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Control of Ankle Joint Motion Change Induced by Vibration Stimulation on the Gastrocnemius Muscle during Continuous Joint Motion |
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Danwen Li, Satoshi Nishikawa, Kazuo Kiguchi(Kyushu University, Japan) |
| In this study, change of ankle joint motion by giving the vibration stimulation on the gastrocnemius muscle in the lower-limb is studied by performing the experiment of adding vibration stimulation to the gastrocnemius muscle during the movement of ankle joint dorsiflexion and plantar flexion under several frequency ranges. Based on the characteristics of motion change with respect to vibration stimulation, a method to control the change of the user's ankle joint dorsiflexion motion by adjusting the frequency of the vibration stimulation to achieve the target motion, which is different from the user's intended motion, is evaluated. |
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Baseball Robots Based on Sensory-Motor Integration |
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Taku Senoo, Idaku Ishii(Hiroshima University, Japan) |
| In this paper, we provide an overview of the baseball robots we have developed. The system is composed of a high-speed hand-arm, a high-speed bipedal mechanism, and high-speed vision. By integrating these components, the system can perform feedback-based reactive motion in real time, unlike commonly used systems based on prediction and learning, to achieve high-speed movement. Using the characteristics, the system is able to perform baseball-relevant actions that require dynamic and high-speed body movements, including running, hitting, and fielding. |
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A Design Method for Non-Diagonal Stiffness Matrix in Admittance Control |
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Tsukasa Kusakabe(Saitama University, Japan), Sho Sakaino(University of Tsukuba, Japan), Toshiaki Tsuji(Saitama University, Japan) |
| Contact-rich tasks using robotics have often been applied hybrid control. It has been studied that stiffness matrix which set an appropriate non-diagonal term is useful to change the direction and ratio of position control and force control according to the task, but the conditions for values of non-diagonal term have not been studied. Therefore, we focus on how to set up the non-diagonal term. Since the stiffness matrix that presents stable behavior is a positive definite matrix, it was derived that the matrix should satisfy the ellipse equation in the quadratic curve. The simulation experiments confirm that the stiffness matrix designed by the proposed method exhibits stable behavior. |
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Measurement of Propulsive Forces in Swimming by Using a Swimming Humanoid Robot |
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Motomu Nakashima, Tatsuki Koga(Tokyo Institute of Technology, Japan), Hideki Takagi(University of Tsukuba, Japan) |
| The objective of this study was to measure propulsive force during swimming motion by using a humanoid robot, SWUMANOID. The experimental setup in which the robot performed the swimming motions in a circulating water tank was constructed, and the propulsive forces were measured by a force sensor. In the crawl stroke, two distinct peaks in the time history of the propulsive force were found when the left and right upper limbs generated the propulsive force. Since the results were consistent with the ones in previous researches, the validity of the present experimental results was confirmed. |
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Markerless Behavior Monitoring System for Diagnosis Support of Developmental Disorder Symptoms in Children |
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Prasetia Utama Putra, Keisuke Shima, Sayaka Hotchi(Yokohama National University, Japan), Koji Shimatani(Prefectural University of Hiroshima, Japan) |
| This study presents a markerless behavior evaluation system employing multiple RGB cameras and Kinect V2 sensors to assists clinicians in identifying disorder symptoms in children. Children's activity was estimated by computing the distance between them and the toys. Children's behavior was modeled with a Petri net, and four features were extracted from the model. We conducted preliminary experiments with four typical and three ASD disorder children. The experimental results demonstrated that the frequency of changing activity and playing alone was more informative than the others to distinguish ASD children from the typical ones. |
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