Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle.

Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields of care and welfare, pneumatic artificial muscles in actuators of robots are being examined. Pneumatic artificial muscles have a high output per unit of weight, and they are soft, similarly to human muscles. However, in previous research of robots using pneumatic artificial muscles, rigid sensors were often installed at joints and other locations due to the robots' structures. Therefore, we developed a smart actuator that integrates a bending sensor that functions as a human muscle spindle; it can be externally attached to the pneumatic artificial muscle. This paper reports a smart artificial muscle actuator that can sense contraction, which can be applied to developed self-monitoring and robot posture control.

Development of a Hybrid Piezo Natural Rubber Piezoelectricity and Piezoresistivity Sensor with Magnetic Clusters Made by Electric and Magnetic Field Assistance and Filling with Magnetic Compound Fluid.

Piezoelements used in robotics require large elasticity and extensibility to be installed in an artificial robot skin. However, the piezoelements used until recently are vulnerable to large forces because of the thin solid materials employed. To resolve this issue, we utilized a natural rubber and applied our proposed new method of aiding with magnetic and electric fields as well as filling with magnetic compound fluid (MCF) and doping. We have verified the piezoproperties of the resulting MCF rubber. The effect of the created magnetic clusters is featured in a new two types of multilayered structures of the piezoelement. By measuring the piezoelectricity response to pressure, the synergetic effects of the magnetic clusters, the doping and the electric polymerization on the piezoelectric effect were clarified. In addition, by examining the relation between the piezoelectricity and the piezoresistivity created in the MCF piezo element, we propose a hybrid piezoelement.

Mechanical Enhancement of Sensitivity in Natural Rubber Using Electrolytic Polymerization Aided by a Magnetic Field and MCF for Application in Haptic Sensors.

Sensors are essential to the fulfillment of every condition of haptic technology, and they need simultaneously to sense shear stress as well as normal force, and temperature. They also must have a strong and simple structure, softness, and large extension. To achieve these conditions simultaneously, we enhanced the sensitivity of sensors utilizing natural rubber (NR)-latex through the application of electrolytic polymerization focused on the isoprene C=C bonds in natural rubbers such as NR-latex, and then applied a magnetic field and magnetic compound fluid (MCF) as magnetically responsive fluid. When an electric field alone was used in the rubber, the effect of electrolytic polymerization was very small compared to the effect in well-known conductive polymer solution such as plastic. The MCF developed by Shimada in 2001 involved magnetite and metal particles, and acts as a filler in NR-latex. By utilizing the magnetic, electric fields and the MCF, we aligned the electrolytically polymerized C=C along the magnetic field line with the magnetic clusters formed by the aggregation of magnetite and metal particles so as to enhance the effect of electrolytic polymerization. We then demonstrated the effectiveness of the new method of rubber vulcanization on the sensitivity of the rubber by experimentally investigating its electric and dynamic characteristics.

Elucidation of EEG Characteristics of Fuzzy Reasoning-Based Heuristic BCI and Its Application to Patient With Brain Infarction.

Non-invasive brain-computer interfaces (BCIs) based on common electroencephalography (EEG) are limited to specific instrumentation sites and frequency bands. These BCI induce certain targeted electroencephalographic features of cognitive tasks, identify them, and determine BCI's performance, and use machine-learning to extract these electroencephalographic features, which makes them enormously time-consuming. In addition, there is a problem in which the neurorehabilitation using BCI cannot receive ambulatory and immediate rehabilitation training. Therefore, we proposed an exploratory BCI that did not limit the targeted electroencephalographic features. This system did not determine the electroencephalographic features in advance, determined the frequency bands and measurement sites appropriate for detecting electroencephalographic features based on their target movements, measured the electroencephalogram, created each rule (template) with only large "High" or small "Low" electroencephalograms for arbitrarily determined thresholds (classification of cognitive tasks in the imaginary state of moving the feet by the size of the area constituted by the power spectrum of the EEG in each frequency band), and successfully detected the movement intention by detecting the electroencephalogram consistent with the rules during motor tasks using a fuzzy inference-based template matching method (FTM). However, the electroencephalographic features acquired by this BCI are not known, and their usefulness for patients with actual cerebral infarction is not known. Therefore, this study clarifies the electroencephalographic features captured by the heuristic BCI, as well as clarifies the effectiveness and challenges of this system by its application to patients with cerebral infarction.

Rehabilitation instrument for prevent contracture of ankle using the pneumatic balloon actuator.

A rehabilitation instrument for ankle contracture prevention is proposed. Its uses a tendon drive system using a pneumatic balloon. This instrument is intended to be carried and installed easily at the time of use in a place like a medical institution. This instrument is for use by people such as those with flaccid hemiplegia. The ankle is moved when it is worn; ankle contracture can be prevented. The device comprises an actuator, a power transfer mechanism, and ankle foot orthosis. A tendon drive system using a pneumatic balloon was adopted as the actuator of this instrument. It consists of a tendon and a silicone tube. Both ends of the silicone tube are closed and the tube expands like a balloon with the supply of air, which distends the silicone tube and pulls the tendon. The system is compact and has high power. Furthermore, it is very lightweight because of its composition material and structure. This paper describes a study of characteristics of the tendon drive system using a pneumatic balloon, along with the composition and operation of a rehabilitation instrument for prevention of ankle contracture. Results of operation tests on the instrument are also presented.