The purpose of this study is to develop a prosthetic ankle joint intelligently controlled by specially designed linear MR (magneto-rheological) brake. MR fluid changes its rheology depending on the intension of an applied magnetic field. The brake using MR fluid (we call it MR brake) has a simple structure and can control its braking force with a low voltage. Prosthesis users often tumble because they don't have dorsiflexor, so that we propose putting MR brake taking the place of dorsiflexion. We hope that prosthesis users can walk more naturally and smoothly by use of developed intelligent prosthetic ankle joint with MR brake. We developed a prototype of it and evaluated it with walking experiments before. But there were some problems with the prototype in terms of hardware and experimental environments. Therefore we have developed a 2nd prototype of the intelligent prosthetic ankle joint with the MR brake, which was improved considering previous problems, and then we have carried out the walking experimental evaluation of it

For functional training, however it is important to evaluate the motion functions of trainee, traditional evaluations have problems on subjectivity. We aimed to quantitatively and objectively recreate clinically relevant motion function evaluations by VR technology; to use data gained from traditional evaluations and to computerize evaluation. We also aimed to consider a gap between robotic and conventional rehabilitation. In this paper, we reported virtual glove and VR-STEF systems that are able to recreate a Simple Test for Evaluating Hand Function, STEF.

In proposing the jumping mechanism imitating the leg of vertebrate, unique mechanical function of bi-articular muscle was analyzed. The bi-articular muscle is an actuator which exists only in vertebrate. The ground reaction force and/or jumping motion were examined using the following three jumping mechanisms, 1) the mechanism which arranged two actuators on the knee and ankle joint independently (Mechanism-A), 2) the mechanism which arranged two actuators on the knee and ankle joint, and connected two joints by a wire (Mechanism-B), 3) the mechanism which arranged one actuator only on the knee joint, and connected two joints by a wire (Mechanism-C). It became clear that the Mechanism-C is excellent as the result of analyses in this study. A pantograph mechanism is constituted by the wire equivalent to the bi-articular muscle which transmits the joint torque between two joints. And, ideal ground reaction force for jumping motion is generated. Furthermore, the jumping mechanism or robot which has the function of bi-articular muscle was made and the vertebrate like jumping motion was realized. In this study, it is said that the muscular arrangement of vertebrate is ideal arrangement. It is also an answer to the general question why is the crus very thinner than the femur of vertebrate which makes a jump elated.

As a method of teaching fundamental programming concepts to visually impaired persons and novice programmers, we developed the P-CUBE algorithm education tool, with which users are able to control a mobile robot simply by positioning wooden blocks on a mat. The fundamental programming concepts taught by P-CUBE consist of three elements: sequences, branches and loops. The P-CUBE system consists of a mobile robot, a program mat, programming blocks, and a personal computer (PC). The programming blocks utilize radio frequency identification (RFID) tags alone, and thus require no precision equipment such as microcomputers. Furthermore, since P-CUBE is designed to be operated via tactile information, it can be utilized by visually impaired persons. In this paper, we report on the P-CUBE system configuration and a programming workshop held for visuarlly impaired persons. We then propose P-CUBE device improvements formulated through subjective assessments obtained from workshop participants.

The paper presents an on-line software modification technique for use in office data provisioning in the Non-stop Service Enhancible Software (NOSES) system. High reliability and high software-maintainability needed for coping quickly and effectively with diverse customer demands related to system extension. The principal technique is the generation, modification, addition or deletion of office data related to the provision of physical components or logical resources in the executing system file. As an on-line partial program updating technique within the framework of the object oriented paradigm, mechanisms and operation procedure based on TMN are addressed in detail. These technologies are expected to be a basis for quick service provisioning in intelligent networks as well as in transport networks.