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Development of Omnidirectional Electric Wheelchair with Zabuton Sensor
Kenichi Iida,Hisao Yoshikawa,Taichi Mori,Toshio Hira 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we propose an Omnidirectional Electric Wheelchair (OEW). The proposed OEW has four omniwheels for the omnidirectional movement. Two of the omniwheels are arranged to X-axis direction and the other two are arranged to Y-axis direction. By controlling the movement of the omniwheels, the OEW can instantaneously rotate and move in all directions. Hence that, especially in the narrow spaced indoor environment, the omnidirectional nature of the OEW has an advantage over the standard wheelchair. Furthermore, the operator’ posture is used as signal to the OEW. The operator’ posture is measured by a “abuton sensor”which uses a pressure sensor to measure the pressure distribution. The effectiveness of proposed the system is reflected by the experimental results of the prototype OEW and Zabuton sensor system.
A Study of Calligraphic Skill by Virtual Brush-Writing with Haptic Device
Toshio HIRA,Kenichi IIDA 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Handwritten characters involve much variant appearance by each individual. Especially, brush-writing, such in Japanese or Chinese calligraphy, is very skillful action, since the writer is required to activate the calligraphic technique, such as the pullout, the stop, and flick, with softness of the brush. In this article, we implemented a virtual brush-writing system with the pen-style haptic device which enables human-computer interaction through the touch with force-feedback. The system provides the reaction force against the virtual paper, and records the brush stroke by means of brush-tip position and pressure during the virtual writing. In order to describe the strokes by each writer, we utilized Hidden Markov model (HMM). It is regarded as that the observation sequence and hidden state, in terms of HMM, are corresponding to the stroke (pressure and velocity sequence) and the calligraphic technique. The model was trained by the stroke of six writers, and these models were experimentally verified for classification and evaluation of the similarity among the strokes of each writer. It might be considered that the likelihood through the HMM parameters suggests the measure of calligraphic skill of writer.
HIRA Toshio,IIDA Kenichi 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
It is illustrated in general that the design process at the conceptual stage is highly dependent on individual skills and aesthetic sense. However, even in a subjective phase, objective aspects such as mechanical rationality are implicitly considered, and these two perspectives are inseparable. A concept of Mechanical Kansei defined as “the capability to evaluate and judge impressions in terms of unconscious, intuitive, and integrative information in mechanics,” has been proposed as a clue for interpreting the relationship between such impressions of objects and structural rationality in civil engineering and architecture fields. In this paper, we considered the Mechanical Kansei as the ability to intuitively recall shapes and forms that reflect the flow of forces from the given design domain and boundary conditions. The topology-optimized shape was taken as the structure that visualizes the flow. A Variational Autoencoder (VAE) was used to learn a set of shapes topology-optimized to the randomly located supports of a simple beam. The result shows that a two-dimensional latent variable space can derive the rational structures through the decoder without the mechanical model. This latent representation of topology-optimized shapes can be a clue to understanding the Mechanical Kansei.
Masahiro Shibuya,Kenichi Iida,Koki Mikami,Shuichi Kamota 대한인간공학회 2007 대한인간공학회 학술대회논문집 Vol.- No.-
In order to contribute to the vitalization of the economy of Japan and its northern main island Hokkaido, we applied for “academia-industry joint projects” sponsored by the Ministry of Economy, Trade and Industry of Japan, were adopted, and developed curriculums for “Hokkaido-type training program curriculums for production management core human resources”. The completed curriculums are expected to be great use to training workers in the Hokkaido manufacturing industry to be ones with the power of KAIZEN and management. In this report are explained the characteristics of the Hokkaido-type training program for production control core human resources developed by Hokkaido Institute of Technology and Hokkaido Industrial Research Institute and its 2007 contents. The purpose is to contribute to the development of training programs of human resources for manufacturing in Korea.