Ken'ichi Koyanagi

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For functional training, however it is important to evaluate the motion functions of trainee, traditional evaluations have problems on subjectivity. We aimed to quantitatively and objectively recreate clinically relevant motion function evaluations by VR technology; to use data gained from traditional evaluations and to computerize evaluation. We also aimed(More)
This paper presents a biped humanoid robot that is able to walk on a rough terrain while touching a handrail. The contact wrench sum (CWS for short) is used as the criterion to judge if the contact between the robot and the environment is strongly stable under the sufficient friction assumption, where the contact points are not coplanar and the normal(More)
Force information in virtual space is important and often required for tele-operation, training, amusement, design supporting and other virtual reality systems. While conventional force displays are active systems with actuators and therefore may become inherently dangerous, passive force displays, which use only passive elements, are an effective methods(More)
Movements of upper limbs are complicated, various and indispensable for daily activities. For patients with impairment of their upper limb, rehabilitation along with medical treatment is needed to recover function. For elderly as well, training is needed to keep their ADL or social activities. Application of robotics and virtual reality technology makes(More)
A force display system is a kind of human-coexistent robot systems, which share the space with people while they are working, and which directly touch and display force-senses to their users. For such a robot system, it is important to estimate safety quantitatively and to ensure mechanical safety. In this paper, it is described that using MR(More)
Force information in virtual space is important and often required for tele-operation, training, amusement, design supporting, and other virtual reality systems. While passive force display which uses only passive elements is an effective method for assuring safety, it has some directions and link postures which are hard to present force. To this problem, a(More)
As a method of teaching fundamental programming concepts to visually impaired persons and novice programmers, we developed the P-CUBE algorithm education tool, with which users are able to control a mobile robot simply by positioning wooden blocks on a mat. The fundamental programming concepts taught by P-CUBE consist of three elements: sequences, branches(More)