Chiharu Ishii

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This paper develops a new Lyapunov recursive design for the tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty by taking a tracking performance into account. The tracking performance is evaluated by L 2-gain from a torque level disturbance signal to a penalty signal for the tracking error between outputs of the(More)
This paper proposes a new bending mechanism with a screw drive mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, universal joint and left-handed screw. We call this mechanism double-screw-drive (DSD) mechanism. DSD mechanism was applied to a robotic forceps manipulator for laparoscopic(More)
In this paper, a robot hand with two fingers, thumb and index finger, aiming at application to a myoelectric prosthetic hand was built to implement fundamental motions, such as grasping and holding, required in daily life. In order to control each finger of the developed robot hand independently, an identifier which recognizes the finger motions based on(More)
This paper proposes a useful method driving the electric car by using EMG interface, which is used as living body interface. The EMG signal can be measured from all the people easily, even physically handicapped people, elderly and so on. The EMG signals are measured from both hand palms and neck using a simple electrode. In our interface, the effective(More)
BACKGROUND & AIMS Gut dysbiosis is closely involved in the pathogenesis of inflammatory bowel disease (IBD). However, it remains unclear whether IBD-associated gut dysbiosis contributes to disease pathogenesis or is merely secondary to intestinal inflammation. We established a humanized gnotobiotic (hGB) mouse system to assess the functional role of gut(More)
In this paper, robot hand design aiming at application to a myoelectric prosthetic hand and recognition of finger operation via surface EMG are discussed. The robot hand with two fingers, thumb and index finger, was built to implement fundamental motions required in daily life, such as grasping and holding. The fingers are driven by the wire actuation(More)
Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operability of the minimally invasive surgery, development of haptic forceps teleoperation systems is required to help surgeonpsilas immersion and dexterity. Besides, motion scaling function which can adequately reduce and enlarge a movement of(More)