Atsutoshi Ikeda | Kindai University (original) (raw)
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Papers by Atsutoshi Ikeda
Human-Computer Interaction. Recognition and Interaction Technologies
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Recently , we have proposed a low − cost and highly reliable monitoring device which is called th... more Recently , we have proposed a low − cost and highly reliable monitoring device which is called the MIMAMORI device鉛r a monitori systeln at a medical institute . The MIMAMORI device can detec も dangerous situatiorrs , such as when a patient is at risk of rolling out of bed , In this paper , we detan the patient state classificatioll algorithm using a deep neural network of tlle MIMAMOR 【device, and ver 晦 ・ its practical appIicabillty with a preliminary experiment . Key WOrtls: MIMAMORI , Depth i皿 age sensor , Patient state classificat io 皿 , Deep neural network
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Influence of the finger posture on the subjective of pinching eff ()rt
Journal of Robotics and Mechatronics
This paper proposes a new Thin-Wire Production System (TWPS) and wire conveyance module. The TWPS... more This paper proposes a new Thin-Wire Production System (TWPS) and wire conveyance module. The TWPS consists of a conveyance module, thin film deposition module, and so on. The conveyance module is a key component in the TWPS because it decides both specifications of produced wire and production system performance. The proposed conveyance module combines transportation and rotation units to achieve transportation rotating the wire. This paper proposes a new mechanism to generate transportation performance by a difference in rotation action of the transportation and rotation units. This paper verities the effectiveness of the new mechanism by experiments.
International Journal of Human Factors Modelling and Simulation, 2016
In this paper, a novel pointing device is proposed which utilizes the deformation of the fingerpr... more In this paper, a novel pointing device is proposed which utilizes the deformation of the fingerprint. When the fingertip is pressed and slid slightly on a rigid plate, a partial slip, called Incipient slip, occurs on the contact surface. Since the deformation around the center of the contact surface is small, the center of the fingerprint can be detected during the incipient slip. The Group Delay Spectrum (GDS) tracking is utilized to detect the center of the fingerprint. The velocity of the pointer is determined by the changes of the contact area on the basis of the tracked center. An experimental pointing device is developed to examine the operationality of the proposed method. The experimental results show that an operator can operate the pointer with high accuracy.
In this paper,a novel small pointing device is proposed which utilizes the deformation of the fin... more In this paper,a novel small pointing device is proposed which utilizes the deformation of the fingerprint.When the fingertip is pressed and slid slightly on a rigid plate ,a partial slip,called 'incipient slip' occurs on the contact surface .Since the deformation around the center of the contact surface is small,the center of the fingerprint can be detected during the incipient slip.The Group Delay Spectrum tracking is utilized to detect the center of the fingerprint.The characteristics of fingertip deformations are investigated and the velocity at the pointer is controlled by the change of the contact area .An experimental pointing device is developed to examine the operationality of the proposed method .The experimental results show that an operator can operate the pointer with sufficient accuracy .
In this paper, we focus on the hand posture when a human subject pinches an object, and the corre... more In this paper, we focus on the hand posture when a human subject pinches an object, and the correlation between the results of sensory evaluation by the subject and the tendon force of the subject's fingers are investigated. Surface electromyogram (surface EMG) and pinching force are measured during the pinching motion of human subjects. Experimental results show that subjects feel comfortable pinching a 60 [mm] cylinder. The surface EMGs are lower in the vicinity of 60 [mm]. Furthermore, a tendon-driven robot hand is developed as a sensing hand prototype. The surface EMGs and the motor torque are compared in a pinching experiment using the tendon-driven robot hand. Experimental results show that the tendon-driven robot hand is effective for quantitatively evaluating pinching effort. Simulation of the pinching motion is conducted using a simple finger model. The simulation results show the importance of finger posture and the moment arm in estimating tendon force. Taken together...
We propose an RT Component that retrieves and processes a motion script which lines contain the r... more We propose an RT Component that retrieves and processes a motion script which lines contain the robot motion type and its parameters. Such motion script can be used to control the humanoid robot HRP–4 to provide services to human beings. The lines of the motion script can be obtained from the solutions provided by any IK solver and motion planner. Experiments were conducted for a simple service that consists of pouring the contents of a bottle into a glass and hand it to a person.
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
ABSTRACT Humanoid robots and robotic manipulators with good dexterity are promising to enhance th... more ABSTRACT Humanoid robots and robotic manipulators with good dexterity are promising to enhance the factory productivity in next generation. Dexterity of robotic manipulators can be achieved by equipping an anthropomorphic robot hand with multiple fingers. Additionally, in order to manipulate various tools that humans are using in daily life, the size and the exerting force of the robot hand should be similar to that humans are. In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The robot hand can be split at the wrist into the hand part and the actuator part. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand has the size of 200[mm](length) Ã 78[mm](width) Ã 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment.
Journal of the Robotics Society of Japan, 2012
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology - VRST '09, 2009
Journal of the Robotics Society of Japan, 2012
2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2012
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2009
In this paper, the influence of the finger posture on the subjective effort during pinching motio... more In this paper, the influence of the finger posture on the subjective effort during pinching motion is investigated by using a tendon-skeletal finger model. The experimental results show that the subjective effort human feels is affected by the size of the object he/she pinches, and the subjective effort correlates with the finger length. The simulation results show that the pattern of the tendon forces is similar to that of the EMG activity measured in the experiment, and the positive correlation was observed between the finger length and the object size where the summation of the tendon forces becomes the minimum. These results suggest that the reason why subjective pinching effort is influenced by the finger posture is the difference in the efficiency of the force transmission from the muscles.
Human-Computer Interaction. Recognition and Interaction Technologies
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Recently , we have proposed a low − cost and highly reliable monitoring device which is called th... more Recently , we have proposed a low − cost and highly reliable monitoring device which is called the MIMAMORI device鉛r a monitori systeln at a medical institute . The MIMAMORI device can detec も dangerous situatiorrs , such as when a patient is at risk of rolling out of bed , In this paper , we detan the patient state classificatioll algorithm using a deep neural network of tlle MIMAMOR 【device, and ver 晦 ・ its practical appIicabillty with a preliminary experiment . Key WOrtls: MIMAMORI , Depth i皿 age sensor , Patient state classificat io 皿 , Deep neural network
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Influence of the finger posture on the subjective of pinching eff ()rt
Journal of Robotics and Mechatronics
This paper proposes a new Thin-Wire Production System (TWPS) and wire conveyance module. The TWPS... more This paper proposes a new Thin-Wire Production System (TWPS) and wire conveyance module. The TWPS consists of a conveyance module, thin film deposition module, and so on. The conveyance module is a key component in the TWPS because it decides both specifications of produced wire and production system performance. The proposed conveyance module combines transportation and rotation units to achieve transportation rotating the wire. This paper proposes a new mechanism to generate transportation performance by a difference in rotation action of the transportation and rotation units. This paper verities the effectiveness of the new mechanism by experiments.
International Journal of Human Factors Modelling and Simulation, 2016
In this paper, a novel pointing device is proposed which utilizes the deformation of the fingerpr... more In this paper, a novel pointing device is proposed which utilizes the deformation of the fingerprint. When the fingertip is pressed and slid slightly on a rigid plate, a partial slip, called Incipient slip, occurs on the contact surface. Since the deformation around the center of the contact surface is small, the center of the fingerprint can be detected during the incipient slip. The Group Delay Spectrum (GDS) tracking is utilized to detect the center of the fingerprint. The velocity of the pointer is determined by the changes of the contact area on the basis of the tracked center. An experimental pointing device is developed to examine the operationality of the proposed method. The experimental results show that an operator can operate the pointer with high accuracy.
In this paper,a novel small pointing device is proposed which utilizes the deformation of the fin... more In this paper,a novel small pointing device is proposed which utilizes the deformation of the fingerprint.When the fingertip is pressed and slid slightly on a rigid plate ,a partial slip,called 'incipient slip' occurs on the contact surface .Since the deformation around the center of the contact surface is small,the center of the fingerprint can be detected during the incipient slip.The Group Delay Spectrum tracking is utilized to detect the center of the fingerprint.The characteristics of fingertip deformations are investigated and the velocity at the pointer is controlled by the change of the contact area .An experimental pointing device is developed to examine the operationality of the proposed method .The experimental results show that an operator can operate the pointer with sufficient accuracy .
In this paper, we focus on the hand posture when a human subject pinches an object, and the corre... more In this paper, we focus on the hand posture when a human subject pinches an object, and the correlation between the results of sensory evaluation by the subject and the tendon force of the subject's fingers are investigated. Surface electromyogram (surface EMG) and pinching force are measured during the pinching motion of human subjects. Experimental results show that subjects feel comfortable pinching a 60 [mm] cylinder. The surface EMGs are lower in the vicinity of 60 [mm]. Furthermore, a tendon-driven robot hand is developed as a sensing hand prototype. The surface EMGs and the motor torque are compared in a pinching experiment using the tendon-driven robot hand. Experimental results show that the tendon-driven robot hand is effective for quantitatively evaluating pinching effort. Simulation of the pinching motion is conducted using a simple finger model. The simulation results show the importance of finger posture and the moment arm in estimating tendon force. Taken together...
We propose an RT Component that retrieves and processes a motion script which lines contain the r... more We propose an RT Component that retrieves and processes a motion script which lines contain the robot motion type and its parameters. Such motion script can be used to control the humanoid robot HRP–4 to provide services to human beings. The lines of the motion script can be obtained from the solutions provided by any IK solver and motion planner. Experiments were conducted for a simple service that consists of pouring the contents of a bottle into a glass and hand it to a person.
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
ABSTRACT Humanoid robots and robotic manipulators with good dexterity are promising to enhance th... more ABSTRACT Humanoid robots and robotic manipulators with good dexterity are promising to enhance the factory productivity in next generation. Dexterity of robotic manipulators can be achieved by equipping an anthropomorphic robot hand with multiple fingers. Additionally, in order to manipulate various tools that humans are using in daily life, the size and the exerting force of the robot hand should be similar to that humans are. In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The robot hand can be split at the wrist into the hand part and the actuator part. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand has the size of 200[mm](length) Ã 78[mm](width) Ã 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment.
Journal of the Robotics Society of Japan, 2012
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology - VRST '09, 2009
Journal of the Robotics Society of Japan, 2012
2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2012
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2009
In this paper, the influence of the finger posture on the subjective effort during pinching motio... more In this paper, the influence of the finger posture on the subjective effort during pinching motion is investigated by using a tendon-skeletal finger model. The experimental results show that the subjective effort human feels is affected by the size of the object he/she pinches, and the subjective effort correlates with the finger length. The simulation results show that the pattern of the tendon forces is similar to that of the EMG activity measured in the experiment, and the positive correlation was observed between the finger length and the object size where the summation of the tendon forces becomes the minimum. These results suggest that the reason why subjective pinching effort is influenced by the finger posture is the difference in the efficiency of the force transmission from the muscles.