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In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the(More)
In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to(More)
BACKGROUND Left ventricular (LV) wall stiffening plays an important role in the development of heart failure with preserved ejection fraction (HFpEF). Based on the linear elastic theory, we hypothesized that the evaluation of epicardial movement during diastole is helpful for the noninvasive assessment of LV wall distensibility. METHODS AND RESULTS Based(More)
This paper discusses an optimum design approach for robotic hands by considering the characteristics of visco-elasticity of food. "Norimaki-sushi" is taken as an example for food. We first show that the dynamic characteristics of such food can be expressed by utilizing the Maxwell model with two layers. Based on dynamic parameters obtained by experiments,(More)
Cell stiffness could be an index for evaluating its activity. Although various systems measuring cell stiffness have been proposed so far, they are slow for adaptively connecting to cell sorters capable of handling more than 1000 [cells/sec]. This paper proposes a new approach that can indirectly evaluate the cell stiffness by measuring the passing time for(More)
As ordinary dual-axis driving mechanisms in X-Y directions, for example, commercially available X-Y stages with ball screws are familiar. However, such driving mechanisms have two stages, namely both upper and lower linear actuators, the latter of which must generate sufficient thrust to carry large weights, including that of the upper actuator mechanism,(More)
We have been studying an omnidirectional driving gear mechanism that can generate thrusting force in an arbitrary direction on one surface, which may be flat or curved. This omnidirectional gear is driven by spur gears that are perpendicular. When one spur gear rotates to drive the omnidirectional gear, the other slides between the teeth of the(More)
This paper discusses dynamic manipulation inspired by the handling mechanism of a pizza chef. The chef handles a tool called ldquopizza peel,rdquo where a plate is attached at the tip of a bar, and he remotely manipulates a pizza on the plate. We found that he aggressively utilizes only two degrees of freedom (DOFs) from the remote handling location during(More)