Ministry of Economy, Trade and Industry of Japan had run an R&D project on humanoid robotics since 1998 for five years. In the first two years, platforms for humanoid robotics research were developed. In the next three years, researches were carried on for five different applications. We joined a group of the cooperative works by a human and a humanoid robot and took charge of a robot vision sy...

During laparoscopic surgeries, changing forceps is a relatively simple procedure that requires a nurse or another surgeon; however, most hospitals lack a scrub nurse in the operating room. Therefore, we have developed an assisting robot for laparoscopic surgery that is able to pass or receive forceps under the voice control of the surgeon. This robot system consists of a magazine that holds all...

ANALYSIS OF SPHERICAL FIVE-BAR HINGED MANIPULATOR WITH TWO DEGREES OF FREEDOM AND DWELLS OF OUTPUT LINK. N. Davitashvili. “Problems of Mechanics”. Tbilisi, 2015, No 1(58), pp. 5-11, (Engl.). Is stated the kinematic study of spherical five-bar manipulator with two degrees of freedom. Are determined the positions, velocities and accelerations of output links, their points and gripper. The manipul...

Current therapy exercisers having one degree-of-freedom for rehabilitating single muscle groups are limited; an efficient functional rehabilitation process requires multiple muscles group’s actions within complex movements of the limbs. In this paper an exerciser for active and passive movement of upper limb is proposed. Its structure is based on a five-bar mechanism actuated by two motors. Thi...

The coordination properties of the beta-keto phosphine ligands R(2)PCH(2)C(O)Ph (, R = i-Pr; , R = Ph), of the new acetamide-derived phosphine ligand (i-Pr)(2)PNHC(O)Me () and of Ph(2)PNHC(O)Me () have been examined towards Ni(ii) complexes. Comparisons are made between systems in which the PCH(2) function of the ketophosphine has been replaced with an isoelectronic PNH group in amide-derived l...

This study compared the values of bar-peak force (PFBar) and power (PPBar), body-peak force (PFBody) and power (PPBody) and bar-mean propulsive power (MPPBar) in different jump-squat (JS) conditions: unloaded condition (UC); bar-loaded condition (BLC) and optimum bar-MPP condition (OBC). Twenty-five soccer players performed the JS using a bar with negligible mass (UC), using the Smith-machine b...

Bar coding for the medication administration step of the drug-use process is discussed. FDA will propose a rule in 2003 that would require bar-code labels on all human drugs and biologicals. Even with an FDA mandate, manufacturer procrastination and possible shifts in product availability are likely to slow progress. Such delays should not preclude health systems from adopting bar-code-enabled ...

We propose a combinatorial approach to plan noncolliding motions for a polygonal bar-and-joint framework. Our approach yields very eÆcient deterministic algorithms for a category of robot arm motion planning problems with many degrees of freedom, where the known general roadmap techniques would give exponential complexity. It is based on a novel class of one-degree-of-freedom mechanisms induced...

The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity of the sensor. In this research, a new torque sensor with high sensitivity (TSHS) is proposed in order to resolve this problem. The key idea of th...