| 1. |
- Koga, Hiroki, et al.
(författare)
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Development of the Oral Rehabilitation Robot WAO-1
- 2008
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Ingår i: BioRob 2008. 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008. Proceedings. - : IEEE conference proceedings. - 9781424428823 - 9781424428830 ; , s. 556-561
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Konferensbidrag (refereegranskat)abstract
- It is well known that the massage therapy is useful for the rehabilitation of various diseases; i.e. oral health problems, etc. Authors have proposed the development of a novel rehabilitation robot designed to provide massage to maxillofacial region (as a therapy to patients with dry mouth, etc.). In this year, we have succeeded in developing the Waseda-Asahi oral-rehabilitation robot No.1 (WAO-1). WAO-1 is composed by two 6-DOF arms with plungers attached at their end-effector. A virtual compliance control has been implemented to control the positioning and the applied force by the plunger during the massage. Preliminary experiments were carried out to confirm the effectiveness of the proposed system. From the experimental results, we could detect the effectiveness of stimulating the production of saliva, and increasing the skin temperature as well as the size of masseter muscle on volunteers after providing the massage with WAO-1.
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| 2. |
- Nakadate, Ryu, et al.
(författare)
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Development of a robot assisted carotid blood flow measurement system
- 2011
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Ingår i: Mechanism and machine theory. - : Elsevier. - 0094-114X .- 1873-3999. ; 46:8, s. 1066-1083
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Tidskriftsartikel (refereegranskat)abstract
- The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.
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| 3. |
- Nakadate, Ryu, et al.
(författare)
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Out-of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System
- 2011
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Ingår i: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - : IEEE conference proceedings. - 9781612843858
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Konferensbidrag (refereegranskat)abstract
- Up to now, there are different kinds of robot-assisted ultrasound diagnostic systems proposed in the last decade. However, the compensation of the ultrasound probe position according to the patient movement is still one of the most important and useful functions required for those systems. For this purpose, in this research, we aim at developing an automated diagnostic system for the measurement of the wave intensity which is usually measured at the common carotid artery. In particular, in this paper, we focus on proposing a robust visual servoing method for tracking out-of-plane motion for a robot-assisted medical ultrasound diagnostic system by using a conventional 2D probe. A robotic device which manipulates the ultrasound probe firstly scans a small area around the target position and records several B-mode images at a regular interval. In order to track the out-of-plane motion, an inter-frame block matching method has been proposed and implemented on the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 2 Refined (WTA-2R). A set of experiments was proposed to verify the effectiveness of the proposed method. From the experimental results, we could confirm its robustness while doing the task with real human tissues.
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| 4. |
- Noh, Yohan, et al.
(författare)
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Development of the Airway Management Training System WKA-4 : for Improved High-Fidelity Reproduction of Real Patient Conditions, and Improved Tongue and Mandible Mechanisms
- 2011
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Ingår i: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - : IEEE conference proceedings. - 9781612843858 ; , s. 1726-1731
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Konferensbidrag (refereegranskat)abstract
- In recent years advanced robotic technology has seen more use in the medical field to assist in the development of efficient training systems. Such training systems must fulfill the following criteria: they must provide quantitative information, must simulate the real-world conditions of the task, and assure training effectiveness. We developed Waseda Kyotokagaku Airway series to fulfill all of those requirements. The WKA series we had developed does not consider external appearance such as patient skin, or internal appearance such as the pharynx, larynx, and esophagus. Moreover, the tongue mechanism of the previous system can not precisely measure the force applied by medical devices and cannot simulate muscle stiffness. In addition, the mandible mechanism of the previous system could not adequately reproduce various airway difficulties or apply force control. For these reasons, we propose the WKA-4, which has high-fidelity simulated human anatomy, and we have improved the mechanism over the previous system. We have also attached a lung to the proposed system to improve simulation of the real-world conditions of the task. In this paper, we present how to design several organs with various embedded sensors and actuators, for a conventional patient model with high-fidelity simulated human anatomy. We also present the control system for the WKA-4. Finally, we present a set of experiments carried out using doctors as subjects, and they gave their valuable opinions about our system.
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| 5. |
- Petersen, Klaus, et al.
(författare)
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Application of a Musical-based Interaction System to the Waseda Flutist Robot WF-4RIV : Development Results and Performance Experiments
- 2012
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Ingår i: 2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB). - : IEEE conference proceedings. - 9781457712005 ; , s. 937-942
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Konferensbidrag (refereegranskat)abstract
- During several years of development, the hardware of the anthropomorphic flutist robot Waseda Flutist WF-4RIV has been continuously improved. The robot is currently able to play the flute at the level of an intermediate human player. Lately we have been focusing our research on the interactivity of the performance of the robot. Initially the robot has only been able to play a static performance that was not actively controllable by a partner musician of the robot. In a realistic performance set-up, in a band or an orchestra, musicians need to interact in order to create a performance that gives a natural and dynamic impression to the audience. In this publication we present the latest developments on the integration a Musical-based Interaction System (MbIS) with WF-4RIV. Such a human robot interaction system is to allow human musicians to do natural musical communication with the flutist robot through audio-visual cues. Here we would like to summarize our previous results, present the latest extensions to the system and especially concentrate on experimenting with applications of the system. We evaluate our interactive performance system using three different methods: A comparison of a passive (non-interactive) and an interactive performance, evaluation of the technical functionality of the interaction system as a whole and by examining the MbIS from a user perspective with a user survey including amateur and professional musicians. We present experiment results that show that our Musical-based Interaction System extends the anthropomorphic design of the flutist robot, to allow increasingly interactive, natural musical performances with human musicians.
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| 6. |
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| 7. |
- Solis, Jorge, 1976-, et al.
(författare)
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Biologically-inspired control architecture for musical performance robots
- 2014
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Ingår i: International Journal of Advanced Robotic Systems. - : INTECH. - 1729-8806 .- 1729-8814. ; 11, s. 172-
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Tidskriftsartikel (refereegranskat)abstract
- Abstract At Waseda University, since 1990, the authors have been developing anthropomorphic musical performance robots as a means for understanding human control, introducing novel ways of interaction between musical partners and robots, and proposing applications for humanoid robots. In this paper, the design of a biologically-inspired control architecture for both an anthropomorphic flutist robot and a saxophone playing robot are described. As for the flutist robot, the authors have focused on implementing an auditory feedback system to improve the calibration procedure for the robot in order to play all the notes correctly during a performance. In particular, the proposed auditory feedback system is composed of three main modules: an Expressive Music Generator, a Feed Forward Air Pressure Control System and a Pitch Evaluation System. As for the saxophone-playing robot, a pressure-pitch controller (based on the feedback error learning) to improve the sound produced by the robot during a musical performance was proposed and implemented. In both cases studied, a set of experiments are described to verify the improvements achieved while considering biologically-inspired control approaches.
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| 8. |
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| 9. |
- Solis, Jorge, 1976-, et al.
(författare)
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Design and development of a new biologically-inspired mouthmechanism and musical performance evaluation of the WF-4RVI
- 2013
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Ingår i: Advanced Robotics and its Social Impacts (ARSO), 2013 IEEE Workshop on. - : IEEE Press. - 9781479923687 ; , s. 200-205
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Konferensbidrag (refereegranskat)abstract
- The research on the development of the anthropomorphic flutist robot at Waseda University has been focused in emulating the anatomy and physiology of the organs involved during the flute playing from an engineering point of view, facilitating the symbiosis between the human and the robot (i.e. active interaction between musician and musical robot) and proposing novel applications for humanoid robots (i.e. music education). As a result of this research, the Waseda Flutist Robot No.4 Refined IV has been developed and a musical-based interaction system implemented so the robot is capable of interacting with musicians by processing both aural and visual cues. However; there is a trade-off relationship between the duration of the flute sound produced by the robot and the sound pressure (volume). In fact, the robot is only capable of playing sounds low-pitched sounds for long periods. In addition, a husky sound is detected while playing high-pitch sounds. From our discussions with professional players, this effect is caused due to the inner shape of the oral cavity. From this, the conversion efficiency ratio between from the exhaled air from the artificial lungs to the produced sound is too low. For this purpose, we have obtained MR images of the head from professional players in order to re-design the oral cavity of the flutist robot. A total of 5 prototypes were tested and the best one has been selected and integrated into the Waseda Flutist Robot No. 4 Refined VI (WF-4RVI). A set of experiments were proposed in order to verify the improvements of the conversion efficiency ratio as well as the sound evaluation function score. From the experimental results, we could verify the improvements compared with the previous version of the flutist robot.
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| 10. |
- Solis, Jorge, 1976-, et al.
(författare)
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Development of an anthropomorphic musical performance robot capable of playing the flute and saxophone : Embedding pressure sensors into the artificial lips as well as the re-designing of the artificial lips and lung mechanisms
- 2016
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Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 86, s. 174-183
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Tidskriftsartikel (refereegranskat)abstract
- The authors are developing anthropomorphic musical performance robots as an approach to understand the human motor control and to enhance the human-robot interaction from an engineering point of view. For this purpose; since 1990, we have developed an anthropomorphic flutist robot. As one of our long-term approaches, we aim to develop an anthropomorphic musical performance robot capable of playing different kinds of woodwind instruments, e.g. flute and saxophone. In this paper, the improvements of the mechanical design and sensing system of the Waseda Flutist Robot No. 4 Refined V (WF-4RV) are detailed. As for the sensing system, an array of sensors has been designed to detect the lip's pressure distribution. On the other hand, the lips and lung have been re-designed to enable the flutist robot to play the saxophone.
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