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2,070 results on '"Suzumori, Koichi"'

208. Programmable system on chip distributed communication and control approach for human adaptive mechanical system

Author

Faudzi, Ahmad' Athif Mohd and Suzumori, Koichi

Subjects
Algorithms -- Research, Embedded systems -- Usage, Control systems -- Research, Human-machine systems -- Research, Ergonomics -- Research, Computer network protocols -- Methods, Algorithm, Embedded system, System on a chip, Ergonomic aid, Ergonomics, Protocol, Computers
Abstract

Problem statement: Communication and control are two main components in any Mechatronics system. They can be designed either by centralized or decentralized approach. Both approaches can be chosen based on application designed and specific requirements of the designer. In this study, decentralized or normally called distributed approach was selected to solved communication and control of a human adaptive mechanical system namely Intelligent Chair Tools (ICT). The ICT seating system is powered by thirty six intelligent pneumatic actuators to facilitate investigation of chair shapes from spring and damping effect of seating and backrest surface. Three studies are proposed from the sitting experiments namely chair shapes, chair spring and chair damping properties. Approach: PSoC microcontroller was selected based on its features of having configurable analog and digital blocks. Its flexible modules and programmable peripherals ease designer in designing the communication and control of ICT in improved and faster way. Three protocols of USB, SPI and [I.sup.2]C were used for the communication system of ICT using PSoC. Flow charts of each communication protocols algorithms were discussed. On the other hand, the control system used PSoC's ADC and counter modules to read inputs of pressure and encoder respectively. PWM module is used to control the valve and data communication was achieved using [I.sup.2]C module. Block diagram of unified control was discussed for further understandings of the control algorithms. Results: The PSoC specification, development design and experimental evaluation of ICT system are presented and discussed. Three studies of chair shapes, chair spring property and chair damping property from sitting experiment were shown. Conclusion/Recommendations: The PSoC microcontroller selection was discussed and application of its distributed communication and control was successfully applied to ICT. This distributed approach can be applied to other application suitable for local control approach for easy debugging, more modular design and intelligence in deciding output based on feedback inputs. Key words: Distributed communication and control, PSoC, human machine interaction, ergonomics, INTRODUCTION Programmable System on Chip (PSoC) represents a whole new concept in microcontroller development. The mixed signal arrays of Cypress integrate an 8 bit microcontroller with analogue and digital components [...]

Published
2010

219. Hydraulic Artificial Muscle-Powered Knee Support Wearable Device with Four-bar Linkage Mechanism

Author

KITTISARES, Sarin, Kittisares, Sarin, Nabae, Hiroyuki, Endo, Gen, and Suzumori, Koichi

Subjects
Quantitative Biology::Tissues and Organs
Abstract

Hydraulic cylinders have been selected as actuator in earlier exoskeletons due to low weight and high force density. In this paper, we propose a knee exoskeleton using Hydraulic Artificial Muscle (HAM) and four-bar knee joint mechanism. The HAM has similar advantages to hydraulic cylinders, but lighter and compliance, making it suitable for wearable robot applications. To allow the device to better comform to human knee kinematics, a four-bar linkage mechanism was utilized. The human knee biomechanics is a combination of rolling and sliding on the condyle, which can be emulated using four-bar linkage. To adapt the HAM to the link mechanism, we proposed and Angled Bar as a modification to the existing mechanism. The Angled Bar adjusts the torque output and motion range of the proposed device.

Published
2020

239. Experimental Evaluation of Cloth-like Mechanisms Made of Artificial Muscles

Author

Hiramitsu, Tatsuhiro, Suzumori, Koichi, Nabae, Hiroyuki, and Endo, Gen

Subjects
pneumatic system, soft mechanism, active textile, artificial muscle, braided structure
Abstract

Pneumatic artificial muscles have some advantages. Especially, the flexibility contributes to compose novel mechanisms. The flexibility of pneumatic artificial muscles releases us from the spatially strict design. It could actualize compact mechanisms made of fewer parts. The thin artificial muscles we developed are more flexible than conventional McKibben muscles. Authors succeeded in manufacturing novel soft mechanisms that are made of only woven artificial muscles and strings. We called this mechanism active textile. In this paper, we report a result for driving experiment of active textiles that are woven in three foundation woven from thin artificial muscles and some strings. Deformation types of active textiles are changed by woven structures. Those woven structures differ by a pattern of crossing position. In addition to that, woofs’ characteristics such as cross-sectional shape, bending stiffness and elasticity determine the characteristic of a textile. The active textile changes to a contraction mechanism by gap of woofs, additionally it changes to a bending mechanism by the ratio of short path in front and back sides of textile. Active textiles bend in two directions. One of them is caused by contraction of artificial muscles, and other one is caused by expansion. It determines which bending dominants by woven structures and woof yarns.

Published
2018

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