J. Robotics Mechatronics最新文献_第8页

Variable Step Type Pneumatic Linear Stepping Actuator for Passive Exercise Device of Hip Joint 用于髋关节被动运动装置的可变步进式气动直线步进驱动器

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0641

T. Shinohara, Kota Oe, T. Akagi, S. Dohta, Feifei Cho, W. Kobayashi, S. Shimooka

引用次数: 0

Grid Map Correction for Fall Risk Alert System Using Smartphone 基于智能手机的坠落危险预警系统网格图校正

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0867

Daigo Katayama, Kazuo Ishii, S. Yasukawa, Yuya Nishida, S. Nakadomari, Koichi Wada, Akane Befu, Chikako Yamada

引用次数: 0

Excretion Detection Systems with Gas Sensors - Development of Excretion Detection Device with Non-Suction Utilizing Floor Cushion - 带气体传感器的排泄物检测系统。利用地垫的非吸力排泄物检测装置的研制

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0799

Shohei Sugano, Kazushiro Tanimoto, Toshiki Kobayashi, Y. Ui

{"title":"Excretion Detection Systems with Gas Sensors - Development of Excretion Detection Device with Non-Suction Utilizing Floor Cushion -","authors":"Shohei Sugano, Kazushiro Tanimoto, Toshiki Kobayashi, Y. Ui","doi":"10.20965/jrm.2023.p0799","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0799","url":null,"abstract":"In this paper, we report the development and evaluation of an excretion detection device which is to be used with a cushion. Remarkably, the device does not require air suction and can be used during the daytime. The device can be placed on a chair or wheelchair and used whenever a cared person sits. Reflecting on the views of caregivers and the observations of the cared persons, the device was designed to be as thin and flexible as possible. In experiments to evaluate the response, it was confirmed to respond not only to simulated urine but also to actual excrement. From the results of the clinical experiments, the excretion detection model achieved an accuracy rate of 76%. Although this figure is close to the approximately 80% accuracy rate of an existing product H, it must be kept in mind that this accuracy rate is limited to urination owing to the limited training data in this study. These findings suggest that the device used with a cushion provides a valid means of excretion detection during daytime hours in a non-wearing and non-invasive manner, although its use is currently limited to urination.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133374000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Toward a Prosperous Future Where Humans and Robots Cooperate 迈向人类与机器人合作的繁荣未来

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0533

Masayo Iwai, M. Haruna, T. Tanikawa

引用次数: 0

Application of Noncircular Pulleys to Straight-Fiber-Type Pneumatic Artificial Muscle Manipulator 非圆滑轮在直纤维型气动人工肌肉机械手中的应用

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0622

Rikuto Tanaka, Teppei Abe, H. Tomori

{"title":"Application of Noncircular Pulleys to Straight-Fiber-Type Pneumatic Artificial Muscle Manipulator","authors":"Rikuto Tanaka, Teppei Abe, H. Tomori","doi":"10.20965/jrm.2023.p0622","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0622","url":null,"abstract":"This study proposes a method for improving the performance of a manipulator driven by pneumatic artificial muscles. Although the straight-fiber-type pneumatic artificial muscle (SF-PAM), a kind of pneumatic artificial muscle, is lightweight and exhibits high contractile force and contraction percentage, its contractile force decreases as contraction increases. To compensate for the decrease in the SF-PAM contractile force, we developed a noncircular pulley and integrated it into the manipulator driven by a wire pulley mechanism. Because this noncircular pulley is designed in accordance with the output characteristics of SF-PAM, the contraction force of SF-PAM can be converted into manipulator torque efficiently. In addition, the radius of the noncircular pulley is expressed as a function, which can be incorporated into a numerical model for the manipulator’s controller. Subsequently, simulation and experimentation to verify the proposed method showed that, when using the same actuator, the manipulator with a noncircular pulley can optimize both output torque and range of motion better than that with a conventional circular pulley. However, a few differences between simulation results and experimental results were observed. These differences were caused by SF-PAM stretching which was not considered in the model. This drawback can be overcome by improving the SF-PAM and the numerical model in future studies. We believe that this study will provide designers of robots that coexist with humans with a high degree of freedom.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"299 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127561707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Musculoskeletal Model Capable of Reproducing Lumbar Extension Motion Strategy Based on the Equilibrium Point Hypothesis 基于平衡点假设的能够再现腰椎伸展运动策略的肌肉骨骼模型

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0762

M. Sato, Michihiro Yoshida, T. Kusaka, Yusuke Suzuki, Takayuki Tanaka

引用次数: 0

Development of a Human-Centric System Using an IoT-Based Socially Embedded Robot Partner 使用基于物联网的社交嵌入式机器人伙伴开发以人为中心的系统

J. Robotics Mechatronics Pub Date : 2023-06-20 DOI: 10.20965/jrm.2023.p0859

Jinseok Woo, Taiki Sato, Y. Ohyama

{"title":"Development of a Human-Centric System Using an IoT-Based Socially Embedded Robot Partner","authors":"Jinseok Woo, Taiki Sato, Y. Ohyama","doi":"10.20965/jrm.2023.p0859","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0859","url":null,"abstract":"Recently, the increasing social isolation of the elderly has caused major social problems, such as loneliness and the progression of dementia. A human-centric system could be a solution to these problems and promote coexistence with humans. Therefore, we aimed to develop a robot system using smart devices, which are essential for the Internet of things (IoT) technology, to provide services, such as information support and monitoring. As the development and application of smart devices become more sophisticated, a hyperconnected society will finally be realized through the development of smart-device-centered robots and their connection to peripheral devices. A hyperconnected society is one in which people, things, and data are connected. Personal mobility is developing and converging with robotic technology to the point where a large mobile robot can board a person. These robot technologies can be connected to wireless networks to provide organically connected services. In the era of Society 5.0, the connection among smart devices, robot systems, and mobility technology is still developing and will be a new paradigm in the development of human-centric systems in the future. Therefore, this study introduces the creation of a human-centric system using a robot system and a mobility system based on the IoT. Finally, we present several examples of the effectiveness of the proposed system and discuss its applicability.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127215851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

GPU-Accelerated 3D Normal Distributions Transform gpu加速3D正态分布变换

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0445

A. Nguyen, Abraham Monrroy Cano, M. Edahiro, Shinpei Kato

引用次数: 0

Localization System for Vehicle Navigation Based on GNSS/IMU Using Time-Series Optimization with Road Gradient Constrain 基于GNSS/IMU的道路梯度约束时间序列优化车辆导航定位系统

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0387

Aoki Takanose, Kaito Kondo, Yuta Hoda, J. Meguro, K. Takeda

{"title":"Localization System for Vehicle Navigation Based on GNSS/IMU Using Time-Series Optimization with Road Gradient Constrain","authors":"Aoki Takanose, Kaito Kondo, Yuta Hoda, J. Meguro, K. Takeda","doi":"10.20965/jrm.2023.p0387","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0387","url":null,"abstract":"In this paper, we propose a GNSS/IMU localization system for mobile robots when wheel speed sensors cannot be attached. Highly accurate location information is required for autonomous navigation of mobile robots. A typical method of acquiring location information is to use a Kalman filter for position estimation. The Kalman filter is a maximum-likelihood estimation method that assumes normally distributed noise. However, non-normally distributed GNSS multipath noise that frequently occurs in urban environments causes the Kalman filter to break down, and degrades the estimation performance. Other GNSS/IMU localization methods capable of lane-level estimation in urban environments use wheel speed sensors, which are unsuitable for the present situation. In this study, we aim to improve the performance of lane-level localization by adding a vehicle speed estimation function to adapt the method to those requiring wheel speed sensors. The proposed method optimizes time-series data to accurately compensate for accelerometer bias errors and reduce GNSS multipath noise. The evaluation confirmed the effectiveness of the proposed method, with improved velocity and position estimation performance compared with the Kalman filter method.","PeriodicalId":178614,"journal":{"name":"J. Robotics Mechatronics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122988019","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Yaw-Rate Controller Tuning for Autonomous Driving: Virtual Internal Model Tuning Approach 自动驾驶的偏航速率控制器调谐:虚拟内模型调谐方法

J. Robotics Mechatronics Pub Date : 2023-04-20 DOI: 10.20965/jrm.2023.p0308

Motoya Suzuki, S. Yahagi

引用次数: 0