Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006109
Takeshi Toda, K. Ohara, K. Kamiyama, M. Kojima, M. Horade, Y. Mae, T. Arai
In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed “vertical wave gait” and “vertical cross gait” are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.
{"title":"3D movement of legged robot in narrow space","authors":"Takeshi Toda, K. Ohara, K. Kamiyama, M. Kojima, M. Horade, Y. Mae, T. Arai","doi":"10.1109/MHS.2014.7006109","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006109","url":null,"abstract":"In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed “vertical wave gait” and “vertical cross gait” are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121805482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006099
Daiki Kobayashi, T. Takubo, A. Ueno
This paper proposes a model-based 3D gait planning method. A discrete-time kinematic model, of which vertical motions are independent of horizontal motions, describes the biped walking of the humanoid robot. We can obtain the optimal plan by solving a constrained optimization problem on footholds of the model. A goal-tracking evaluation of this problem on horizontal footholds achieves to reach the goal, and vertical motions are accomplished to adopt the limitation of the work space of the feet and the condition contacting the 3D field surface. A quadratic programming method was implemented to solve the problem based on humanoid robot NAO in a real-time.
{"title":"3D gait planning based on discrete-time kinematic model of biped walking","authors":"Daiki Kobayashi, T. Takubo, A. Ueno","doi":"10.1109/MHS.2014.7006099","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006099","url":null,"abstract":"This paper proposes a model-based 3D gait planning method. A discrete-time kinematic model, of which vertical motions are independent of horizontal motions, describes the biped walking of the humanoid robot. We can obtain the optimal plan by solving a constrained optimization problem on footholds of the model. A goal-tracking evaluation of this problem on horizontal footholds achieves to reach the goal, and vertical motions are accomplished to adopt the limitation of the work space of the feet and the condition contacting the 3D field surface. A quadratic programming method was implemented to solve the problem based on humanoid robot NAO in a real-time.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117109942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006165
Wakako Motoyama, S. Aoki, N. Kojima
The goal of this article is to regulate the structure of multicellular spheroids. Some epithelial cells including fetal hepatocytes have tendency to form “cyst” structure when they cultured in 3 dimensional aggregates. We added hydrogel beads to the aggregates and obtained “densely-packed” structure with microchannels enabling gas/nutrients exchange. In addition of the structural change, albumin secretion, a typical function of hepatocytes, was also improved. This technique helps to maintain the living cells with functions in multicellular spheroids.
{"title":"Assembly of the hybrid multicellular spheroids using epithelial cells and hydrogel beads","authors":"Wakako Motoyama, S. Aoki, N. Kojima","doi":"10.1109/MHS.2014.7006165","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006165","url":null,"abstract":"The goal of this article is to regulate the structure of multicellular spheroids. Some epithelial cells including fetal hepatocytes have tendency to form “cyst” structure when they cultured in 3 dimensional aggregates. We added hydrogel beads to the aggregates and obtained “densely-packed” structure with microchannels enabling gas/nutrients exchange. In addition of the structural change, albumin secretion, a typical function of hepatocytes, was also improved. This technique helps to maintain the living cells with functions in multicellular spheroids.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125911389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006167
Masamichi Nakayama, Y. Kimura, H. Kanazawa, M. Yamato, T. Okano
This study focused on the simple fabrication method of temperature-responsive cell culture surfaces by physical polymer coating. We synthesized diblock copolymers of poly(butyl methacrylate)-b-poly(N-isopropylacrylamide) (PBMA-b-PIPAAm) with various thermoresponsive PIPAAm chain length. Polymers were dissolved in mixed solvent of acetonitrile/N, N-dimethylformamide (5/1 in v/v), and the solution was deposited on the surface of commercial cell culture substrates using a spin coater. Chemically connected hydrophobic PBMA significantly enhanced physical absorption to target material surfaces and resulted in introducing thermoresponsive property to solid surfaces. To investigate temperature-dependent cellular behavior, bovine carotid artery endothelial cells were seeded on polymer-coated surfaces and cultured at 37 °C. Cells adhered and proliferated on temperature-responsive surface at 37 °C, while the efficiency of adhesion and proliferation became lower with increasing PIPAAm chain length. On the other hand, longer PIPAAm chains significantly promoted cell detachment from the surfaces by reducing temperature to 20 °C. Consequently, confluently cultured cells were successfully harvested as a single cell monolayer with maintaining cell-cell junctions and extracellular matrix proteins with simple low temperature treatment by choosing the adequate PIPAAm chain length of block copolymer.
{"title":"Nano-scale physical surface coating of temperature-responsive polymers for cell sheet fabrication","authors":"Masamichi Nakayama, Y. Kimura, H. Kanazawa, M. Yamato, T. Okano","doi":"10.1109/MHS.2014.7006167","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006167","url":null,"abstract":"This study focused on the simple fabrication method of temperature-responsive cell culture surfaces by physical polymer coating. We synthesized diblock copolymers of poly(butyl methacrylate)-b-poly(N-isopropylacrylamide) (PBMA-b-PIPAAm) with various thermoresponsive PIPAAm chain length. Polymers were dissolved in mixed solvent of acetonitrile/N, N-dimethylformamide (5/1 in v/v), and the solution was deposited on the surface of commercial cell culture substrates using a spin coater. Chemically connected hydrophobic PBMA significantly enhanced physical absorption to target material surfaces and resulted in introducing thermoresponsive property to solid surfaces. To investigate temperature-dependent cellular behavior, bovine carotid artery endothelial cells were seeded on polymer-coated surfaces and cultured at 37 °C. Cells adhered and proliferated on temperature-responsive surface at 37 °C, while the efficiency of adhesion and proliferation became lower with increasing PIPAAm chain length. On the other hand, longer PIPAAm chains significantly promoted cell detachment from the surfaces by reducing temperature to 20 °C. Consequently, confluently cultured cells were successfully harvested as a single cell monolayer with maintaining cell-cell junctions and extracellular matrix proteins with simple low temperature treatment by choosing the adequate PIPAAm chain length of block copolymer.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126049035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006091
Siti Nora Basir, H. Yussof, N. I. Zahari, Fahrulrodzi Idris
This paper proposed a novel concept for a new tactile sensor that is inspired by the seismonastic movement of plants. The movement of Mimosa Pudica leaf is due to the change of pressure between the upper and lower motor organ of main pulvinus. From an engineering point of view, the turgidity changes capable of reversible shape changes, thus bringing the idea of sensing and actuating concept of a new tactile sensor. The idea is to fusion the artificial cell of Mimosa Pudica as the sensing mechanism for the new bio-inspired tactile sensor. Experiments have been conducted in order to determine the volume of the upper n lower motor organ cells of main pulvinus. The aim is to view the cross section of the main pulvinus between before and after the stimulation applied which led to two experiment procedures. Experimental results show that area of upper motor organ cell is approximately 50% larger than lower part for all four samples when mechanical stimulation applied. The design concept of the bio-inspired tactile sensor is proposed.
{"title":"Design concept of a new bio-inspired tactile sensor based on main pulvinus motor organ cells distribution of Mimosa Pudica plant","authors":"Siti Nora Basir, H. Yussof, N. I. Zahari, Fahrulrodzi Idris","doi":"10.1109/MHS.2014.7006091","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006091","url":null,"abstract":"This paper proposed a novel concept for a new tactile sensor that is inspired by the seismonastic movement of plants. The movement of Mimosa Pudica leaf is due to the change of pressure between the upper and lower motor organ of main pulvinus. From an engineering point of view, the turgidity changes capable of reversible shape changes, thus bringing the idea of sensing and actuating concept of a new tactile sensor. The idea is to fusion the artificial cell of Mimosa Pudica as the sensing mechanism for the new bio-inspired tactile sensor. Experiments have been conducted in order to determine the volume of the upper n lower motor organ cells of main pulvinus. The aim is to view the cross section of the main pulvinus between before and after the stimulation applied which led to two experiment procedures. Experimental results show that area of upper motor organ cell is approximately 50% larger than lower part for all four samples when mechanical stimulation applied. The design concept of the bio-inspired tactile sensor is proposed.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114396244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006085
T. Ishida, Ryo Abe, T. Omata, Nobuyuki Takatani, T. Omata
Biofuel is one of promising fuels to solve the depletion of the fossil fuels and the environmental problems. We have proposed a hypothesis that cyanobacteria release biofuel from themselves, when their growths and divisions are suppressed while they keep photosynthesizing. In order to validate this hypothesis, we designed and fabricated a micro-pillar array. Inside the confined spaces of the micro-pillar array, the cyanobacteria do not grow and divide.
{"title":"Photosynthesizing cyanobacteria inside confined space at microscale","authors":"T. Ishida, Ryo Abe, T. Omata, Nobuyuki Takatani, T. Omata","doi":"10.1109/MHS.2014.7006085","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006085","url":null,"abstract":"Biofuel is one of promising fuels to solve the depletion of the fossil fuels and the environmental problems. We have proposed a hypothesis that cyanobacteria release biofuel from themselves, when their growths and divisions are suppressed while they keep photosynthesizing. In order to validate this hypothesis, we designed and fabricated a micro-pillar array. Inside the confined spaces of the micro-pillar array, the cyanobacteria do not grow and divide.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122135080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006121
M. Tamura, S. Maeda, Tomohisa Ogawa, Masato Tanaka, N. Futai
We have developed a poly (dimethylsiloxane) (PDMS)-cast microfluidic chip that contains a thin (cross-sectional area less than 1.0 μm2) but high aspect ratio (1:1 ~ 1:3) microchannels. Experimental results showed that the gradient of an example of test substances (sodium fluorescein) remained constant in the thin channel over a long period of time (30 minutes) by simple manual liquid handling. We aim to develop a thinner channel keeping the gradient longer time.
{"title":"A microfluidic static gradient generator using limited diffusuon through T-shaped narrow channels","authors":"M. Tamura, S. Maeda, Tomohisa Ogawa, Masato Tanaka, N. Futai","doi":"10.1109/MHS.2014.7006121","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006121","url":null,"abstract":"We have developed a poly (dimethylsiloxane) (PDMS)-cast microfluidic chip that contains a thin (cross-sectional area less than 1.0 μm2) but high aspect ratio (1:1 ~ 1:3) microchannels. Experimental results showed that the gradient of an example of test substances (sodium fluorescein) remained constant in the thin channel over a long period of time (30 minutes) by simple manual liquid handling. We aim to develop a thinner channel keeping the gradient longer time.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128516297","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006141
K. Furusawa, A. Fukui, N. Sasaki
To control the structure of collagen gel with multichannel structure (Multi-Channel Collagen Gel: MCCG), the effect of gelation temperature on the multichannel structure of MCCG have been investigated. The diameter of channel decreased with increasing gelation temperature. By contrast, the number of channel increased with increasing the gelation temperature. The results showed that the multi-channel structure of MCCG can be controlled by regulating the gelation temperature.
{"title":"Control of structure of multi-channel collagen gel beads","authors":"K. Furusawa, A. Fukui, N. Sasaki","doi":"10.1109/MHS.2014.7006141","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006141","url":null,"abstract":"To control the structure of collagen gel with multichannel structure (Multi-Channel Collagen Gel: MCCG), the effect of gelation temperature on the multichannel structure of MCCG have been investigated. The diameter of channel decreased with increasing gelation temperature. By contrast, the number of channel increased with increasing the gelation temperature. The results showed that the multi-channel structure of MCCG can be controlled by regulating the gelation temperature.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123622269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006100
Takuya Maetani, Yutaka Nakamitsu, J. Sakurai, S. Hata
Combinatorial New-Facing Targets Sputtering (combi-NFTS) is one of the co-sputtering method applied to the combinatorial method. Combi-NFTS could easily control the composition range by changing the distance from substrate to targets. Furthermore composition gradient is relatively linear comparing to other thin film deposition method. In this paper, the influence of the distance between target and target gives for the composition distribution is investigated. As a result, it was elucidated that composition distribution and gradient increase as the TT distance increase. This is caused by the peak position of amount of deposited sputtering atom on the substrate change by the TT distance.
{"title":"Influence of target-target distance for composition distribution in new facing targets sputtering","authors":"Takuya Maetani, Yutaka Nakamitsu, J. Sakurai, S. Hata","doi":"10.1109/MHS.2014.7006100","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006100","url":null,"abstract":"Combinatorial New-Facing Targets Sputtering (combi-NFTS) is one of the co-sputtering method applied to the combinatorial method. Combi-NFTS could easily control the composition range by changing the distance from substrate to targets. Furthermore composition gradient is relatively linear comparing to other thin film deposition method. In this paper, the influence of the distance between target and target gives for the composition distribution is investigated. As a result, it was elucidated that composition distribution and gradient increase as the TT distance increase. This is caused by the peak position of amount of deposited sputtering atom on the substrate change by the TT distance.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123690104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006083
Y. Hasegawa, J. Muto
This paper introduces a mechanical structure of a pinching force support device in order to extend force range and to improve force accuracy based on fingertip sensitivity when the device augments human's pinching force more than twice his/her maximal pinching force. High force accuracy is an important factor to grasp an object stably and not to damage the grasping object. In the previous research, our exoskeleton achieved high pinching force accuracy at the same level of human ability and extended range of the human pinching force to about twice by 46% reduction of affecting force to the finger part from the exoskeleton. However, 46% load reduction of the exoskeleton is not enough to exert more than twice human pinching force which is required by some workers because a user's sensitivity to recognize change of the force is getting worse by fingertip deformation. For extension of the pinching force range maintaining high force accuracy, the characteristics of fingertip sensitivity is considered so that the wearer could estimate the support force precisely. Then we developed a new exoskeleton which reduces affecting force to 67%. Through experiments, our exoskeleton can augment a user's force by about triple, maintaining its force accuracy at the same level of human ability.
{"title":"Force range extension and high force accuracy with pinching support device by presenting haptic sense based on fingertip sensitivity","authors":"Y. Hasegawa, J. Muto","doi":"10.1109/MHS.2014.7006083","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006083","url":null,"abstract":"This paper introduces a mechanical structure of a pinching force support device in order to extend force range and to improve force accuracy based on fingertip sensitivity when the device augments human's pinching force more than twice his/her maximal pinching force. High force accuracy is an important factor to grasp an object stably and not to damage the grasping object. In the previous research, our exoskeleton achieved high pinching force accuracy at the same level of human ability and extended range of the human pinching force to about twice by 46% reduction of affecting force to the finger part from the exoskeleton. However, 46% load reduction of the exoskeleton is not enough to exert more than twice human pinching force which is required by some workers because a user's sensitivity to recognize change of the force is getting worse by fingertip deformation. For extension of the pinching force range maintaining high force accuracy, the characteristics of fingertip sensitivity is considered so that the wearer could estimate the support force precisely. Then we developed a new exoskeleton which reduces affecting force to 67%. Through experiments, our exoskeleton can augment a user's force by about triple, maintaining its force accuracy at the same level of human ability.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124356962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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