state estimation. The proposed method uses the Absolute Nodal Coordinate Formulation (ANCF) as a flexible dynamics model and the Unscented Kalman Filter (UKF) for probabilistic state estimation. It can model a greatly deformed cable at any point using ANCF, and it can fit nonlinear motion and achieve high versatility about models because of UKF. In the second half of this paper, experiments using Active Scope Camera (ASC) are conducted to evaluate the proposed method. The ASC is a snake-like rescue robot, and its sensor system picks up strong noise. In the experiments, the proposed method estimates three types of motion, and it shows the effectiveness if the number of sensors decreases. |
BibTeX:
@inproceedings{ishikura2012shape,
author = {Ishikura, Michihisa and Takeuchi, Eijiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Shape estimation of flexible cable},
booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2012},
pages = {2539--2546},
url = {http://ieeexplore.ieee.org/document/6385700/},
doi = {10.1109/IROS.2012.6385700}
}
|
| Hiroaki Namari, Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo and Satoshi Tadokoro, "Tube-type active scope camera with high mobility and practical functionality," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3679-3686, oct. 2012. doi:10.1109/IROS.2012.6386172. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: H. Namari) |
| Abstract: An active scope camera (ASC) is a special type of videoscope for search and rescue operations; the ASC has a self-propelled mechanism with a ciliary vibration drive. From an analysis of the problems encountered with the conventional ASC during applications to practical disaster environments, we propose a new tube-type ASC with enhanced mobility and practical functionality for rescue activities. We designed a smart structure to mount vibration motors on a long tubular cable without any rigid projections. A suitable tubular cable material was also selected experimentally to propagate the vibration efficiently. We integrated several practical functions such as a head bending structure, an auditory communication system, and a gravity indicator for the head orientation. We conducted several fundamental performance experiments. Finally, the enhanced performance of the tube-type ASC for practical use was demonstrated at a training site for first responders. |
BibTeX:
@inproceedings{namari2012tube,
author = {Namari, Hiroaki and Wakana, Kazuhito and Ishikura, Michihisa and Konyo, Masashi and Tadokoro, Satoshi},
title = {Tube-type active scope camera with high mobility and practical functionality},
booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2012},
pages = {3679--3686},
url = {http://ieeexplore.ieee.org/document/6386172/},
doi = {10.1109/IROS.2012.6386172}
}
|
| Tatsuma Sakurai, Masashi Konyo and Satoshi Tadokoro, "Presenting sharp surface shapes using overlapped vibrotactile stimuli," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3300-3307, oct. 2012. doi:10.1109/IROS.2012.6385975. |
| Abstract: Previous surface shape presenting methods had difficulties in generating high-density tactile information owing to blurriness in tactile images caused by lateral skin deformations. In this study, a new surface shape presenting method is proposed, and it employs overlapping small-amplitude vibrations instead of a single vibration. This method represents the mechanism of stationary boundary contacts (SBCs), a vibrotactile sensitivity enhancement method proposed in a previous research. A series of psychophysical experiments showed that the vibrations overlapping method can significantly enhance the human vibrotactile sensitivity and lead to the production of sharp tactile images. Moreover, the stimuli intensity can be controlled not only by changing the vibration amplitudes but also by changing the phase deviations between vibrations; this enables the presentation of various surface shape patterns that cannot be presented by using the previous SBC method alone. |
BibTeX:
@inproceedings{sakurai2012presenting,
author = {Sakurai, Tatsuma and Konyo, Masashi and Tadokoro, Satoshi},
title = {Presenting sharp surface shapes using overlapped vibrotactile stimuli},
booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2012},
pages = {3300--3307},
url = {http://ieeexplore.ieee.org/document/6385975/},
doi = {10.1109/IROS.2012.6385975}
}
|
| Lope Ben Porquis, Masashi Konyo, Naohisa Nagaya and Satoshi Tadokoro, "Multi-contact Vacuum-Driven Tactile Display for Representing Force Vectors Applied on Grasped Objects," Haptics: Perception, Devices, Mobility, and Communication, International Conference, EuroHaptics 2012, pp. 218-221, jun. 2012. doi:10.1007/978-3-642-31404-9_40. |
| Abstract: In this paper we demonstrate an idea of multi–point tactile stimulation for representing force illusions on hand-held objects using vacuum pressure stimuli. The device used for the demonstration is pen-based and it is held by the fingers and thumb in a precision grip. There are two types of these devices; a three degree of freedom and a five degree of freedom tactile interfaces. These degrees of freedom are essentially illusions observed from the tactile stimuli. The initial prototype is capable of displaying force-like sensations in the three basic coordinate axes and moment-like sensations along two axes. |
BibTeX:
@incollection{porquis2012multi,
author = {Porquis, Lope Ben and Konyo, Masashi and Nagaya, Naohisa and Tadokoro, Satoshi},
editor = {Isokoski, Poika and Springare, Jukka},
title = {Multi-contact Vacuum-Driven Tactile Display for Representing Force Vectors Applied on Grasped Objects},
booktitle = {Haptics: Perception, Devices, Mobility, and Communication, International Conference, EuroHaptics 2012},
publisher = {Springer Berlin Heidelberg},
year = {2012},
pages = {218--221},
url = {http://link.springer.com/10.1007/978-3-642-31404-940},
doi = {10.1007/978-3-642-31404-9_40}
}
|
| Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo and Satoshi Tadokoro, "Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera," Journal of Robotics and Mechatronics, vol. 24, no. 3, pp. 517-530, jun. 2012. doi:10.20965/jrm.2012.p0517. |
| Abstract: This paper reports upon the design and evaluation of an inchworm drive based on frictional anisotropy for an Active Scope Camera (ASC), which is a snake-like rescue robot used in disaster-affected areas. The conventional ASC is mounted on a ciliary vibration drive and can search under rubble. It has been found, however, that there are some situations in which the vibration drive performs weakly, such as on soft or rough road surfaces. In this paper, the authors propose an inchworm drive with an ASC. The inchworm drive developed in this research shows a running performance that resolves some of the weak points of the vibration drive. The authors focus in particular on the evaluation of driving experiments that were conducted on a variety of surfaces that might be encountered while searching inside a collapsed building or under rubble. |
BibTeX:
@article{Ishikura2012,
author = {Ishikura, Michihisa and Wakana, Kazuhito and Takeuchi, Eijiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera},
journal = {Journal of Robotics and Mechatronics},
year = {2012},
volume = {24},
number = {3},
pages = {517--530},
url = {https://www.fujipress.jp/jrm/rb/robot002400030517},
doi = {10.20965/jrm.2012.p0517}
}
|
| Shogo Okamoto, Masashi Konyo and Satoshi Tadokoro, "Discriminability-based evaluation of transmission capability of tactile transmission systems," Virtual Reality, vol. 16, no. 2, pp. 141-150, jun. 2012. doi:10.1007/s10055-011-0192-z. |
| Abstract: Tactile transmission systems deliver tactile information such as texture roughness to operators of robotic systems. Such systems are typically composed of tactile sensors that sense the physical characteristics of textures and tactile displays that present tactile stimuli to operators. One problem associated with tactile transmission systems is that when the system has a bottleneck, it is difficult to identify whether the tactile sensor, tactile display, or perceptual ability of the user is the cause because they have different performance criteria. To solve this problem, this study established an evaluation method that uses the discriminability index as an evaluation criterion. The method lets tactile sensors, displays, and human tactile perception be assessed in terms of the ability to transmit physical quantities; the same criterion is used for all three possible causes so that their abilities can be directly compared. The developed method was applied to a tactile-roughness transmission system (Okamoto et al. 2009), and its tactile sensor was identified as the bottleneck of the system. |
BibTeX:
@article{okamoto2012discriminability,
author = {Okamoto, Shogo and Konyo, Masashi and Tadokoro, Satoshi},
title = {Discriminability-based evaluation of transmission capability of tactile transmission systems},
journal = {Virtual Reality},
publisher = {Springer},
year = {2012},
volume = {16},
number = {2},
pages = {141--150},
url = {http://link.springer.com/10.1007/s10055-011-0192-z},
doi = {10.1007/s10055-011-0192-z}
}
|
| Kazuhito Wakana, Michihisa Ishikura, Masashi Konyo and Satoshi Tadokoro, "Development of flexible pneumatic actuator for Active Scope Camera," 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 4315-4321, may. 2012. doi:10.1109/ICRA.2012.6225124. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: K. Wakana) |
| Abstract: Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There are many crooked narrow pathways inside collapsed houses and under rubble. ASC's search range could be vastly expanded if ASC can run in such environments. In this paper, we developed a flexible linear actuator, which has the bellows structure and the hollow structure, for ASC in order to solve these problems. The actuator was able to generate large force more than 6 N from 60 kPa of applied pressure even if it was curved at 200 mm bending radius. Moreover, we developed a flexible linear inchworm drive using this actuator. The flexible linear inchworm drive keeps the running characteristics on the various road surfaces of the conventional linear inchworm drive. The minimum width of 80 deg crooked pathway that the flexible linear inchworm drive could run through was 60 mm, which was one-thirds narrower than that of the conventional inchworm drive. |
BibTeX:
@inproceedings{wakana2012development,
author = {Wakana, Kazuhito and Ishikura, Michihisa and Konyo, Masashi and Tadokoro, Satoshi},
title = {Development of flexible pneumatic actuator for Active Scope Camera},
booktitle = {2012 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2012},
pages = {4315--4321},
url = {http://ieeexplore.ieee.org/document/6225124/},
doi = {10.1109/ICRA.2012.6225124}
}
|
| Lope Ben C. Porquis, Masashi Konyo and Satoshi Tadokoro, "Tactile-based torque illusion controlled by strain distributions on multi-finger contact," 2012 IEEE Haptics Symposium (HAPTICS), pp. 393-398, mar. 2012. doi:10.1109/HAPTIC.2012.6183820. |
| Abstract: Humans experience torque when using a tool such as a stick or a stylus when exploring or manipulating an object. Forces that exert on the tool affects the pressure distribution on contact areas of the digits involved. In this paper we proposed a tactile rendering method that can elicit torque illusion by controlling the strain distribution beneath the contact areas. We assume that controlling the strain distribution on multiple fingers can affect strain energy density to a relative extent. Also, we expect that Merkel Disk response increases with the strain energy density. We control the strain distribution beneath the contact areas using a unique vacuum driven tactile interface. Six participants are requested to perform a psychophysical experiment and evaluate the torque sensation on the tactile interface. The device can move in a rotating frame with one degree of freedom. Experimental results suggest that participants felt an increasing torque sensation during strain redistribution. Point of subjective equality increases as much as 56% from lowest to highest stimuli level. This data shows an early confirmation on a method that can induce torque illusion. |
BibTeX:
@inproceedings{Porquis2012,
author = {Porquis, Lope Ben C. and Konyo, Masashi and Tadokoro, Satoshi},
title = {Tactile-based torque illusion controlled by strain distributions on multi-finger contact},
booktitle = {2012 IEEE Haptics Symposium (HAPTICS)},
publisher = {IEEE},
year = {2012},
pages = {393--398},
url = {http://ieeexplore.ieee.org/document/6183820/},
doi = {10.1109/HAPTIC.2012.6183820}
}
|
| Shogo Okamoto, Takahiro Yamauchi, Masashi Konyo and Satoshi Tadokoro, "Virtual Active Touch: Perception of Virtual Gratings Wavelength through Pointing-Stick Interface," IEEE Transactions on Haptics, vol. 5, no. 1, pp. 85-93, jan. 2012. doi:10.1109/TOH.2011.48. |
| Abstract: Tactile feedback enhances the usability and enjoyment of human-computer interfaces. Many feedback techniques have been devised to present tactile stimuli corresponding to a user's hand movements taking account of the concept of active touch. However, hand movements may not necessarily be required for achieving natural tactile feedback. Here, we propose a virtual-active-touch method that achieves haptic perception without actual/direct hand movements. In this method, a cursor manipulated by a force-input device is regarded as a virtual finger of the operator on the screen. Tactile feedback is provided to the operator in accordance with cursor movements. To validate the translation of virtual roughness gratings, we compare the virtual-active-touch interface with an interface that involves actual hand movements. By using the appropriate force-to-velocity gain for the pointing-stick interface, we show that the virtual-active-touch method presents the surface wavelengths of the gratings, which is a fundamental property for texture roughness, and that the gain significantly influences the textures experienced by the operators. Furthermore, we find that the perceived wavelengths of objects scaled and viewed on a small screen are skewed. We conclude that although some unique problems remain to be solved, we may be able to perceive the surface wavelengths solely with the intentions of active touch through virtual-active-touch interfaces. |
BibTeX:
@article{Okamoto2012,
author = {Okamoto, Shogo and Yamauchi, Takahiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Virtual Active Touch: Perception of Virtual Gratings Wavelength through Pointing-Stick Interface},
journal = {IEEE Transactions on Haptics},
year = {2012},
volume = {5},
number = {1},
pages = {85--93},
url = {http://ieeexplore.ieee.org/document/6143904/},
doi = {10.1109/TOH.2011.48}
}
|
| 2011 |
| Shogo Okamoto, Masashi Konyo and Satoshi Tadokoro, "Vibrotactile Stimuli Applied to Finger Pads as Biases for Perceived Inertial and Viscous Loads," IEEE Transactions on Haptics, vol. 4, no. 4, pp. 307-315, oct. 2011. doi:10.1109/TOH.2011.16. |
| Abstract: The perception of the mass and viscosity of an object is based on the dynamic forces applied to our hands when we jiggle or lift the object [1], [2], [3]. This force is commonly assumed to be sensed by kinetic receptors [4] in our muscles or tendons. When jiggling objects, we also experience the cutaneous deformation of our finger pads. In this study, we show that the dynamic vibration on the finger pad influences our perception of mass and viscosity. We experimentally confirm that the vibration on the finger pad, that synchronizes with the hand's accelerations or velocities, enhances the perceived changes in the mass or viscosity when the vibrotactile stimuli and the changes in the mass and viscosity are in the same perceptual direction. For example, when the increased mass and an acceleration-synchronized tactile stimulus-which is a positive bias for the mass-are simultaneously presented to the experiment participants, they respond that the perceived increase in the mass is enhanced. In contrast, when the tactile and proprioceptive stimuli are in perceptually opposite directions, the vibrotactile stimuli cancel the perceived changes in the mass and viscosity. In particular, the effect of the velocity-synchronized vibration on perception is stronger than the effect of the actual viscosity. |
BibTeX:
@article{Okamoto2011a,
author = {Okamoto, Shogo and Konyo, Masashi and Tadokoro, Satoshi},
title = {Vibrotactile Stimuli Applied to Finger Pads as Biases for Perceived Inertial and Viscous Loads},
journal = {IEEE Transactions on Haptics},
year = {2011},
volume = {4},
number = {4},
pages = {307--315},
url = {http://ieeexplore.ieee.org/document/5740879/},
doi = {10.1109/TOH.2011.16}
}
|
| Lope Ben Porquis, Masashi Konyo and Satoshi Tadokoro, "Enhancement of human force perception by multi-point tactile stimulation," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3488-3493, sep. 2011. doi:10.1109/IROS.2011.6094762. |
| Abstract: Perception of minute force through tactile feedback from a tool is an important aspect for humans to maintain dexterity during manipulation of embedded objects invisible to the naked eye, such as repairing tissues in minimally invasive surgery. Different pressure levels at finger contacts could be responsible factors concerning the perception of forces on a tool. In this paper, an experimental study was done to verify if pressure stimulation to the thumb and index fingers on a precision grip position could alter the perception of force. We requested participants to perform a psychophysical experiment by holding a grounded pen-type interface having a single degree of freedom which induces pressure sensation using air suction. Perceived force was observed to increase when pressure was applied increasingly. Experimental results suggested that vacuum pressure can be used as a complementary tactile stimulus for inducing force sensation. This study had confirmed that negative pressure stimulus can be used to augment force perception. |
BibTeX:
@inproceedings{porquis2011enhancement,
author = {Porquis, Lope Ben and Konyo, Masashi and Tadokoro, Satoshi},
title = {Enhancement of human force perception by multi-point tactile stimulation},
booktitle = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2011},
pages = {3488--3493},
url = {http://ieeexplore.ieee.org/document/6094762/},
doi = {10.1109/IROS.2011.6094762}
}
|
| Tatsuma Sakurai, Masashi Konyo and Satoshi Tadokoro, "Enhancement of vibrotactile sensitivity: Effects of stationary boundary contacts," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3494-3500, sep. 2011. doi:10.1109/IROS.2011.6094758. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: T. Sakurai) |
| Abstract: Tactile sensations experienced by humans, such as roughness and softness, require not only high-frequency (200 Hz) but also lower-frequency vibrations (textless 50 Hz). However, such low frequencies are difficult to achieve with small actuators that can be integrated into mobile devices. Therefore, it is necessary to develop methods for enhancing human vibrotactile sensitivity. We focused on a phenomenon whereby simultaneous contact with vibratory and stationary surfaces enhances human vibrotactile sensitivity, which we call stationary-boundary-contact (SBC) enhancement. SBC produces a line sensation along the gap between the vibratory and stationary surfaces. In this study, we determined the detection thresholds for SBC-enhanced sensitivity under several conditions. Psychophysical experiments showed that the detection thresholds of SBC were reduced by more than three times at low frequencies as compared to those under normal conditions. We then investigated the mechanism behind SBC enhancement by using a finite element model for the skin. Static and dynamic deformation analyses indicated that the dynamic impact of skin against the edge of a stationary surface contributes to an increase in the vibration frequency of the skin. This hypothesis was also supported by the psychophysical experiment, which showed that an edge-rounded stationary surface had less effect on sensitivity enhancement. Finally, we investigated possible SBC arrangements for practical applications on the basis of line sensation. |
BibTeX:
@inproceedings{sakurai2011enhancement,
author = {Sakurai, Tatsuma and Konyo, Masashi and Tadokoro, Satoshi},
title = {Enhancement of vibrotactile sensitivity: Effects of stationary boundary contacts},
booktitle = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2011},
pages = {3494--3500},
url = {http://ieeexplore.ieee.org/document/6094758/},
doi = {10.1109/IROS.2011.6094758}
}
|
| Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo and Satoshi Tadokoro, "Running performance evaluation of inchworm drive and vibration drive for active scope camera," 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 599-604, jul. 2011. doi:10.1109/AIM.2011.6027005. |
| Abstract: This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads. Therefore, the authors propose using not only a vibration drive but also an inchworm drive. The inchworm drive developed in this paper shows a running performance that is different from that of a vibration drive. Hence, complementary running performance is expected using this combination of drive mechanisms. In particular, the authors focus on carrying out running experiments on surfaces that exist at disaster sites. |
BibTeX:
@inproceedings{Ishikura2011,
author = {Ishikura, Michihisa and Wakana, Kazuhito and Takeuchi, Eijiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Running performance evaluation of inchworm drive and vibration drive for active scope camera},
booktitle = {2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
publisher = {IEEE},
year = {2011},
pages = {599--604},
url = {http://ieeexplore.ieee.org/document/6027005/},
doi = {10.1109/AIM.2011.6027005}
}
|
| Lope Ben Porquis, Masashi Konyo and Satoshi Tadokoro, "Representation of softness sensation using vibrotactile stimuli under amplitude control," 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 1380-1385, may. 2011. doi:10.1109/ICRA.2011.5980378. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: L. B. Porquis) |
| Abstract: An experimental study was done to examine the relationship between vibrotactile amplitude displacement and softness sensation. Merkel Disk behavior relative to softness sensation was studied under psychophysical experimentation of human participants. Restrictions are carefully applied on contact area spreading so that vibration will be the only factor that would induce a sensation. A vibrotactile device was excited at constant frequency and its amplitude is adjusted at different levels to alter the amount of skin displacement. Volunteers participated in a two-alternative force choice experiment were ask to compare the perceived softness difference between voice coil and silicone rubber. Statistical analysis on the responses of participants showed a decline of spring constant. It was interesting to note, that even though contact area was significantly restrained participants were still able to discriminate softness sensation form vibrotactile stimulation. Such observation possibly shows that illusion of contact area spread rate can be reproduced by vibrotactile stimulation. |
BibTeX:
@inproceedings{ben2011representation,
author = {Porquis, Lope Ben and Konyo, Masashi and Tadokoro, Satoshi},
title = {Representation of softness sensation using vibrotactile stimuli under amplitude control},
booktitle = {2011 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2011},
pages = {1380--1385},
url = {http://ieeexplore.ieee.org/document/5980378/},
doi = {10.1109/ICRA.2011.5980378}
}
|
| Shogo Okamoto, Masashi Konyo, Takashi Maeno and Satoshi Tadokoro, "Remote Tactile Transmission with Time Delay for Robotic Master–Slave Systems," Advanced Robotics, vol. 25, no. 9-10, pp. 1271-1294, jan. 2011. doi:10.1163/016918611X574713. |
| Abstract: This study develops a method to compensate for the communication time delay for tactile transmission systems. For transmitting tactile information from remote sites, the communication time delay degrades the validity of feedback. However, so far time delay compensation methods for tactile transmissions have yet to be proposed. For visual or force feedback systems, local models of remote environments were adopted for compensating the communication delay. The local models cancel the perceived time delay in sensory feedback signals by synchronizing them with the users' operating movements. The objectives of this study are to extend the idea of the local model to tactile feedback systems and develop a system that delivers tactile roughness of textures from remote environments to the users of the system. The local model for tactile roughness is designed to reproduce the characteristic cutaneous deformations, including vibratory frequencies and amplitudes, similar to those that occur when a human finger scans rough textures. Physical properties in the local model are updated in real-time by a tactile sensor installed on the slave-side robot. Experiments to deliver the perceived roughness of textures were performed using the developed system. The results showed that the developed system can deliver the perceived roughness of textures. When the communication time delay was simulated, it was confirmed that the developed system eliminated the time delay perceived by the operators. This study concludes that the developed local model is effective for remote tactile transmissions. |
BibTeX:
@article{Okamoto2011,
author = {Okamoto, Shogo and Konyo, Masashi and Maeno, Takashi and Tadokoro, Satoshi},
title = {Remote Tactile Transmission with Time Delay for Robotic Master–Slave Systems},
journal = {Advanced Robotics},
publisher = {VSP, an imprint of Brill},
year = {2011},
volume = {25},
number = {9-10},
pages = {1271--1294},
url = {http://www.tandfonline.com/doi/abs/10.1163/016918611X574713},
doi = {10.1163/016918611X574713}
}
|
| 2010 |
| Lope Ben Porquis, Masashi Konyo and Satoshi Tadokoro, "Can multiple tactile pressure stimulation in gripping position induce virtual force directions?," 2010 IEEE/SICE International Symposium on System Integration, pp. 402-407, dec. 2010. doi:10.1109/SII.2010.5708359. |
| Abstract: Perception of minute force direction through tactile sensations during tool manipulation is an important factor for humans in skill acquisition. Different pressure levels on finger contacts could be responsible factors pertaining to the perception of force direction. In this paper, an experimental study was done to verify if pressure stimulation pattern applied to the thumb and fingers on a gripping position could produce a sense of force direction. Six participants performed a force direction discrimination experiment by holding a grounded pen type interface which induces pressure sensation using air suction technique. Experimental results showed that participants felt three distinct force directions from applied pressure stimulation patterns. It was verified in this experiment that the feasibility of applying different pressure levels at skin contact locations on a pen grip position can produce a sensation of force directions. |
BibTeX:
@inproceedings{BenPorquis2010,
author = {Ben Porquis, Lope and Konyo, Masashi and Tadokoro, Satoshi},
title = {Can multiple tactile pressure stimulation in gripping position induce virtual force directions?},
booktitle = {2010 IEEE/SICE International Symposium on System Integration},
publisher = {IEEE},
year = {2010},
pages = {402--407},
url = {http://ieeexplore.ieee.org/document/5708359/},
doi = {10.1109/SII.2010.5708359}
}
|
| Michihisa Ishikura, Eijiro Takeuchi, Masashi Konyo and Satoshi Tadokoro, "Vision-based localization using active scope camera -- Accuracy evaluation for structure from motion in disaster environment --," 2010 IEEE/SICE International Symposium on System Integration, pp. 25-30, dec. 2010. doi:10.1109/SII.2010.5708296. (SII2010 Best Paper Award Finalist) |
| Abstract: This paper presents the evaluation results for conventional methods that can be used for vision-based localization. An Active Scope Camera is a very thin snake robot and can be used as a rescue robot for search and rescue missions. Self-position estimation of the Active Scope Camera is important for efficient search. Nevertheless, using sensors for this purpose hinders the movement and maneuvering of the camera through narrow gaps, because sensors are very big and heavy for the Active Scope Camera. Vision-based localization using a fish-eye camera is suitable technique for self-position estimation. However, the images obtained using the Active Scope Camera are not of good quality. The material of objects found in disaster environments and overexposure by light-emitting diodes embedded at the camera tip affects the matching of feature points. In this paper, properties of images of disaster sites obtained using the Active Scope Camera and the accuracy evaluation of vision-based localization are described. |
BibTeX:
@inproceedings{Ishikura2010,
author = {Ishikura, Michihisa and Takeuchi, Eijiro and Konyo, Masashi and Tadokoro, Satoshi},
title = {Vision-based localization using active scope camera -- Accuracy evaluation for structure from motion in disaster environment --},
booktitle = {2010 IEEE/SICE International Symposium on System Integration},
publisher = {IEEE},
year = {2010},
pages = {25--30},
url = {http://ieeexplore.ieee.org/document/5708296/},
doi = {10.1109/SII.2010.5708296}
}
|
| Tatsuma Sakurai, Masashi Konyo and Shogo Okamoto, "Research of conditions of stimulus for inducing grasping force control reflex," 2010 IEEE/SICE International Symposium on System Integration, pp. 408-413, dec. 2010. doi:10.1109/SII.2010.5708360. |
| Abstract: Humans can change their grasping force before the grasped object unconsciously slips off their fingers. This reflex is called the grasping force control reflex. This paper describes the methods used to induce reflective grasping force control and presents the observed results. To clarify the stimulus conditions needed to induce reflective grasping force control, we developed an observation device with piezoelectric actuators and a force sensor. Vibration stimuli and force senses were presented to a human finger, and a change in the grasp force was observed by the force sensor. In this study, we changed the parameters of the vibration stimuli and force senses and detected the difference in the grasp force. |
BibTeX:
@inproceedings{Sakurai2010,
author = {Sakurai, Tatsuma and Konyo, Masashi and Okamoto, Shogo},
title = {Research of conditions of stimulus for inducing grasping force control reflex},
booktitle = {2010 IEEE/SICE International Symposium on System Integration},
publisher = {IEEE},
year = {2010},
pages = {408--413},
url = {http://ieeexplore.ieee.org/document/5708360/},
doi = {10.1109/SII.2010.5708360}
}
|
| Daisuke Inoue, Kazunori Ohno, Masashi Konyo and Satoshi Tadokoro, "Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors," Journal of Robotics and Mechatronics, vol. 22, no. 3, pp. 293-300, jun. 2010. doi:10.20965/jrm.2010.p0293. |
| Abstract: We develop Distributed Inclination Sensors (DISs) to measure the distributed inclination of track shoes, i.e., determining where a tracked vehicle clutches road bumps using the reflection-intensity inclination of track shoes due to dead weight. We confirmed in experiments that dead weight on a slope is a major factor in measurement error. |
BibTeX:
@article{Inoue2010,
author = {Inoue, Daisuke and Ohno, Kazunori and Konyo, Masashi and Tadokoro, Satoshi},
title = {Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors},
journal = {Journal of Robotics and Mechatronics},
year = {2010},
volume = {22},
number = {3},
pages = {293--300},
url = {https://www.fujipress.jp/jrm/rb/robot002200030293},
doi = {10.20965/jrm.2010.p0293}
}
|
| Takahiro Yamauchi, Shogo Okamoto, Masashi Konyo, Yusuke Hidaka, Takashi Maeno and Satoshi Tadokoro, "Real-time remote transmission of multiple tactile properties through master-slave robot system," 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 1753-1760, may. 2010. doi:10.1109/ROBOT.2010.5509926. |
| Abstract: Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a real-time remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three tactile properties - roughness, friction, and softness - were transmitted on the basis of the real-time estimated physical properties of three main wavelengths, a kinetic friction coefficient, and spring constants, respectively. Tactile stimulations were generated in synchronization with hand exploration at the master side by using local tactile generation models to compensate for communication time delay. The transmission of multiple tactile properties was achieved by the integration and enhancement of our previously reported methods for vibrotactile displays and tactile sensors. A discrimination experiment using different materials showed the feasibility of the total system involving the three tactile properties. |
BibTeX:
@inproceedings{Yamauchi2010a,
author = {Yamauchi, Takahiro and Okamoto, Shogo and Konyo, Masashi and Hidaka, Yusuke and Maeno, Takashi and Tadokoro, Satoshi},
title = {Real-time remote transmission of multiple tactile properties through master-slave robot system},
booktitle = {2010 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2010},
pages = {1753--1760},
url = {http://ieeexplore.ieee.org/document/5509926/},
doi = {10.1109/ROBOT.2010.5509926}
}
|
| 2009 |
| Robin Murphy, Masashi Konyo, Pedro Davalas, Gabe Knezek, Satoshi Tadokoro, Kazuna Sawata and Maarten Van Zomeren, "Preliminary observation of HRI in robot-assisted medical response," Proceedings of the 4th ACM/IEEE international conference on Human robot interaction - HRI '09, pp. 201, . 2009. doi:10.1145/1514095.1514135. |
| Abstract: This video captures human-robot interaction which occurred during an evaluation of a novel, snake-like search and rescue robot assisting with victim management. Most of the observations confirmed previous findings- That a 2:1 H-R ratio ratio is appropriate, Team coordination is enhanced by shared visual perception, and Poor interfaces continue to lead to incomplete coverage. However, the victims responded to the robot in two surprising ways: grabbing the robot and being concerned about its appearance. |
BibTeX:
@inproceedings{murphy2009preliminary,
author = {Murphy, Robin and Konyo, Masashi and Davalas, Pedro and Knezek, Gabe and Tadokoro, Satoshi and Sawata, Kazuna and Van Zomeren, Maarten},
title = {Preliminary observation of HRI in robot-assisted medical response},
booktitle = {Proceedings of the 4th ACM/IEEE international conference on Human robot interaction - HRI '09},
publisher = {ACM Press},
year = {2009},
pages = {201},
url = {http://portal.acm.org/citation.cfm?doid=1514095.1514135},
doi = {10.1145/1514095.1514135}
}
|
| Satoshi Tadokoro, Robin Murphy, Samuel Stover, William Brack, Masashi Konyo, Toshihiko Nishimura and Osachika Tanimoto, "Application of Active Scope Camera to forensic investigation of construction accident," 2009 IEEE Workshop on Advanced Robotics and its Social Impacts, pp. 47-50, nov. 2009. doi:10.1109/ARSO.2009.5587076. |
| Abstract: A rescue robot, Active Scope Camera was applied to forensic investigation of collapse of parking building under construction in Jacksonville, Florida, USA. It could enter 7 m deep into the rubble pile through gaps 3 cm wide and gathered image data, shape and direction of cracks, and section surface of concrete flakes, which was the world's first. |
BibTeX:
@inproceedings{Tadokoro2009,
author = {Tadokoro, Satoshi and Murphy, Robin and Stover, Samuel and Brack, William and Konyo, Masashi and Nishimura, Toshihiko and Tanimoto, Osachika},
title = {Application of Active Scope Camera to forensic investigation of construction accident},
booktitle = {2009 IEEE Workshop on Advanced Robotics and its Social Impacts},
publisher = {IEEE},
year = {2009},
pages = {47--50},
url = {http://ieeexplore.ieee.org/document/5587076/},
doi = {10.1109/ARSO.2009.5587076}
}
|
| Yusuke Hidaka, Yuta Shiokawa, Kaoru Tashiro, Takashi Maeno, Masashi Konyo and Takahiro Yamauchi, "Development of an elastic tactile sensor emulating human fingers for tele-presentation systems," 2009 IEEE Sensors, pp. 1919-1922, oct. 2009. doi:10.1109/ICSENS.2009.5398363. |
| Abstract: We have developed a tactile sensor for tactile tele-presentation systems by focusing on four features of the human finger considered to play an important role in texture perception; the existence of nails and bone, the multilayer structure of soft tissue, the distribution of mechanoreceptors, and the deployment of epidermal ridges. As a result, the developed sensor could detect roughness, softness and friction known to constitute texture perception of humans with precision equivalent to human. In addition, our sensor can be equipped with robot hands as it satisfies the requirements such as size equivalent to human finger, durability to withstand the wearing for repeated use, correspondence for scanning two dimensions. |
BibTeX:
@inproceedings{Hidaka2009,
author = {Hidaka, Yusuke and Shiokawa, Yuta and Tashiro, Kaoru and Maeno, Takashi and Konyo, Masashi and Yamauchi, Takahiro},
title = {Development of an elastic tactile sensor emulating human fingers for tele-presentation systems},
booktitle = {2009 IEEE Sensors},
publisher = {IEEE},
year = {2009},
pages = {1919--1922},
url = {http://ieeexplore.ieee.org/document/5398363/},
doi = {10.1109/ICSENS.2009.5398363}
}
|
| Satoshi Saga, Masashi Konyo and Koichiro Deguchi, "Comparison of spatial and temporal characteristic between reflection-type tactile sensor and human cutaneous sensation," RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, pp. 22-27, sep. 2009. doi:10.1109/ROMAN.2009.5326297. |
| Abstract: Today there are many tactile sensors in the world. Though there is few sensor whose characteristics are similar to cutaneous sensation of human. If we want to measure the tactile information of human we have to use human-like tactile sensor. Here we have developed a reflection-type tactile sensor by using imaging device. This sensor employs a simple total reflection characteristic, so it has many degrees of freedom of selecting sensing units, and designing layer structures. This paper describes the design of the sensing unit and the structure of layers which has similar characteristics of human. First we compare the temporal frequency of the proposed sensor and human skin. Second we estimate the required spatial density of sensing units by simulation. Then we compare the total ability of proposed reflection-type sensor and cutaneous sensation of human. |
BibTeX:
@inproceedings{saga2009comparison,
author = {Saga, Satoshi and Konyo, Masashi and Deguchi, Koichiro},
title = {Comparison of spatial and temporal characteristic between reflection-type tactile sensor and human cutaneous sensation},
booktitle = {RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication},
publisher = {IEEE},
year = {2009},
pages = {22--27},
url = {http://ieeexplore.ieee.org/document/5326297/},
doi = {10.1109/ROMAN.2009.5326297}
}
|
| Sho Tsuchiya, Masashi Konyo, Hiroshi Yamada, Takahiro Yamauchi, Shogo Okamoto and Satoshi Tadokoro, "Vib-Touch: Virtual Active Touch interface for handheld devices," RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, pp. 12-17, sep. 2009. doi:10.1109/ROMAN.2009.5326160. |
| Abstract: Haptic interaction with handheld devices is limited by space and size constraints that inhibit free hand exploration. We developed a compact haptic interface called Vib-Touch, which is operated by fingertip via a pointing-stick input device containing a tactile feedback. A cursor on the screen could perform virtual exploration as a substitute for the finger movement. We call this technology virtual active touch. We also propose a tactile stimulation method to represent not only tactile sensations, but the whole touch experience, including kinesthetic senses and a sense of shapes perceived by a fingertip. This study reports on the first prototype of the vib-touch interface for handheld devices. We confirmed that the prototype could provide friction sensation and geometric shape information using the proposed friction display method. |
BibTeX:
@inproceedings{tsuchiya2009vib,
author = {Tsuchiya, Sho and Konyo, Masashi and Yamada, Hiroshi and Yamauchi, Takahiro and Okamoto, Shogo and Tadokoro, Satoshi},
title = {Vib-Touch: Virtual Active Touch interface for handheld devices},
booktitle = {RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication},
publisher = {IEEE},
year = {2009},
pages = {12--17},
url = {http://ieeexplore.ieee.org/document/5326160/},
doi = {10.1109/ROMAN.2009.5326160}
}
|
| Shogo Okamoto, Masashi Konyo, Takashi Maeno and Satoshi Tadokoro, "Transmission of tactile roughness through master-slave systems," 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 1467-1472, may. 2009. doi:10.1109/ROBOT.2009.5152415. |
| Abstract: In this study, a tactile-roughness transmission system applicable to master-slave systems with a communication time delay is developed. The master-side system constructs a local model of target objects placed in the slave-side environment. Tactile feedbacks presented to an operator at the master side are produced by combining the physical properties of target objects in the local model and the kinetic information of the operator. The time delay between the operator's motion and the tactile feedback is cancelled because the stimuli are synchronized with the exploratory motions. The proposed system is applied to the transmission of tactile-roughness. The tactile stimuli presented to the operator are vibratory stimuli whose amplitude and frequency are controlled. These stimuli are locally synthesized by combining the surface wavelength of target objects and the operator's hand velocity. Using the developed tactile-roughness transmission system, an experiment for transmitting the perceived roughness of grating scales was conducted. As a result, the roughness perceived by the operators was found to highly correlate with the roughness of the scales in the slave-side environment with a coefficient of 0.83. |
BibTeX:
@inproceedings{okamoto2009transmission,
author = {Okamoto, Shogo and Konyo, Masashi and Maeno, Takashi and Tadokoro, Satoshi},
title = {Transmission of tactile roughness through master-slave systems},
booktitle = {2009 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2009},
pages = {1467--1472},
url = {http://ieeexplore.ieee.org/document/5152415/},
doi = {10.1109/ROBOT.2009.5152415}
}
|
| Kazuna Sawata, Masashi Konyo, Satoshi Saga, Satoshi Tadokoro and Koichi Osuka, "Sliding motion control of active flexible cable using simple shape information," 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 3736-3742, may. 2009. doi:10.1109/ROBOT.2009.5152833. |
| Abstract: We propose a new framework for a self-propelled flexible cable in which the freedom of lateral motion with sliding movements is increased on the basis of simple shape information.We developed a large-scale prototype of the flexible cable that has a ciliary drive mechanism and precise shape sensors to investigate our concept.We developed a kinetic model for the prototype by employing the nonlinear driving force model and the lateral friction model for representing slippages. Further, we proposed a sliding motion control method that focus on the shape and length of the straight element. We applied the method to control the running direction. The experimental results and dynamic simulations demonstrated the effectiveness of sliding motion for controlling the running direction. |
BibTeX:
@inproceedings{sawata2009sliding,
author = {Sawata, Kazuna and Konyo, Masashi and Saga, Satoshi and Tadokoro, Satoshi and Osuka, Koichi},
title = {Sliding motion control of active flexible cable using simple shape information},
booktitle = {2009 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2009},
pages = {3736--3742},
url = {http://ieeexplore.ieee.org/document/5152833/},
doi = {10.1109/ROBOT.2009.5152833}
}
|
| Takahiro Yamauchi, Masashi Konyo, Shogo Okamoto and Satoshi Tadokoro, "Virtual active touch: Perceived roughness through a pointing-stick-type tactile interface," World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 605-610, apr. 2009. doi:10.1109/WHC.2009.4810892. |
| Abstract: For realizing a tactile display for a handheld device, active touch movement should be represented on a small interface. We propose the addition of a tactile feedback mechanism for a pointing-stick-type (PS) input device. In this study, we describe a method for enabling virtual active touch with a cursor on the screen operated by the PS-type tactile interface without actual touch movement. First, to validate our concept, we compared tactile detection capabilities of roughness information represented by the PS-type tactile interface and the interface with actual touch movement. The experimental results showed that the PS-type tactile interface exhibited almost the same ability as the interface involving actual touch movement. We also found that the force-to-velocity scaling factor of the cursor movement had a significant influence on the roughness detection capability of the interface. In addition, to apply our method to devices having small screens, such as mobile phones, we tried to restrict the cursor velocity in proportion to the object size that appears on the screen. The experimental results showed that the PS-type tactile interface can represent almost the same roughness information as the original object size. |
BibTeX:
@inproceedings{yamauchi2009virtual,
author = {Takahiro Yamauchi and Masashi Konyo and Shogo Okamoto and Tadokoro, Satoshi},
title = {Virtual active touch: Perceived roughness through a pointing-stick-type tactile interface},
booktitle = {World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
publisher = {IEEE},
year = {2009},
pages = {605--610},
url = {http://ieeexplore.ieee.org/document/4810892/},
doi = {10.1109/WHC.2009.4810892}
}
|
| Yuta SHIOKAWA, T. A. Z. O. Atsushi, Masashi KONYO and Takashi MAENO, "Hybrid Display of Realistic Tactile Sense Using Ultrasonic Vibrator and Force Display [in Japananese]," Transactions of the Japan Society of Mechanical Engineers. C, vol. 75, no. 749, pp. 132-140, jan. 2009. |
| Abstract: A hybrid tactile displaying method of realistic texture is realized by use of ultrasonic vibrator and force display. Various realistic tactile senses are displayed by controlling multiple factors including roughness, softness and friction sense. First, a tactile displaying system was constructed for displaying roughness, softness and friction sense, simultaneously, by compensating the interference among multiple parameters of ultrasonic vibration and force feedback on multiple tactile senses. Second, the proposed method for displaying softness and friction sense were verified by several sensory evaluation experiments. The relationship between each control parameter and the tactile senses were quantified as well. Then, material discrimination experiment was conducted. As a result, percentage of questions answered correctly was more than 87.5 in all materials. Finally, the tactile senses of real materials and hybrid artificial tactile senses were evaluated using adjectives. As a result, it was verified that the correlation coefficients between real materials and hybrid artificial tactile senses were quite large in the evaluation items on roughness, softness and friction sense. |
BibTeX:
@article{Shiokawa2009e,
author = {SHIOKAWA, Yuta and TAZO, Atsushi and KONYO, Masashi and MAENO, Takashi},
title = {Hybrid Display of Realistic Tactile Sense Using Ultrasonic Vibrator and Force Display [in Japananese]},
journal = {Transactions of the Japan Society of Mechanical Engineers. C},
year = {2009},
volume = {75},
number = {749},
pages = {132--140},
url = {http://ci.nii.ac.jp/naid/110007045488/en/},
doi = {}
}
|
| 2008 |
| Masashi Konyo, Yohei Motoki, Hiroshi Yamada, Satoshi Tadokoro and Takashi Maeno, "Producing distributed vibration by a single piezoelectric ceramics for a small tactile stimulator," 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3698-3704, sep. 2008. doi:10.1109/IROS.2008.4651042. |
| Abstract: A small tactile display that can be attached to a mobile terminal device or a handheld game controller will enhance user experience in virtual worlds. This paper proposes an ultrasonic vibrator which has a compact mechanism to produce vibratory stimulation on human skin using a pin array driven by a single piezoelectric actuator. Amplitude modulations of the ultrasonic vibration can generate tactile sensations even if a finger is fixed on the vibrator. To generate enough stimulation to deform the skin, resonance of the piezoelectric actuator was designed. We proposed a new mechanical design method to arrange arbitrary distributions of vibration for the pin array using the principle of a dynamic vibration absorber. Detailed designs were conducted by finite element analysis. We successfully designed a smart vibrator which had a size of 17 × 17 × 3.65 mm and a weight of about 4 g. The vibrator could mount on the joystick of the PlayStation2 controller. Trial experiments of tactile presentation showed that the prototype vibrator could generate vibratory feelings in the range of 30 – 50Hz and 200 – 300 Hz. In addition, stimulation corresponding to joystick operation generated some rubbing-like sensation. |
BibTeX:
@inproceedings{Konyo2008a,
author = {Konyo, Masashi and Motoki, Yohei and Yamada, Hiroshi and Tadokoro, Satoshi and Maeno, Takashi},
title = {Producing distributed vibration by a single piezoelectric ceramics for a small tactile stimulator},
booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2008},
pages = {3698--3704},
url = {http://ieeexplore.ieee.org/document/4651042/},
doi = {10.1109/IROS.2008.4651042}
}
|
| Yuta Shiokawa, Atsushi Tazo, Masashi Konyo and Takashi Maeno, "Hybrid display of realistic tactile sense using ultrasonic vibrator and force display," 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3008-3013, sep. 2008. doi:10.1109/IROS.2008.4650776. |
| Abstract: This paper presents a hybrid tactile displaying method of realistic texture using ultrasonic vibrator and force display. The aim of this study is to display various realistic tactile senses by controlling multiple factors including roughness, softness and friction sense. First, a tactile displaying system was configured for displaying roughness, softness and friction sense simultaneously by compensating the interference among multiple parameters of ultrasonic vibration and force feedback on multiple tactile senses. Second, by conducting several sensory evaluation experiments, the proposed method for displaying softness and friction senses were verified. The relationship between each control parameter and the tactile senses were quantified as well. Then, material discrimination experiment was conducted. As a result, percentage of questions answered correctly was more than 87.5 in all materials. Finally, the tactile senses of real materials and artificial tactile senses were evaluated using adjectives. As a result, the correlation coefficients between real materials and hybrid artificial tactile senses were quite high at the evaluation items on roughness, softness and friction senses. |
BibTeX:
@inproceedings{Shiokawa2008,
author = {Shiokawa, Yuta and Tazo, Atsushi and Konyo, Masashi and Maeno, Takashi},
title = {Hybrid display of realistic tactile sense using ultrasonic vibrator and force display},
booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2008},
pages = {3008--3013},
url = {http://ieeexplore.ieee.org/document/4650776/},
doi = {10.1109/IROS.2008.4650776}
}
|
| Daisuke Inoue, Masashi Konyo, Kazunori Ohno and Satoshi Tadokoro, "Contact points detection for tracked mobile robots using inclination of track chains," 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 194-199, jul. 2008. doi:10.1109/AIM.2008.4601658. |
| Abstract: A tracked mobile robot has high mobility and stability to get over rough terrain by changing its form according to environments. However, it is hard for an operator to control the mechanism skillfully by remote control. One of the solutions of the problem is an implementation of an autonomous control system. A detection of distributed contact points between the crawlers and an environment enable the autonomous control. In this paper, the authors propose a distributed contact sensor for tracked vehicle. In order to apply touch sensors to each track shoe, a problem of electric wirings has to be solved because the crawler is rotating continuously. In our proposed method, contact points are detected by measuring inclination of track shoes optically. For optical sensing of the inclination, a special reflector is designed and evaluated. The authors developed a method for distributed contact sensing of tracked vehicle, and examined whether the sensor can detect contact point during the step climbing motion. |
BibTeX:
@inproceedings{inoue2008contact,
author = {Daisuke Inoue and Masashi Konyo and Kazunori Ohno and Satoshi Tadokoro},
title = {Contact points detection for tracked mobile robots using inclination of track chains},
booktitle = {2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
publisher = {IEEE},
year = {2008},
pages = {194--199},
url = {http://ieeexplore.ieee.org/document/4601658/},
doi = {10.1109/AIM.2008.4601658}
}
|
| Masashi Konyo, Hiroshi Yamada, Shogo Okamoto and Satoshi Tadokoro, "Alternative Display of Friction Represented by Tactile Stimulation without Tangential Force," Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, pp. 619-629, June. 2008. doi:10.1007/978-3-540-69057-3_79. (Award for The Best Hands on Demo at the EuroHaptics 2008 Meeting) |
| Abstract: A new display method of friction sensation based on tactile stimulation is proposed. In this method, no tangential force on the fingertip is required to represent friction sensation. We focus on the activities of tactile receptors in response to stick-slip contact phenomena with the fingertip. The proposed method controls the activities of FA II type receptors using very high frequency vibrations (at 600 Hz) in corresponding to the phase of stick-slip transition. The stick-slip transition was expressed by a single DOF model with Coulomb's friction, which represents the effects of coefficients of dynamic/static friction and hand movements. The sensory magnitudes of the perceived friction by the proposed method were evaluated in contrast with a force display. The experimental results showed that the perceived friction proposed had high correlation with that of the force display in regard to the increase tendency toward static friction coefficients. The sensory magnitudes of the tactile perceived friction were about one-seventh smaller than that of the force display. |
BibTeX:
@incollection{konyo2008alternative,
author = {Konyo, Masashi and Yamada, Hiroshi and Okamoto, Shogo and Tadokoro, Satoshi},
editor = {Ferre, Manuel},
title = {Alternative Display of Friction Represented by Tactile Stimulation without Tangential Force},
booktitle = {Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science},
publisher = {Springer Berlin Heidelberg},
year = {2008},
pages = {619--629},
url = {http://link.springer.com/10.1007/978-3-540-69057-379},
doi = {10.1007/978-3-540-69057-3_79}
}
|
| Masashi Konyo, Kazuya Isaki, Kazunari Hatazaki, Satoshi Tadokoro and Fumiaki Takemura, "Ciliary Vibration Drive Mechanism for Active Scope Cameras," Journal of Robotics and Mechatronics, vol. 20, no. 3, pp. 490-499, jun. 2008. doi:10.20965/jrm.2008.p0490. (Journal of Robotics and Mechatoronics Best Paper Award) |
| Abstract: The active scope camera we proposed has active mobility using a ciliary vibration drive mechanism for long flexible cables. The physical details have yet to be clarified. We determined it based on detailed physical phenomena to design an optimal ciliary vibration drive. We discuss the reasons for design efficiency based on the analysis of dynamic models of ciliary parts, focusing on (1) the characteristic vibration of the cilia and (2) stick-slip contact. We constructed a pseudo linear spring model and a stick-slip friction model to evaluate these phenomena. We determined optimal driving vibration frequencies and the inclined angle of cilia through experiments and analysis. Qualitative comparisons with the dynamic models and the results of experiments indicated the effective physical factors of the activation mechanism. A prototype of the active scope camera showed good performance in practical rescue activities. |
BibTeX:
@article{konyo2008ciliary,
author = {Konyo, Masashi and Isaki, Kazuya and Hatazaki, Kazunari and Tadokoro, Satoshi and Takemura, Fumiaki},
title = {Ciliary Vibration Drive Mechanism for Active Scope Cameras},
journal = {Journal of Robotics and Mechatronics},
year = {2008},
volume = {20},
number = {3},
pages = {490--499},
url = {https://www.fujipress.jp/jrm/rb/robot002000030490},
doi = {10.20965/jrm.2008.p0490}
}
|
| Shogo Okamoto, Masashi Konyo, Satoshi Saga and Satoshi Tadokoro, "Identification of cutaneous detection thresholds against time-delay stimuli for tactile displays," 2008 IEEE International Conference on Robotics and Automation (ICRA), pp. 220-225, may. 2008. doi:10.1109/ROBOT.2008.4543212. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: S. Okamoto) |
| Abstract: Tactile display is a technology that gives an artificial sense of touch to operators of information terminals or master-slave systems. The generation of tactile stimuli in response to the hand movements of the operators is associated with active touch and is considered to be one of the effective display methods, however which inevitably causes delayed tactile feedbacks from tactile displays. The knowledge of the detection threshold of system latency between the hand movements and the stimuli is helpful in designing the tactile displays. In this study, the identification of the thresholds through psychophysical experiments of 13 participants revealed two types of thresholds. One was the time-delay at which the participants observed the existence of latency. The other was the minimal time-delay that could affect the subjective feelings of the operators while they were not conscious of the latency. The means of the thresholds were 41 ms and 59 ms, respectively. The participants reported that the time-delay stimuli caused various changes in their subjective feelings. The empirical results suggest that the two types of thresholds depend on different sensory processes. This paper also proposes a design policy for tactile display systems in terms of system latency. |
BibTeX:
@inproceedings{okamoto2008identification,
author = {Okamoto, Shogo and Konyo, Masashi and Saga, Satoshi and Tadokoro, Satoshi},
title = {Identification of cutaneous detection thresholds against time-delay stimuli for tactile displays},
booktitle = {2008 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2008},
pages = {220--225},
url = {http://ieeexplore.ieee.org/document/4543212/},
doi = {10.1109/ROBOT.2008.4543212}
}
|
| 2007 |
| Hirokazu Shirado, Masashi Konyo and Takashi Maeno, "Modeling of Tactile Texture Recognition Mechanism," Transactions of the Japan Society of Mechanical Engineers Series C, vol. 73, no. 733, pp. 2514-2522, . 2007. doi:10.1299/kikaic.73.2514. |
| Abstract: It is necessary to ascertain tactile texture recognition of humans in developing tactile devices that create or detect lifelike texture. Tactile texture has been researched in the field of psychophysics and neuroscience, but its function-structure relationship cannot be still uncertain by their method. In this paper, modeling of tactile texture recognition mechanism by numerical simulation system is discussed. The model is made of two parts; reception part and perception part. Reception model is built by finite element model of human finger and filters emulating mechanoreceptors response properties. Perception model is built by feed forward type of neural network with 3 layers. This network is considered for configuration and module structure of primary somatosensory area. Finally, validity of the total model is confirmed by comparing output data of this model to the result of sensory evaluation. |
BibTeX:
@article{shirado2007modeling,
author = {Shirado, Hirokazu and Konyo, Masashi and Maeno, Takashi},
title = {Modeling of Tactile Texture Recognition Mechanism},
journal = {Transactions of the Japan Society of Mechanical Engineers Series C},
year = {2007},
volume = {73},
number = {733},
pages = {2514--2522},
url = {http://joi.jlc.jst.go.jp/JST.Journalarchive/kikaic1979/73.2514?from=CrossRef},
doi = {10.1299/kikaic.73.2514}
}
|
| Kazunari Hatazaki, Masashi Konyo, Kazuya Isaki, Satoshi Tadokoro and Fumiaki Takemura, "Active scope camera for urban search and rescue," 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2596-2602, oct. 2007. doi:10.1109/IROS.2007.4399386. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: K. Hatazaki) |
| Abstract: A practical active scope camera for urban search and rescue is developed using ciliary vibration drive mechanism. Optimization of design parameters such as material, a diameter, density and an inclination angle of cilia, and specifications and density of vibration motors is performed on the basis of experimental evaluation of test pieces and prototypes with changing surface materials. A prototype of a scope camera 8 m long crawls at a maximum speed of 47 mm/s, climbs slopes of 20 deg, surmounts obstacles 200 mm high, follows walls, and turns on floors. Experiments at Collapsed House Simulation Facility of International Rescue System Institute, Kobe Laboratory demonstrate its practical advantage in rubble piles. |
BibTeX:
@inproceedings{Hatazaki2007,
author = {Hatazaki, Kazunari and Konyo, Masashi and Isaki, Kazuya and Tadokoro, Satoshi and Takemura, Fumiaki},
title = {Active scope camera for urban search and rescue},
booktitle = {2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2007},
pages = {2596--2602},
url = {http://ieeexplore.ieee.org/document/4399386/},
doi = {10.1109/IROS.2007.4399386}
}
|
| Shogo Okamoto, Masashi Konyo, Takashi Maeno and Satoshi Tadokoro, "Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths," 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2698-2703, oct. 2007. doi:10.1109/IROS.2007.4399204. |
| Abstract: Tactile telepresence has been expected to be technology which encourages operators of robotic systems to remotely maneuver objects or recognize materials being touched through robotic arms. In remote environments, temporal disparity in tactile sensations is caused by temporal latency between a touch motion of the operator and a tactile stimulus applied on him. A framework of tactile telepresence systems, which is suitable in remote environments, has been proposed in the present paper. In the framework, a tactile display locally generates the tactile stimulus in synchronization with the touch motion of the operator in order to cancel communication delay. The tactile stimulus is generated by combining the motion and tactile factors, which are sensed by a tactile sensor. The factors are characteristic parameters of objects and effect on tactile sensations. In the present paper, physical parameters of the objects are selected as the factors because the tactile stimuli can be computed using physical models involving the motions and the parameters. Based on the proposed framework, a roughness feeling telepresence system was implemented and successfully transferred a roughness factor to the operator. |
BibTeX:
@inproceedings{okamoto2007roughness,
author = {Okamoto, Shogo and Konyo, Masashi and Maeno, Takashi and Tadokoro, Satoshi},
title = {Roughness feeling telepresence system on the basis of real-time estimation of surface wavelengths},
booktitle = {2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2007},
pages = {2698--2703},
url = {http://ieeexplore.ieee.org/document/4399204/},
doi = {10.1109/IROS.2007.4399204}
}
|
| Shogo Okamoto, Masashi Konyo, Takashi Maeno and Satoshi Tadokoro, "Roughness Feeling Telepresence System with Communication Time-Delay," Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), pp. 595-596, mar. 2007. doi:10.1109/WHC.2007.96. (World Haptics 2007 Best Poster Award) |
| Abstract: A framework of tactile telepresence systems will be proposed in the present paper, which enables active touch with time-delay communication between a tactile sensor side system and a display side system. In the framework, a tactile display system can apply tactile stimuli to fingers of an operator in syncronization with touch motions based on physical parameters of objects which are estimated by a tactile sensor. To verify the concepts of the framework, was developed a roughness feeling telepresence system which produces vibratory stimuli computed by estimated surface wavelength of objects and rubbing speed of an operator. To implement the framework, real-time estimation of physical parameters of objects are required as core technology. System implementation and real-time estimation of surface wavelength will be also proposed. ? 2007 IEEE. |
BibTeX:
@inproceedings{Okamoto2007,
author = {Okamoto, Shogo and Konyo, Masashi and Maeno, Takashi and Tadokoro, Satoshi},
title = {Roughness Feeling Telepresence System with Communication Time-D},
booktitle = {Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)},
publisher = {IEEE},
year = {2007},
pages = {595--596},
url = {http://ieeexplore.ieee.org/document/4145253/},
doi = {10.1109/WHC.2007.96}
}
|
| 2006 |
| Takashi Maeno, Kayo Otokawa and Masashi Konyo, "Tactile Display of Surface Texture by use of Amplitude Modulation of Ultrasonic Vibration," 2006 IEEE Ultrasonics Symposium, pp. 62-65, 2006. doi:10.1109/ULTSYM.2006.29. |
| Abstract: In the present study, tactile display of surface texture by use of amplitude modulation of ultrasonic vibration is developed. First, systems are constructed to display artificial tactile sensation using ultrasonic vibrator. Then, sensory evaluation experiments are conducted to confirm that output stimulations in response to hand velocity is effective to realize an artificial tactile sensation. Next, it is confirmed that the proposed method to display roughness of a real cloth was more effective than existing method. Then, we evaluated the tactile sensation of a real cloth and a tactile display quantitatively using SD (semantic differential) method. As a result, at the evaluation item on roughness, the correlation coefficients between a real cloth and an artificial tactile sensation using proposed method was quite high. In conclusion, it can be confirmed that realistic surface texture can be displayed by use of amplitude modulation of ultrasonic vibration. |
BibTeX:
@inproceedings{maeno2006tactile,
author = {Maeno, Takashi and Otokawa, Kayo and Konyo, Masashi},
title = {Tactile Display of Surface Texture by use of Amplitude Modulation of Ultrasonic Vibration},
booktitle = {2006 IEEE Ultrasonics Symposium},
publisher = {IEEE},
year = {2006},
pages = {62--65},
url = {http://ieeexplore.ieee.org/document/4151885/},
doi = {10.1109/ULTSYM.2006.29}
}
|
| Daisuke Inoue, Masashi Konyo and Satoshi Tadokoro, "Distributed Tactile Sensors for Tracked Robots," 2006 5th IEEE Conference on Sensors, pp. 1309-1312, oct. 2006. doi:10.1109/ICSENS.2007.355870. |
| Abstract: A tracked wheel i.e. a crawler is one of suitable movement mechanisms to traverse extreme environments without getting stuck on obstacles. For improving their mobility, tactile sensing of the contact surface of the tracked wheel will help the motion control efficiently by detecting slips and stumbles. This research proposes a useful distributed tactile sensing system for the tracked wheel. To apply a number of tactile sensors to the tracked wheel, an electric wiring is a big problem because the wheel rotates continuously. The optical tactile sensing system proposed can estimate contact conditions of the surface in a non-contact way. When the tracked wheel gets deformed by friction, crawler shoes on the contact area incline against the tangential force. Our system can detect the inclination of the shoes by the pairs of a LED and a phototransistor attached on the inside chassis. We developed a special optical reflector, which responses only to its inclination not to its vertical movements, using a retroreflector and a microlouver film. The reflector showed enough performances for the proposed sensing system. |
BibTeX:
@inproceedings{inoue2006distributed,
author = {Inoue, Daisuke and Konyo, Masashi and Tadokoro, Satoshi},
title = {Distributed Tactile Sensors for Tracked Robots},
booktitle = {2006 5th IEEE Conference on Sensors},
publisher = {IEEE},
year = {2006},
pages = {1309--1312},
url = {http://ieeexplore.ieee.org/document/4178865/},
doi = {10.1109/ICSENS.2007.355870}
}
|
| Masato Homma, Masashi Konyo, Takashi Maeno and Seiji Motojima, "Analysis of Static and Dynamic Characteristics of a Tactile Sensor using Carbon Micro Coil inside an Elastic Material," 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1933-1938, oct. 2006. doi:10.1109/IROS.2006.282321. |
| Abstract: Carbon micro coil (CMC) tactile sensor, containing CMCs in elastic material, is considered to have LCR circuit. When the sensor is transformed by mechanical force, LCR circuit changes in the sensor. In consequence, the sensor is able to detect various kind of tactile information by measuring impedance. In this paper, we focused on LCR circuit formed by distribution of CMCs. By changing CMC weight percent, we made the sensors in which CMCs are in contact and not in contact. First, we analyzed static characteristics of CMC tactile sensor. When the sensor is under unloaded condition, we measured the relationship between frequency of alternating voltage and impedance. As the result, we found that electrical parameters change with CMC weight percent. When the sensor is under transformed condition, we measured relationship between strain and impedance. As the result, we found that impedance changes by deformation of CMC and change in distance between CMCs. Secondly, we analyzed dynamic characteristics of CMC tactile sensor. We measured relationship between mechanical frequency and impedance by exciting vibration on CMC tactile sensor |
BibTeX:
@inproceedings{homma2006analysis,
author = {Homma, Masato and Konyo, Masashi and Maeno, Takashi and Motojima, Seiji},
title = {Analysis of Static and Dynamic Characteristics of a Tactile Sensor using Carbon Micro Coil inside an Elastic Material},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2006},
pages = {1933--1938},
url = {http://ieeexplore.ieee.org/document/4058663/},
doi = {10.1109/IROS.2006.282321}
}
|
| Kazuya Isaki, Akira Niitsuma, Masashi Konyo, Fumiaki Takemura and Satoshi Tadokoro, "Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera," 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3946-3951, oct. 2006. doi:10.1109/IROS.2006.281829. (IEEE Robotics and Automation Society Japan Chapter Young Award to the presenter: K. Isaki) |
| Abstract: Proposed new actuation mechanism realizes active or semi-active mobility for flexible long cables such as fiberscopes and scope cameras. A ciliary vibration mechanism was developed using flexible ciliary tapes that can be attached easily to existing cables. Driving characteristics of the active cables were confirmed through experiments and numerical analyses. Finally, the actuation mechanism was applied for an advanced scope camera that can reduce friction with obstacles and avoid stuck or tangled cables |
BibTeX:
@inproceedings{Isaki2006,
author = {Isaki, Kazuya and Niitsuma, Akira and Konyo, Masashi and Takemura, Fumiaki and Tadokoro, Satoshi},
title = {Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2006},
pages = {3946--3951},
url = {http://ieeexplore.ieee.org/document/4059024/},
doi = {10.1109/IROS.2006.281829}
}
|
| Shogo Okamoto, Masashi Konyo, Yuka Mukaibo, Takashi Maeno and Satoshi Tadokoro, "Real-time Estimation of Touch Feeling Factors Using Human Finger Mimetic Tactile Sensors," 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3581-3586, oct. 2006. doi:10.1109/IROS.2006.281648. |
| Abstract: To realize a telepresence system with tactile feedback and force feedback, real-time estimation of various tactile sensation must be conducted. Because several types of tactile sensation consist in touch and human tactile feeling has high time resolution. A man feels active touch extraordinary with time delayed transmission of tactile information. Our proposing human finger mimetic sensor covers three tactile factors, which are roughness, softness and friction of objects to touch. Current tactile telepresence systems represent just one tactile sensation in addition to kinesthetic information. For augmented reality, wider tactile factors must be sensed at a tactile sensor system and transferred to a tactile display system with small time delay. We realized quick estimation of vibrational frequencies of the sensor and softness of objects to regenerate touch feelings to human skin by tactile displays, which usually need time-consuming samples and make it hard to address tactile telepresence system. Quick estimation of vibrational frequency was conducted by emulating impulse emission of Meissner's corpuscles. Quick estimation of Young's modulus of objects was solved by computing strain distribution in a sensor |
BibTeX:
@inproceedings{okamoto2006real,
author = {Okamoto, Shogo and Konyo, Masashi and Mukaibo, Yuka and Maeno, Takashi and Tadokoro, Satoshi},
title = {Real-time Estimation of Touch Feeling Factors Using Human Finger Mimetic Tactile Sensors},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2006},
pages = {3581--3586},
url = {http://ieeexplore.ieee.org/document/4058959/},
doi = {10.1109/IROS.2006.281648}
}
|
| Masato Homma, Hiroshi Morita, Masashi Konyo, Takashi Maeno and Seiji Motojima, "Electromechanical Conversion Mechanism of a Tactile Sensor Using Carbon Micro Coil Inside an Elastic Material," Journal of Robotics and Mechatronics, vol. 18, no. 3, pp. 235-241, jun. 2006. doi:10.20965/jrm.2006.p0235. |
| Abstract: Carbon Micro Coil (CMC) tactile sensor, containing CMCs in elastic component, is considered to have LCR circuit. When the sensor is transformed by mechanical force, LCR circuit changes. In consequence, the sensor is considered to be able to detect various kind of tactile information by measuring impedance. In this paper, we focused on LCR circuit formed by distribution of CMCs. By changing CMC weight percent, we made the sensors that CMCs are in contact and not in contact. When the sensor is under unloaded condition, we measured the relationship between frequency of alternating voltage and impedance. As the result, we found that electrical parameters change with CMC weight percent. When the sensor is under transformed condition, we measured relationship between thrust displacement and impedance. As the result, we found that impedance changes by deformation of CMC and change in distance between CMCs. |
BibTeX:
@article{Homma2006,
author = {Homma, Masato and Morita, Hiroshi and Konyo, Masashi and Maeno, Takashi and Motojima, Seiji},
title = {Electromechanical Conversion Mechanism of a Tactile Sensor Using Carbon Micro Coil Inside an Elastic Material},
journal = {Journal of Robotics and Mechatronics},
year = {2006},
volume = {18},
number = {3},
pages = {235--241},
url = {https://www.fujipress.jp/jrm/rb/robot001800030235},
doi = {10.20965/jrm.2006.p0235}
}
|
| Nakamoto Masataka, Masashi Konyo, Takashi Maeno and Satoshi Tadokoro, "Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators," 2006 IEEE International Conference on Robotics and Automation (ICRA), pp. 3899-3904, may. 2006. doi:10.1109/ROBOT.2006.1642299. |
| Abstract: A method is proposed to control human grasping force unconsciously by generating small distributed vibration stimuli on a finger based on a human reflex action against detection of partial slippage of contact. Human beings can increase grasping force before the grasped object slips off the fingers based on afferent signals from tactile receptors that detect the expansion of the partial slippage area. We assumed that vibration stimuli that have an appropriate frequency and distribution generate a virtual sensation of partial slippages and induce a reflective grasping force increase. Grasping experiments with minute distributed vibration stimuli using ICPF (ionic conducting polymer gel film) actuators were performed. Experiments results showed that the effective vibratory frequency was 30 Hz, which is the most sensitive range for Meissner's corpuscles that are closely related to detection of partial slippage. We also found that distribution of vibration stimuli were important to produce human grasping force increase |
BibTeX:
@inproceedings{masataka2006reflective,
author = {Masataka, Nakamoto and Konyo, Masashi and Maeno, Takashi and Tadokoro, Satoshi},
title = {Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators},
booktitle = {2006 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2006},
pages = {3899--3904},
url = {http://ieeexplore.ieee.org/document/1642299/},
doi = {10.1109/ROBOT.2006.1642299}
}
|
| Masashi Konyo, Masataka Nakamoto, Takashi Maeno and Satoshi Tadokoro, "Reflective Grasp Force Control of Humans Induced by Distributed Vibration Stimuli on Finger Skin with ICPF Actuators [in Japanese]," Transactions of the Virtual Reality Society of Japan, vol. 11, no. 1, pp. 3-10, mar. 2006. (TVRSJ Best Paper Award) |
| Abstract: A method is proposed to control human grasping force unconsciously by generating small distributed vibration stimuli on a finger based on a human reflex action against detection of partial slippage of contact. Human beings can increase grasping force before the grasped object slips off the fingers based on afferent signals from tactile receptors that detect the expansion of the partial slippage area. We assumed that vibration stimuli that have an appropriate frequency and distribution generate a virtual sensation of partial slippages and induce a reflective grasping force increase. Grasping experiments with minute distributed vibration stimuli using ICPF (Ionic Conducting Polymer gel Film) actuators were performed. Experiments results showed that the effective vibratory frequency was 30 Hz, which is the most sensitive range for Meissner's corpuscles that are closely related to detection of partial slippage. We also found that distribution of vibration stimuli were important to produce human grasping force increase. |
BibTeX:
@article{Konyo2006e,
author = {Konyo, Masashi and Nakamoto, Masataka and Maeno, Takashi and Tadokoro, Satoshi},
title = {Reflective Grasp Force Control of Humans Induced by Distributed Vibration Stimuli on Finger Skin with ICPF Actuators [in Japanese]},
journal = {Transactions of the Virtual Reality Society of Japan},
year = {2006},
volume = {11},
number = {1},
pages = {3--10},
url = {http://ci.nii.ac.jp/naid/110008728936/en/},
doi = {}
}
|
| 2005 |
| Yuka Mukaibo, Hirokazu Shirado, Masashi Konyo and Takashi Maeno, "Development of a Texture Sensor Emulating the Tissue Structure and Perceptual Mechanism of Human Fingers," 2005 IEEE International Conference on Robotics and Automation (ICRA), no. April, pp. 2565-2570, . 2005. doi:10.1109/ROBOT.2005.1570499. |
| Abstract: This paper discusses a novel approach in developing a texture sensor emulating the major features of a human finger. The aim of this study is to realize precise and quantitative texture sensing. Three physical properties, roughness, softness, and friction are known to constitute texture perception of humans. The sensor is designed to measure the three specific types of information by adopting the mechanism of human texture perception. First, four features of the human finger that were focused on in designing the novel sensor are introduced. Each feature is considered to play an important role in texture perception; the existence of nails and bone, the multiple layered structure of soft tissue, the distribution of mechanoreceptors, and the deployment of epidermal ridges. Next, detailed design of the texture sensor based on the design concept is explained, followed by evaluating experiments and analysis of the results. Finally, we conducted texture perceptive experiments of actual material using the developed sensor, thus achieving the information expected. Results show the potential of our approach. |
BibTeX:
@inproceedings{Mukaibo2005,
author = {Mukaibo, Yuka and Shirado, Hirokazu and Konyo, Masashi and Maeno, Takashi},
title = {Development of a Texture Sensor Emulating the Tissue Structure and Perceptual Mechanism of Human Fingers},
booktitle = {2005 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2005},
number = {April},
pages = {2565--2570},
url = {http://ieeexplore.ieee.org/document/1570499/},
doi = {10.1109/ROBOT.2005.1570499}
}
|
| Masashi Konyo, Satoshi Tadokoro, Akinori Yoshida and N. Saiwaki, "A tactile synthesis method using multiple frequency vibrations for representing virtual touch," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3965-3971, . 2005. doi:10.1109/IROS.2005.1545130. |
| Abstract: This paper presents a useful tactile display method that can control multiple tactile sensations such as roughness, pressure, and friction sensations using simple vibratory stimulations. Our concepts are based on two points: frequency range selection for making selective stimulation on different tactile receptors types and timing control of the stimulation in response to hand movements. The selective stimulations were realized by selecting reactive frequencies of vibratory stimulation based on temporal response characteristics of tactile receptors. For representing roughness sensation, vibrating frequencies were modulated in response to hand velocity considered as a temporal coding perception of FA I type receptor. Two reactive frequencies were also selected for representing pressure sensation and friction sensation corresponding to SA I and FA II type receptors respectively. A wearable tactile display using ICPF (ionic conducting polymer gel film) actuators verified our proposed methods. Finally, we conducted a total texture feeling display combined with our methods for roughness, pressure, and friction sensations in a parameterized manner. Comparison with real clothes showed that some combinations of multiple tactile sensations could express texture feels of the expected materials. |
BibTeX:
@inproceedings{konyo2005tactile,
author = {Konyo, Masashi and Tadokoro, Satoshi and Yoshida, Akinori and Saiwaki, N.},
title = {A tactile synthesis method using multiple frequency vibrations for representing virtual touch},
booktitle = {2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2005},
pages = {3965--3971},
url = {http://ieeexplore.ieee.org/document/1545130/},
doi = {10.1109/IROS.2005.1545130}
}
|
| Before 2014 |
| Masashi Konyo, Yoshiki Konishi, Satoshi Tadokoro and Takumi Kishima, "Development of velocity sensor using ionic polymer-metal composites," Proceedings of SPIE, vol. 5385, no. 1, pp. 307, jul. 2004. doi:10.1117/12.540266. |
| Abstract: Conventional tactile sensors can only detect simple physical values such as pressure, but can hardly measure multi-directional movements in touch with the surface of objects. We propose a soft tactile sensor using an Ionic Polymer-Metal Composite (IPMC or known as ICPF). IPMC is excellent in softness, durability, easy molding, and so on. Many applications have been developed using as IPMC actuators. IPMC can also utilized as a sensor, because a voltage on the both ends of the film changes by adding mechanical stimuli and bending the film. It is found experimentally that IPMC has the characteristics as a speed sensor because the output voltages were in proportion to the velocities of the end of films by making vibrational motions. A tactile speed sensor that can measure the velocity vectors in 3-dimenstional movements was developed. The sensor has centroclinal structure made of silicone gel capsule, and four IPMC sensor modules were combined with the capsule inside in cross shape. The silicon gel capsule also seal in water, which is necessary for IPMC devices. The output voltages of each sensor were calibrated into the same maximum outputs because IPMC sensors have response variation. The amount of the velocity was estimated by calculating four outputs of each sensor modules. The direction of the movement can also be estimated by them only when the amount of the velocity exceeds the sufficient level. Experimental results show the sensor could estimate the velocity vector in real-time. |
BibTeX:
@inproceedings{Konyo2004,
author = {Konyo, Masashi and Konishi, Yoshiki and Tadokoro, Satoshi and Kishima, Takumi},
editor = {Bar-Cohen, Yoseph},
title = {Development of velocity sensor using ionic polymer-metal composites},
booktitle = {Proceedings of SPIE},
publisher = {Spie},
year = {2004},
volume = {5385},
number = {1},
pages = {307},
url = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?doi=10.1117/12.540266},
doi = {10.1117/12.540266}
}
|
| Kenichi Tokuda, Takafumi Toda, Yasuhisa Koji, Masashi Konyo, Satoshi Tadokoro and Pujol Alain, "Estimation of fragile ground by foot pressure sensor of legged robot," 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), vol. 1, pp. 447-453, . 2003. doi:10.1109/AIM.2003.1225137. |
| Abstract: This paper reports several results from estimation experiments by using our new foot sensor, which is composed of a sole sensor and a rubbing mechanism for rubble walking robot. The sensor can measure every ground point's reactive force by pressing robot's legs against the ground in a given angle. There is not only stable ground but klunky ground or transformable ground or breakable ground in rubble space. Some results of our experiment shows that subtle differences are expressed by using COF (center of force) and pressure changes. |
BibTeX:
@inproceedings{Tokuda2003,
author = {Tokuda, Kenichi and Toda, Takafumi and Koji, Yasuhisa and Konyo, Masashi and Tadokoro, Satoshi and Alain, Pujol},
title = {Estimation of fragile ground by foot pressure sensor of legged robot},
booktitle = {2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003)},
publisher = {IEEE},
year = {2003},
volume = {1},
pages = {447--453},
url = {http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=1225137&isnumber=27502&punumber=8678&k2dockey=1225137@ieeecnfs&query=((estimation+of+fragile)%3Cin%3Emetadata)&pos=0&access=n0 http://ieeexplore.ieee.org/document/1225137/},
doi = {10.1109/AIM.2003.1225137}
}
|
| Yosihisa Koji, Alain Pujol, Kennichi Tokuda, Satoshi Tadokoro, Masashi Konyo, Takafumi Toda and Toshi Takamori, "Flat-distributed network architecture ( FDNet ) for rescue robots," 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 3, pp. 2392-2397, oct. 2003. doi:10.1109/IROS.2003.1249228. |
| Abstract: This paper deals with the software architecture of a rescue robot, named FDNet. This architecture provides the rescue robot with intelligence and flexibility. When this architecture is used, the robot system is described using networks. These networks are composed by data and processing units. The data, referred to as "data", is a distributed component. The processing units, referred to as "relation", are a distributed and parallel-processing component, which can refer to any existing Data. We consider nodes that can formally connect to any other node, and relations that can be organized according to human's or any other network's pattern. This architecture was called "FDNet (Flat-distributed networks for rescue robots)". First, we will describe proposition of the architecture and its implementation for a robot. Then, we will report some experimental results. We provide this architecture for any intelligent rescue system. |
BibTeX:
@inproceedings{Koji2003,
author = {Koji, Yosihisa and Pujol, Alain and Tokuda, Kennichi and Tadokoro, Satoshi and Konyo, Masashi and Toda, Takafumi and Takamori, Toshi},
title = {Flat-distributed network architecture ( FDNet ) for rescue robots},
booktitle = {2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
publisher = {IEEE},
year = {2003},
volume = {3},
pages = {2392--2397},
url = {http://ieeexplore.ieee.org/document/1249228/},
doi = {10.1109/IROS.2003.1249228}
}
|
| Yosihisa Koji, Satoshi Tadokoro, Kennichi Tokuda, Alain Pujol, Takafumi Toda, Hideyuki Nobuhiro, Masashi Konyo and Toshi Takamori, "Flat-distributed network architecture (FDNet) for rescue robots - FDNet and its implementation," 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, vol. 1, pp. 235-240, jul. 2003. doi:10.1109/CIRA.2003.1222095. |
| Abstract: This paper deals with flat-distributed architecture for a rescue robot. This architecture provides the rescue robot with intelligence and flexibility. When this architecture is used, the robot system is described using networks. These networks are composed by data and processing agents. The data, referred to as "data", is a distributed component. The processing agents, referred to as "relation", are a distributed and parallel-processing component, which can refer to any existing data. We consider nodes that can formally connect to any other node, and relations that can be organized according to human's or any other network's pattern. This architecture was called "FDNet(Flat-Distributed Networks for Rescue System)". First, we describe the proposition of the architecture and its implementation for a robot. Then we report some experimental results. We provide this architecture for any intelligent rescue system. |
BibTeX:
@inproceedings{Koji2003a,
author = {Koji, Yosihisa and Tadokoro, Satoshi and Tokuda, Kennichi and Pujol, Alain and Toda, Takafumi and Nobuhiro, Hideyuki and Konyo, Masashi and Takamori, Toshi},
title = {Flat-distributed network architecture (FDNet) for rescue robots - FDNet and its implementation},
booktitle = {2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation},
publisher = {IEEE},
year = {2003},
volume = {1},
pages = {235--240},
url = {http://ieeexplore.ieee.org/document/1222095/},
doi = {10.1109/CIRA.2003.1222095}
}
|
| Masashi Konyo, Kazunobu Akazawa, Satoshi Tadokoro and Toshi Takamori, "Wearable Haptic Interface Using ICPF Actuators for Tactile Feel Display in Response to Hand Movements," Journal of Robotics and Mechatronics, vol. 15, no. 2, pp. 219-226, apr. 2003. doi:10.20965/jrm.2003.p0219. |
| Abstract: In order to display delicate touch feeling of surface of some materials, active touch of human hand movements should be considered. In this paper, a wearable stimulation device which can produce various distributed stimuli on human skin in response to hand movements was developed using ICPF (Ionic Conducting Polymer gel Film) actuators. Characteristics of touch feeling of roughness were measured using vibratory stimulation. The results showed that the threshold amplitude under active touch were smaller than under passive touch. A stimulation method which generates selective stimuli to sense receptors in accordance with velocities and accelerations of hand motions was proposed. It was confirmed experimentally that some kinds of pattern of driving waves express touch feelings such as starting, stopping and sliding feel of hand motions. |
BibTeX:
@article{Konyo2003,
author = {Konyo, Masashi and Akazawa, Kazunobu and Tadokoro, Satoshi and Takamori, Toshi},
title = {Wearable Haptic Interface Using ICPF Actuators for Tactile Feel Display in Response to Hand Movements},
journal = {Journal of Robotics and Mechatronics},
year = {2003},
volume = {15},
number = {2},
pages = {219--226},
url = {https://www.fujipress.jp/jrm/rb/robot001500020219},
doi = {10.20965/jrm.2003.p0219}
}
|
| Masashi Konyo, Satoshi Tadokoro, Makiko Hira and Toshi Takamori, "Quantitative evaluation of artificial tactile feel display integrated with visual information," 2002 EEE/RSJ International Conference on Intelligent Robots and System (IROS), vol. 3, pp. 3060-3065, . 2002. doi:10.1109/IRDS.2002.1041738. |
| Abstract: This study presents a tactile feel display of virtual reality for subtle fine touch of clothes. The device developed using soft high polymer gel actuators could express subtle differences of touch of clothes, especially rough materials such as a towel and denim. Considering the superiority of vision in the multimodal sensational perception, a virtual tactile feel display integrated with visual information which express more real touch of cloth was proposed. In order to evaluate the influence of visual information adding to the tactile feel quantitatively, a factor analysis was performed using adjective pair scales. Factor analysis applied to the real materials showed that the roughness factor is highly correlated with the visual sensation although the softness factor is relatively independent from image information. The same analysis applied to the artificial tactile feel showed more complex results. It was confirmed that vision could help the recognition of tactile feel only when the characteristics of the material was expressed well by visual information although could also mislead tactile perception when visual information was not appropriate. The superiority of visual information was also evaluated by applying wrong visual information different from the artificial tactile feels. |
BibTeX:
@inproceedings{Konyo2002,
author = {Konyo, Masashi and Tadokoro, Satoshi and Hira, Makiko and Takamori, Toshi},
title = {Quantitative evaluation of artificial tactile feel display integrated with visual information},
booktitle = {2002 EEE/RSJ International Conference on Intelligent Robots and System (IROS)},
publisher = {IEEE},
year = {2002},
volume = {3},
pages = {3060--3065},
url = {http://ieeexplore.ieee.org/document/1041738/},
doi = {10.1109/IRDS.2002.1041738}
}
|
| Satoshi Tadokoro, Masahiko Fukuhara, Yosuke Maeba, Masashi Konyo, Toshi Takamori and Keisuke Oguro, "A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics," 2002 IEEE/RSJ International Conference on Intelligent Robots and System (IROS), vol. 2, pp. 2010-2017, . 2002. doi:10.1109/IRDS.2002.1044051. |
| Abstract: Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future molluskan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle. |
BibTeX:
@inproceedings{Tadokoro2002,
author = {Tadokoro, Satoshi and Fukuhara, Masahiko and Maeba, Yosuke and Konyo, Masashi and Takamori, Toshi and Oguro, Keisuke},
title = {A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics},
booktitle = {2002 IEEE/RSJ International Conference on Intelligent Robots and System (IROS)},
publisher = {IEEE},
year = {2002},
volume = {2},
pages = {2010--2017},
url = {http://ieeexplore.ieee.org/document/1044051/},
doi = {10.1109/IRDS.2002.1044051}
}
|
| Masashi Konyo, Satoshi Tadokoro, Toshi Takamori, Keisuke Oguro and Kenichi Tokuda, "Tactile Feeling Display for Touch of Cloth Using Soft High Polymer Gel Actuators [in Japanese]," Transactions of the Virtual Reality Society of Japan, vol. 6, no. 4, pp. 323-328, dec. 2001. (TVRSJ Best Paper Award) |
| Abstract: This paper proposes a ciliary device using soft high polymer gel actuators to express fine touch as a surface of cloth. This new device is designed with a number of cilia consisting of ICPF actuators, where a cilimn is 2 mm wide and 5 mm long. The device can generate various distributed stimuli to human sense receptors. It was experimentally confirmed that combinations of vibratory stimuli of high frequency and low frequency produced complex tactile feels. Comparison of the artificial tactile feels and cloth material samples demonstrated that this device developed could display subtle distinction in the touch of cloth, especially like a towel and a denim. |
BibTeX:
@article{konyo2001e,
author = {Konyo, Masashi and Tadokoro, Satoshi and Takamori, Toshi and Oguro, Keisuke and Tokuda, Kenichi},
title = {Tactile Feeling Display for Touch of Cloth Using Soft High Polymer Gel Actuators [in Japanese]},
journal = {Transactions of the Virtual Reality Society of Japan},
year = {2001},
volume = {6},
number = {4},
pages = {323--328},
url = {http://ci.nii.ac.jp/naid/110008746786/en/},
doi = {}
}
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| Masashi Konyo, Satoshi Tadokoro, Toshi Takamori and Keisuke Oguro, "EAP application to artificial tactile feel display of virtual reality," Proceedings of SPIE Vol. 4329, pp. 389, jul. 2001. doi:10.1117/12.432671. |
| Abstract: A tactile feel display device for virtual reality was developed using Nafion-Platinum composite type EAP actuator (known as IPMC or ICPF). Conventional tactile displays can hardly express tactile human feeling of the fine touch of the surface of a cloth, because their mechanisms cannot excite minute distributed stimuli on human skin. We propose a new ciliary device using ICPF actuators. The ICPF has sufficient softness, utilizing the passive material property, that complex control is not required. The low drive voltage is safe enough for the touch of fingers. Its simple operation mechanism allows miniaturization for practical equipments. The developed device was designed with a number of cilia consisting of ICPF actuators, where a cilium is 2 mm wide and 5 mm long. An ICPF membrane is cut into pectination, and only the cilium part is plated and has a function of an actuator. An inclined configuration of the cilia produces variety of stimuli to human skin controlling frequencies. We tried to display both pressure and vibration at the same time using modulated low and high frequencies. The result clearly shows that over 80% of the subjects sensed some special tactile feeling. A comparison with real material samples shows that this display can present a subtle distinction of tactile feeling of cloth, especially like a towel and denim. |
BibTeX:
@inproceedings{Konyo2001,
author = {Konyo, Masashi and Tadokoro, Satoshi and Takamori, Toshi and Oguro, Keisuke},
editor = {Bar-Cohen, Yoseph},
title = {EAP application to artificial tactile feel display of virtual reality},
booktitle = {Proceedings of SPIE Vol. 4329},
year = {2001},
pages = {389},
url = {http://proceedings.spiedigitallibrary.org/proceeding.aspx?doi=10.1117/12.432671},
doi = {10.1117/12.432671}
}
|
| Masashi Konyo, Satoshi Tadokoro and Toshi Takamori, "Artificial tactile feel display using soft gel actuators," 2000 IEEE International Conference on Robotics and Automation (ICRA), vol. 4, pp. 3416-3421, . 2000. doi:10.1109/ROBOT.2000.845250. |
| Abstract: It is difficult for the conventional tactile displays to express fine touch as a surface of cloth. A mechanical device appropriate for minute distributed stimuli on human skin does not exist. This paper proposes a ciliary device using soft high polymer gel actuators (ICPF) as a solution to this problem. This new device can generate various distributed stimuli to human sense receptors. It was experimentally confirmed that, combinations of vibratory stimuli of high frequency and low frequency produced complex tactile feels. Comparison of the artificial tactile feels and cloth material samples demonstrated that this device developed could display subtle distinction in the touch of cloth |
BibTeX:
@inproceedings{Konyo2000,
author = {Konyo, Masashi and Tadokoro, Satoshi and Takamori, Toshi},
title = {Artificial tactile feel display using soft gel actuators},
booktitle = {2000 IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {IEEE},
year = {2000},
volume = {4},
pages = {3416--3421},
url = {http://ieeexplore.ieee.org/document/845250/},
doi = {10.1109/ROBOT.2000.845250}
}
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