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Recently, the need of colonoscopy is increasing because of the rise of colonic disorder including cancer of the colon. However, current colonoscopy depends on doctor's skill strongly. Therefore, a large intestine endoscope which does not depend on the techniques of a doctor with high safety is required. In this research, we aim at development a novel large(More)
This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient(More)
In recent years, many researchers have been focusing on the different novel techniques in designing pneumatic soft actuator that can produce bending motion. This paper presents a novel soft actuator design; a combination of different braided angles of artificial muscle applied on a single chamber soft actuator to produce bending motion. The actuator(More)
Problem statement: Communication and control are two main components in any Mechatronics system. They can be designed either by centralized or decentralized approach. Both approaches can be chosen based on application designed and specific requirements of the designer. In this study, decentralized or normally called distributed approach was selected to(More)
This report presents a study of stiffness, k<inf>s</inf> and viscous coefficient, c characteristic on a developed chair apparatus namely Pneumatic Actuated Seating System (PASS). The stiffness and viscous coefficient characteristics represents the spring and damping function respectively. These two characteristics are emulated from spring-damping model to(More)
A flexible microactuator (FMA) driven by an electro-pneumatic (or electro-hydraulic) system has been developed. The FMA has three degrees of freedom: pitch, yaw, and stretch; and these are suitable movements for miniature robotic mechanisms such as fingers, arms or legs. The construction is of fiber-reinforced rubber and the mechanism is very simple. Gentle(More)
BACKGROUND In normal pregnancy, predominant type 2 cytokines help maintain pregnancy, and a T-helper (Th)1 type response is associated with unexplained recurrent spontaneous abortion (RSA). However, Th2 and T-cytotoxic (Tc)2 cells have not been localized at the implantation site in RSA. METHODS Twenty-one cases with RSA were classified into RSA with(More)
The diagnosis of tyrosinase-negative oculocutaneous albinism (OCA) was made in a 19-week-old fetus by skin biopsy. Because the parents had an 11-year-old son with tyrosinase-negative OCA, they requested that the fetus be aborted at the 20th week of gestation. A histological analysis of the eyes was performed. Throughout the retina, the ganglion cell layer(More)
A 23-week fetus who is thought to be affected with Fukuyama congenital muscular dystrophy (FCMD) is reported. Cortical dysplasia of the cerebrum was extensive and could be categorized into three major types. The cerebral cortex was thoroughly covered by glio-mesenchymal tissue (extracortical glial layer), in which neuronal clusters were irregularly(More)