MORI-A CPS: 3D printed soft actuators with 4D assembly simulation

Artificial Life and Robotics - Soft modular robotics combines soft materials and modular mechanisms. We are developing a vacuum-driven actuator module, MORI-A, which combines a 3D-printed flexible...     

Development of anthropomorphic multi-D.O.F. master-slave arm for mutual telexistence

We developed a robotic arm for a master-slave system to support "mutual telexistence", which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operator's arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.     

(Close) distance makes the heart grow fonder: Improving implicit racial attitudes and interracial interactions through approach behaviors.

In 4 studies, the authors examined the effect of approaching Blacks on implicit racial attitudes and immediacy behaviors. In Studies 1-3, participants were trained to pull a joystick toward themselves or to push it away from themselves when presented with photographs of Blacks, Whites, or Asians before completing an Implicit Association Test to measure racial bias. In Study 4, the effect of this training procedure on nonverbal behavior in an interracial contact situation was investigated. Results from the studies demonstrated that approaching Blacks decreased participants' implicit racial prejudice and increased immediacy when interacting with a Black confederate. The implications of these findings for current theories on approach, avoidance, and intergroup relations are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Vision-based sensor for real-time measuring of surface traction fields

The desire to reproduce and expand the human senses drives innovations in sensor technology. Conversely, human-interface research aims to allow people to interact with machines as if they were natural objects in a cybernetic, human-oriented way. We wish to unite the two paradigms with a haptic sensor as versatile as the sense of touch and developed for a dual purpose: to improve the robotic capability to interact with the physical world, and to improve the human capability to interact with the virtual world for emerging applications with a heightened sense of presence. We designed a sensor, dubbed GelForce, that acts as a practical tool in both conventional and novel desktop applications using common consumer hardware. By measuring a surface traction field, the GelForce tactile sensor can represent the magnitude and direction of force applied to the skin's surface using computer vision. This article is available with a short video documentary on CD-ROM.     

Light propagation along periodic metal-dielectric layers

Analysis and experiments on TE and TM waves along periodically laminated metal-dielectric layers are described; the waves propagate parallel to the layers. Aluminum (Al) and silica (SiO2) are chosen as the metal and the dielectric, respectively. We find that the attenuation for TE waves is much higher than that for TM waves. Typically, alphaTE/alphaTM ranges from 10(3) to 10(4). Thus, an optical polarizer can be made in a multilayer structure.     

Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

In previous studies, various stabilizing control methods for humanoids during the stance phase while hopping and running were proposed. Although these methods contribute to stability while hopping and running, it is possibility that the control during the flight phase could also affect the stability. In this study, we investigated whether the control during the flight phase can affect the stability of a humanoid while running. To achieve stable hopping, we developed a control system that accounts for the angular momentum of the whole body during the flight phase. In this system, the angular momentum generated by the motion of the lower body in each time interval is calculated during the flight phase, and the trunk joints are controlled to generate the angular momentum necessary to compensate for the deviation of the waist posture, which is used as the reference point for the motion coordinate system of the robot. Once the proposed control system was developed and simulated, we found that the hopping duration in the unconstrained state was extended.