Hiroshi Morishita

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This paper proposes a high resolution sensor floor which can detect both humans and robots simultaneously. Each sensor floor unit is 500mm square and is equipped with 4,096 pressure switches distributed in a 64 ×64 array. A 2m by 2m sensor floor with 16 of these sensor floor units has been realized. Experiments with this sensor floor have determined(More)
In this paper, a novel describing method of human locomotion trajectory record was proposed, and methods of its application to the path planning and control of human-symbiotic mobile robots were indicated. The novel describing method, named as Existence Record Probability Map (abbreviated ERPM hereafter), was generated through the following three steps: 1)(More)
This research aims to develop a ceiling mobile robot that can sustain a large payload and can locomote freely under a ceiling space. In our approach, a perforated metal, one of the recent popular architectural materials, is utilized as a ceiling plate and the robot hooks and hangs the sequential holes of the ceiling plate by mechanical constraint. To(More)
This paper describes development of home-use automated container storage/retrieval system, a subsystem of a logisti-cal support robot system in living space. The s/r system has 3 features. (1) Elevator type structure enables not only auto stocking motion, but also human access to containers as if the auto rack is a general shelf. (2) A separated motion(More)
This paper discusses significance of passive compliant mechanisms in home-use robots, and describes development of a manipulation component for transferring home-use containers. The component has two characteristic functions in mechanics. (1) Robust joint/release function by pin-connection method utilizing crank rotation shaft mechanism, (2) Misalignment(More)
— The authors proposed a methodology of assisting the patients who were suffering from mobility impairment of finger and thumb joints, with exoskeletal devices. The types of exoskeletal assistive devices for such patients were categorized into several groups based on required functions which are derived from the patients' condition. One of the categories, "(More)