Kazuto Kamiyama

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The desire to reproduce and expand the human senses drives innovations in sensor technology. Conversely, human-interface research aims to allow people to interact with machines as if they were natural objects in a cybernetic, human-oriented way. We wish to unite the two paradigms with a haptic sensor as versatile as the sense of touch and developed for a(More)
We propose a tactile sensor based on computer vision that measures a dense traction field, or a distribution of 3D force vectors over a 2D surface, which humans also effectively sense through a dense array of mechanoreceptors in the skin. The proposed "GelForce" tactile sensor has an elegant and organic design and can compute large and structurally rich(More)
It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors,(More)
Humans can perceive not only the magnitude but also the direction of force applied on the fingertip. When we grasp an object, the weight of it is felt through force that is parallel to the skin of the fingertip, which is how the object can be grasped without slipping. Focusing on this point, we have developed a tactile sensor that can measure a distribution(More)
It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a(More)
In this paper, a dynamic releasing method for high-speed biological cell manipulation is proposed. A compact parallel mechanism, used for grasping and releasing microob-jects, was utilized for generating controllable vibration to overcome the strong adhesion forces between the end effector and the manipulated object. To reach the required acceleration of(More)
The history of the force sensor is ancient, yet it has always been exceedingly difficult to obtain the distribution of force vectors, because nearly all existing sensing technologies use some sort of sensing unit for which electric resistance or capacitance depends on force. For sensors of this type intended to measure the distribution of force vectors, the(More)
In this paper, a dynamic releasing approach is proposed for high-speed biological cell manipulation. A compact parallel mechanism for grasping and releasing microobjects is used to generate controllable vibration to overcome the strong adhesion forces between the end effector and the manipulated object. To reach the required acceleration of the end(More)
Inspection and maintenance are extremely important to maintain safety and long-term usability of bridges. This application requires a robot that is able to maneuver in a complex 3D environment and to stabilize on steel surfaces to perform bolts checking. We propose a novel design and concept of hybrid (integrated walkability and flyability) robot for steel(More)
This paper presents an active release method of microobject for the improvement of the position accuracy after releasing by using 3D high speed motions of an end effector. In the micro manipulation, the release task is the challenge work due to adhesion forces. To overcome the adhesion force and to place microobject accurately on the desired location, in(More)