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Long-term monitoring of human nasal cycle
Kiyoshi Hoshino 대한전자공학회 2007 ITC-CSCC :International Technical Conference on Ci Vol.2007 No.7
In this study, the author proposed the handy system for the measurement of the nasal cycle with high accuracy, which is hardly influenced by environmental changes including room temperature changes and imposes a small burden to the head and small restrictions to body movements and respiration. Two experiments were carried out: firstly to measure quantitatively the phenomenon of the inversion of the dominant side of nasal respiratory capacity and secondly to observe the influences of the circadian rhythm on the nasal cycle for a long period of time.
Humanoid robot arm with air cylinder actuators and generation of calligraphic motion
Kiyoshi Hoshino 대한전자공학회 2007 ITC-CSCC :International Technical Conference on Ci Vol.2007 No.7
For the purpose of implementation of human smooth and fast movement to a pneumatic robot, the author constructed a humanoid robot arm with pneumatic agonistantagonist actuators as endoskeletons which has control mechanism in the stiffness of each joint, and the controllability was experimentally discussed. Using Kitamori’s method to experimentally decide the control gains and using I-PD controller, three joints of the humanoid robot arm were experimentally controlled. The results showed that the controllability to step-wise input was less than one degree in error to follow the target angles, and the time constant was less than one second. The simultaneous input of command to five joints was brought about the overshoot of about ten percent increase in error. The robot arm generated the calligraphic motion when a humanoid robot hand was attached to it. These results suggested that the I-PD controller and control gains obtained in this study were proper for the humanoid robot arm with pneumatic agonist-antagonist actuators to move smoothly, quickly and accurately.