ROBOMECH Journal最新文献

{"title":"Switching backdrivability of a planetary gear by vibration: design parameter setting and excited force estimation","authors":"Satsuya Noda, Ryo Igari, Kensuke Endo, Kazushi Yamanobe, Toshio Takayama","doi":"10.1186/s40648-023-00264-w","DOIUrl":"https://doi.org/10.1186/s40648-023-00264-w","url":null,"abstract":"Abstract Switching backdrivability according to use status is important to attain energy-saving and compliance in co-worker robots. Authors have proposed switching backdrivability by exciting gear surface, eliminating the need for sensors while switching. We have confirmed that exciting 2K-H planetary gear can switch its backdrivability. To systematically design the switching backdrivable 2K-H planetary gear, this study reveals less back-drive condition and the required torque for a vibrator. In the less-backdrivable condition, the tooth number difference between the fixed and output gears is dominant. Furthermore, the required torque for the vibrator increases as the load of the output shaft and the vibration frequency increase. The experimental results of the less-backdrivable condition and the required torque for the vibrator are almost entirely consistent with simulation result of the mechanical model","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 23","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135142125","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}

{"title":"Chatbots and robots: a framework for the self-management of occupational stress","authors":"Akihiro Yorita, Simon Egerton, Carina Chan, Naoyuki Kubota","doi":"10.1186/s40648-023-00261-z","DOIUrl":"https://doi.org/10.1186/s40648-023-00261-z","url":null,"abstract":"Abstract We have developed a stress management framework aimed at helping healthcare professionals manage occupational stress. A chatbot is used to gather pertinent information from a user through regular conversation which is processed via a fuzzy inference model to derive their level of occupational Comprehensibility, Manageability, Meaningful and overall occupational Sense of Coherence (SOC). This analysis feeds into a Peer Support model which selects the best intervention aimed at enhancing a user’s stress-coping abilities and reducing their levels of occupational stress. A trial has been conducted with working adults, and the results were examined using a questionnaire supported by Technology Acceptance Model, which showed that the chatbot could recognize the user's SOC, but left a challenge: few users wanted to continue using it in their daily lives.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"19 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136262319","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}

{"title":"Validation of a lower limb exoskeleton assist device focusing on viscous properties: verification of assist effectiveness by measuring muscle activity","authors":"Yusuke Shimoda, Tomotaka Sugino, Manabu Okui, Rie Nishihama, Taro Nakamura","doi":"10.1186/s40648-023-00262-y","DOIUrl":"https://doi.org/10.1186/s40648-023-00262-y","url":null,"abstract":"Abstract Because exoskeletal assistive devices are worn directly by a person, enhancing cooperation is important. However, existing assistive devices have problems in terms of their cooperation with human behaviors. This is because existing assistive devices are driven by estimating the wearer’s movement intention based on predetermined movement time and device angle information. Although these methods are expected to work as expected, in practice, it is difficult to achieve the expected behavior. Therefore, an assistance method is required to reduce such misalignment with time and misalignment between the device and wearer. Therefore, this study focused on the viscoelastic properties that generate force in response to movement and are expected to enhance coordination. In a previous study, the authors confirmed the effects of viscoelastic properties or an assistive device with variable stiffness. However, viscous characteristics during movement have not been considered. In this study, we aimed to improve the coordination by focusing on the viscous characteristics. The viscous torque outputs in response to the angular velocity are expected to be driven in response to actual human motion. In this study, the viscous torque was calculated as the product of the command viscosity coefficient and the joint angular velocity and was applied to a lower-limb exoskeleton-type assist device equipped with a magneto-viscous fluid brake and a planetary gear mechanism. In addition, a viscous command that changes the torque according to speed (proposed method), a time command that changes the output value according to the passage of time, and an angle command that changes the command value according to the angle information of the device were applied to the assist device, and surface EMG measurements and command signals were compared. The target movement was a seated movement, and the left and right vastus medialis and semimembranosus muscles were measured. More than half of the subjects showed a decrease in myopotential for five subjects for all three command methods, confirming the effectiveness of the viscous command.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135857358","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}

{"title":"Uniaxial attitude control of uncrewed aerial vehicle with thrust vectoring under model variations by deep reinforcement learning and domain randomization","authors":"Atsushi Osedo, D. Wada, S. Hisada","doi":"10.1186/s40648-023-00260-0","DOIUrl":"https://doi.org/10.1186/s40648-023-00260-0","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-9"},"PeriodicalIF":1.4,"publicationDate":"2023-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45671632","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}

{"title":"Implementation of interactive control of a crane ship model in MATLAB/Simulink environment","authors":"O. Makarov, Hayato Yase, T. Harada","doi":"10.1186/s40648-023-00259-7","DOIUrl":"https://doi.org/10.1186/s40648-023-00259-7","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-9"},"PeriodicalIF":1.4,"publicationDate":"2023-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42206914","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}

{"title":"A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution","authors":"Daiki Yoshikawa, M. Shimizu, T. Umedachi","doi":"10.1186/s40648-023-00257-9","DOIUrl":"https://doi.org/10.1186/s40648-023-00257-9","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-11"},"PeriodicalIF":1.4,"publicationDate":"2023-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42886500","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}

{"title":"Intention-reflected predictive display for operability improvement of time-delayed teleoperation system","authors":"Yaonan Zhu, Keisuke Fusano, T. Aoyama, Y. Hasegawa","doi":"10.1186/s40648-023-00258-8","DOIUrl":"https://doi.org/10.1186/s40648-023-00258-8","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-11"},"PeriodicalIF":1.4,"publicationDate":"2023-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46723889","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}

{"title":"Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field","authors":"Masahiro Inagawa, Tomohito Kawabe, T. Takei, K. Nagatani","doi":"10.1186/s40648-023-00252-0","DOIUrl":"https://doi.org/10.1186/s40648-023-00252-0","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":"1-11"},"PeriodicalIF":1.4,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44192041","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}

{"title":"Ultrafine and crosstalk-free 2D tactile sensor by using active-matrix thin-film transistor array","authors":"H. Kinjo, Hitoshi Tanaka, Y. Haga, Takaya Tamaru, J. Kobashi, Kazuhiko Sako, Kazunori Yamaguchi, Shinichiro Oka","doi":"10.1186/s40648-023-00253-z","DOIUrl":"https://doi.org/10.1186/s40648-023-00253-z","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"10 1","pages":"1-7"},"PeriodicalIF":1.4,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47284505","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}

{"title":"Development of test method for evaluation of UAS mobility capability in GNSS-denied environment","authors":"Taichi Yamada, Hiroyuki Abe, Katsuji Ogane, K. Kawabata","doi":"10.1186/s40648-023-00251-1","DOIUrl":"https://doi.org/10.1186/s40648-023-00251-1","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"10 1","pages":"1-8"},"PeriodicalIF":1.4,"publicationDate":"2023-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48118252","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}