Kazuhiro Kosuge

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We propose a new intelligent walker based on passive robotics that assists the elderly, handicapped people, and the blind who have difficulty in walking. We developed a prototype of the robot technology walker (RT walker), a passive intelligent walker that uses servo brakes. The RT walker consists of a support frame, two casters, two wheels equipped with(More)
This paper proposes an analytical methodology of inverse kinematic computation for 7 DOF redundant manipulators with joint limits. Specifically, the paper focuses on how to obtain all feasible inverse kinematic solutions in the global configuration space where joint movable ranges are limited. First, a closed-form inverse kinematic solution is derived based(More)
We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing(More)
We examined the effects of two African herbal medicines recommended for HIV/AIDS patients on antiretroviral metabolism. Extracts from Hypoxis and Sutherlandia showed significant effects on cytochrome P450 3A4 metabolism and activated the pregnane X receptor approximately twofold. P-glycoprotein expression was inhibited, with Hypoxis showing 42-51% and(More)
In this paper, we propose a dance partner robot referred to as Ms DanceR (?&bile Smart Dance Robot), which has been developed as platform for realizing the effective human-mbot coordination with physical interaction. Ms DanceR consists of an omni-directional mobile base and a Body Force Sensor, which is a force/torque semor installed between the mobile base(More)
In this paper, we propose a concept of a passive type robot for transporting a single object in coordination with a human operator. We developed a prototype of passive type robot referred to as RT Porter, which consists of support frame, three omni-directional wheels with MR brakes, and onboard computer system. In this research, we control the brake torque(More)
Hyperhomocysteinemia is a known risk factor of cardiovascular disease. Homocysteine has been also linked to inflammation in rheumatoid arthritis (RA). In this study, we investigated the relationship between plasma homocysteine levels and single nucleotide polymorphism (SNP) of the gene coding for methylenetetrahydrofolate reductase (MTHFR), an enzyme(More)