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In our earlier work, we showed that high stability of passive walking can be achieved by the global stabilization principle of fixed point. The principle has been established, providing that the state just after heel-strike exists at the next step. However, this condition may not always hold. The passive walker with knees can execute the leg-swing motion(More)
Haptic perception is bidirectionally related to exploratory movements, which means that exploration influences perception, but perception also influences exploration. We can optimize or change exploratory movements according to the perception and/or the task, consciously or unconsciously. This paper presents a psychophysical experiment on active roughness(More)
Human-machine cooperative systems have been proposed. Most of them consider carrying, positioning and assembling tasks. Precise tracking tasks are also required in factories. However, an assist system for tracking task has not been studied well. In this paper, we aim to realize the human-machine system that assists a tracking task. In order to achieve the(More)
This paper introduces a device for enhancing detection of surface undulation through active touch. This device, which we call a “tactile contact lens,” is composed of a sheet and numerous pins arranged on one side of the sheet. Experimental results show that a small bump on a surface can be detected more accurately through this device than by(More)
OBJECT In endovascular coil embolization for an intracranial aneurysm, the excessive pressure created during coil insertion into an aneurysm can cause a catastrophic rupture or dislodge a microcatheter tip from the aneurysm dome, resulting in insufficient embolization. Such undue mechanical pressure can only be subjectively detected by the subtle tactile(More)
INTRODUCTION In coil embolization for an intracranial aneurysm, it is important to appropriately choose the coil most suitable for coping with various unforeseen situations. Additionally, because dense coil packing of the aneurysm sac is the most important factor to avoid a recurrence, properly selecting the coil is essential. In this article, the authors(More)