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Recent single-cell RNA-sequencing analysis of rheumatoid arthritis (RA) synovial tissues revealed the heterogeneity of RA synovial fibroblasts (SFs) with distinct functions such as high IL-6 production. The molecular mechanisms responsible for high IL-6 production will become a promising drug target of RASFs to treat RA. In this study, we performed siRNA screening of 65 transcription factors (TFs) differentially expressed among RASF subsets to identify TFs involved in IL-6 production. The siRNA screening identified 7 TFs including ARID5B, a RA risk gene, that affected IL-6 production. Both long and short isoforms of ARID5B were expressed and negatively regulated by TNF-α in RASFs. The siRNA knockdown and lentiviral overexpression of long and short isoforms of ARID5B revealed that the long isoform suppressed IL-6 production stimulated with TNF-α. eQTL analysis using 58 SFs demonstrated that RA risk allele, rs10821944, in intron 4 of the ARID5B gene had a trend of eQTL effects to the expression of long isoform of ARID5B in SFs treated with TNF-α. ARID5B was found to be a negative modulator of IL-6 production in RASFs. The RA risk allele of ARID5B intron may cause high IL-6 production, suggesting that ARID5B will become a promising drug target to treat RA.

Abstract A built-in capacitive proximity sensing method for a charge-induction electrostatic film actuator is proposed. This actuator consists of two thin sheets that function as a stator and a slider. A stator is an insulating sheet with many strips of electrodes in it, whereas a slider is a dielectric sheet that has slight conductivity on its surface. By applying actuation voltage on stator electrodes, the slider that is placed on the stator is driven by electrostatic force. This research realized the simultaneous actuation and proximity sensing using the same electrodes by integrating a resonance-based capacitance measurement circuit into a driving circuit. The study investigated the impact of having a slider on sensing performance, confirming the feasibility of simultaneous sensing and driving. The implemented system achieved an interactive actuation that changed driving velocity according to the proximity distance of the human hand.

This paper discusses the design of a two-degree-of-freedom (2-DOF) pseudo-force presentation device for a palm. The device was designed to present pressure stimulation to a palm to invoke a pseudo-force sensation. In addition, the stimulator can rotate to invoke a pseudo-torque sensation through tangential skin stretch in the proximal/distal direction. Whereas the previous devices used for pseudo-force presentation on a palm utilized voice coil motors (VCM) to generate pressure, the developed device uses a DC gear motor, cam, and lever, which comprise a series elastic actuator (SEA). Although the mechanism’s response is slower than the VCM-based device’s, it can realize lower power consumption when generating constant force. The paper discusses the design requirement to provide sufficient pseudo-force sensation. Then, a prototype device was evaluated, which satisfied the requirements regarding size, weight, force, and stroke. The device was utilized in a human-subject experiment to investigate the effect of tangential skin stretch along the proximal/distal direction on a palm. The results showed that the stimulation can invoke the feeling of rotation, or pseudo-torque sensation.

A tomographic tactile sensor based on the contact resistance of conductors is a high sensitive pressure distribution imaging method and has advantages on the flexibility and scalability of device. While the addition of internal electrodes improves the sensor’s spatial resolution, there still remain variations in resolution that depend on the contact position. In this study, we propose an optimization algorithm for electrode positions that improves entire spatial resolution by compensating for local variations in spatial resolution. Simulation results for sensors with 16 or 64 electrodes show that the proposed algorithm improves performance to 0.81 times and 0.93 times in the worst spatial resolution region of the detection area compared to equally spaced grid electrodes. The proposed methods enable tomographic tactile sensors to detect contact pressure distribution more accurately than the conventional methods, providing high-performance tactile sensing for many applications.

Abstract Printed, flexible, and hybrid electronic technologies are advancing rapidly leading to remarkable developments in smart wearables, intelligent textiles, and health monitoring systems. Flexible electronics are typically fabricated on petroleum‐derived polymeric substrates. However, in the light of global environmental concerns regarding fossil raw materials, there is a need to drive the production of flexible electronics devices based on sustainable materials. Additionally, there is a need to reduce the quantity of electronic waste by developing material recovery and recycling technologies. Here, a fully biobased and biodegradable substrate tailored for printed flexible electronic applications is developed. Based on a nanocomposite of cellulose nanofibril (CNF) and hydroxyethyl cellulose (HEC), the substrate shows excellent mechanical and optical properties for printed flexible electronics applications. High‐resolution screen printing of conductive ink and typical electronics assembly processes are possible to realize on the substrate. An electrocardiograph (ECG) device is fabricated on the cellulosic substrate as a technology demonstrator and its performance is confirmed on human volunteers. Last, end‐of‐life scenarios are studied for printed electronic devices where device degradation and subsequent material recovery concepts are presented. This work demonstrates that sustainable plant‐derived materials can play a big role toward a green transition in the electronics industry.

Abstract This study proposes a new method of visualizing the ambient dose rate distribution using artificial neural networks (ANNs) from airborne radiation monitoring results. The method was applied to the results of the airborne radiation monitoring which was conducted around the Fukushima Daiichi Nuclear Power Plant by an unmanned aerial vehicle. Much of the survey data obtained in the past were used as the training data for building a network. The number of training cases was related to the error between the ground and converted values by the ANN. The quantitative evaluation index (the root-mean-square error) between the ANN-converted value and the ground-based survey result converged at 200 training cases. This number of training case was considered a rough criterion of the required number of training cases. The reliability of the ANN method was evaluated by comparison with the ground-based survey data. The dose rate map created by the ANNs method reproduced ground-based survey results better than traditional methods.

This work analyzes a built-in slider detection method for a charge-induction type electrostatic film actuator with a high surface-resistance slider. In the detection method, one stator electrode is detached from the parallel driving electrodes and is dedicated to sensing. When a slider with induced charges moves over the sensing electrode, electrostatic induction occurs in the sensing electrode, which causes an electric current. The current is converted to a voltage through a detection resistance, which will be an output of the sensing circuit. This paper provides a framework to analyze the output signal waveform and shows that the waveform consists of two components. One component is caused by driving voltage and appears regardless of the existence of a slider. The other component corresponds to the movement of a slider, which appears only when a slider is moving over the sensing electrode. Therefore, the slider can be detected by monitoring the latter component. The two components generally overlap, which makes the detection of the latter component difficult in some cases. This paper proposes a method to decouple the two components by switching the detection resistance at an appropriate time. These methods are verified using a prototype actuator that has an electrode pitch of 0.6 mm. The actuator was driven with a set of pulse voltages with an amplitude of 1000 V. The experimental results show similar waveforms to the analytical results, verifying the proposed analytical framework. The performance of the sensing method as a proximity sensor was verified in the experiments, and it was confirmed that the slider can be detected when it approaches the sensing electrode within about 3 mm.

Background: Thrombosis is a characteristic complication in coronavirus disease 2019 (COVID-19). Since coagulopathy has been observed over the entire clinical course, thrombosis might be a clue to understanding the specific pathology in COVID-19. Currently, there is limited epidemiological data of COVID-19-associated thrombosis in the Japanese population and none regarding variant strains of SARS-CoV-2. Here, we elucidate the risk factors and the pattern of thrombosis in COVID-19 patients.Methods: The patients consecutively admitted to Tokyo Medical and Dental University Hospital with COVID-19 were retrospectively analyzed. SARS-CoV-2 variants of concern/interest (VOC/VOI) carrying the spike protein mutants E484K, N501Y, or L452R were identified by PCR-based analysis. All thrombotic events were diagnosed by clinical symptoms, ultrasonography, and/or radiological tests.Results: Among the 516 patients, 32 patients experienced 42 thromboembolic events. Advanced age, severe respiratory conditions, and several abnormal laboratory markers were associated with the development of thrombosis. While thrombotic events occurred in 13% of the patients with a severe respiratory condition, those events still occurred in 2.5% of the patients who did not require oxygen therapy. Elevated D-dimer and ferritin levels on admission were independent risk factors of thrombosis (adjusted odds ratio 9.39 and 3.11, 95% confidence interval 2.08–42.3, and 1.06–9.17, respectively). Of the thrombotic events, 22 were venous, whereas 20 were arterial. While patients with thrombosis received anticoagulation and antiinflammatory therapies with a higher proportion, the mortality rate, organ dysfunctions, and bleeding complications in these patients were higher than those without thrombosis. The incidence of thrombosis in COVID-19 became less frequent over time, such as during the replacement of the earlier strains of SARS-CoV-2 by VOC/VOI and during increased use of anticoagulatory therapeutics.Conclusion: This study elucidated that elevated D-dimer and ferritin levels are useful biomarkers of thrombosis in COVID-19 patients. The comparable incidence of arterial thrombosis with venous thrombosis and the development of thrombosis in less severe patients required further considerations for the management of Japanese patients with COVID-19. Further studies would be required to identify high-risk populations and establish appropriate interventions for thrombotic complications in COVID-19.

The bending of slide‐ring materials (SRMs), polymer materials having ring‐shaped cross‐linking points providing deterioration tolerance and low hysteresis, is described. An SRM sheet exhibits a voltage‐controllable, extremely large, fast, and bidirectional bending deformation with shape memory functionality. A 50‐μm‐thick SRM sheet actuator exhibits an electrostatic actuation in two opposite directions and bending angle larger than 180° achieved within 0.4 s due to its shape memory effect. The memory effect remains for more than 250 min. As a potential application utilizing the bending of the SRM, a soft gripper is fabricated, which handles two objects placed opposite each other. This functionality is rarely achieved by a soft gripper composed of a single active material, which shows the characteristics of the SRM promising for the development of soft matter systems with novel functionalities and high performances.

Abstract This article reports on a newly designed thermal walker that can walk on a hot horizontal surface without any motor or battery. The walker converts heat energy from the hot surface into mechanical motion by using bimetal sheets. The prototype developed in the previous study successfully demonstrated walking, but its gait was not ideal; a leg swings forward and backward a few times to achieve one step. This article designs a new walker to realize more natural walking, in which a leg simply swings forward once in each step. For this purpose, the article introduces a new design process to better estimate the swing period. Also, material used for the feet of the walker is reconsidered to realize stable continuous walking. The newly fabricated prototype has aluminum feet and can walk on a hot horizontal surface with the simple gait. The surface temperature required for walking was 110 °C, which was considerably lowered from that in the previous study, which was 170 °C.

Electrostatic motors are promising forms of actuation for future robotic devices. The study of their different implementations should accelerate their adoption. Current models for resonant electrostatic induction motors were found not to be able to properly describe their behavior, namely, with regard to changes with position. This paper reports a new analytical model for these motors, aiming to address this issue. The model is based on identification of all capacitance harmonics, through a simplified method. Using these, equations for different motor parameters, notably, thrust force, were obtained and compared to previous literature. The new equations model position dependent properties, such as force ripple. The outputs of this model were validated through experimentation with a prototype, with the results confirming the new model better describes motor behavior. An analysis into how to decrease this ripple was also discussed and tested. We concluded that the use of a higher number of harmonics resulted in a much more accurate model, capable of adequately characterizing motor outputs with changes in position.

Climate change is increasingly sensed by nations vulnerable to water-related disasters, and governments are acting to mitigate disasters and achieve sustainable development. Uncertainties in General Circulation Models’ (GCM) rainfall projections and seamless long-term hydrological simulations incorporating warming effects are major scientific challenges in assessing climate change impacts at the basin scale. Therefore, the Data Integration and Analysis System (DIAS) of Japan and the Water Energy Budget-based Rainfall-Runoff-Inundation model (WEB-RRI) were utilized to develop an integrated approach, which was then applied to the Mahaweli River Basin (MRB) in Sri Lanka to investigate climate change impacts on its hydro-meteorological characteristics. The results for the Representative Concentration Pathway (RCP8.5) scenario from four selected GCMs showed that, with an average temperature increase of 1.1 °C over the 20 years in future (2026 to 2045), the basin will experience more extreme rainfall (increase ranging 204 to 476 mm/year) and intense flood disasters and receive sufficient water in the future climate (inflow increases will range between 11 m3/s to 57 m3/s). The socio-economic damage due to flood inundation will also increase in the future climate. However, qualitatively, the overall trend of model responses showed an increasing pattern in future meteorological droughts whereas there is uncertainty in hydrological droughts. Policymakers can utilize these results and react to implementing soft or hard countermeasures for future policymaking. The approach can be implemented for climate change impact assessment of hydro-meteorology in any other river basin worldwide.

This paper proposes a proximity imaging sensor based on a tomographic approach with a low-cost conductive sheet. Particularly, by defining capacitance density, physical proximity information is transformed into electric potential. A novel theoretical model is developed to solve the capacitance density problem using the tomographic approach. Additionally, a prototype is built and tested based on the model, and the system solves an inverse problem for imaging the capacitance density change that indicates the object’s proximity change. In the evaluation test, the prototype reaches an error rate of 10.0–15.8% in horizontal localization at different heights. Finally, a hand-tracking demonstration is carried out, where a position difference of 33.8–46.7 mm between the proposed sensor and depth camera is achieved at 30 fps.

This paper describes recent development activities of the GENESIS code, which is a transport code for heterogeneous three-dimensional geometry, focusing on applications to reactor core analysis. For the treatment of anisotropic scattering, the concept of the simplified Pn method is introduced in order to reduce storage of flux moments. The accuracy of the present method is verified through a benchmark problem. Next, the iteration stability of the GENESIS code for the highly voided condition, which would appear in a severe accident (e.g., design extension) conditions, is discussed. The efficiencies of the coarse mesh finite difference and generalized coarse mesh rebalance acceleration methods are verified with various stabilization techniques. Use of the effective diffusion coefficient and the artificial grid diffusion coefficients are found to be effective to stabilize the acceleration calculation in highly voided conditions.

Abstract In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electric field, even if the voltage difference between the plates is constant, electroadhesion force increases or decreases over time depending on the insulating materials. The increase had been explained by Johnsen–Rahbek (JR) model, but the decrease had not been focused or modeled by physically meaningful way. In addition, the previous models did not explicitly consider the mechanical behaviors of the electrodes, although the mechanical behaviors considerably affect the response. In this work, we introduced a new model that combines both electrical and mechanical behaviors. The electrical part, which is based on JR model, explained the force decrease under DC field, in addition to the force increase that had been explained using JR model. The mechanical part was represented by a combination of a spring and a damper. Numerical simulations using the model successfully reproduced characteristics behaviors of electroadhesion force, which include force decay under constant voltages and relatively smaller initial force. Using the inverse model, we carried out experiments to control dynamic responses of electroadhesion force, which successfully controlled force responses against pulse voltages. Through the experiments, we also showed the importance of the neutralization of surface charges for obtaining reproducible responses.

This paper evaluates a simple anti-sway control algorithm for fixed-speed cranes. Anti-sway control of suspended loads under cranes has been widely studied, and input shapers have been found as powerful tools. Whereas typical input shapers require variable-speed control for cranes, unity-magnitude (UM) shaper can be applied to fixed-speed cranes. However, UM shaper introduces a start-up delay and over-travel, and thus might not be user-friendly if applied to human-operated cranes. In this work, much simpler anti-sway algorithm for fixed-speed cranes with non-damped oscillations is implemented and evaluated in terms of its robustness. The algorithm is based on the conventional zero-vibration (ZV) shaper, and consists of two sub methods. In the first sub method, the command from an operator is subdivided into a pulse train, which is then fed to ZV shaper. Resulting shaped command is a sum of the original command and one short pulse to suppress the residual oscillation, which is called suppression pulse. Although the command cannot suppress sway during transportation, the crane operated based on the command does not cause start-up delay. On the other hand, the command creates over-travel due to the suppression pulse. To eliminate the over-travel, the second sub method adds a rewind pulse, which is also fed to ZV shaper before being added. The resulting total command exhibits no start-up delay and no over-travel. Experiments using a miniature experimental crane verified the suppression of the residual oscillation, as well as no start-up delay and no over-travel. The paper analyzes its sensitivity against the modeling error. The analyses show that the method is more sensitive to the modeling error when the operation command has a longer duration. Therefore, the algorithm would be effective for cranes with a short-traveling time and/or a long oscillation period.

This paper analyzes stability and tracking performance of displayed-marker-based position tracking on visual displays, such as an LCD (Liquid Crystal Display), which have been utilized in several studies about computer-human interaction systems. The tracking system dealt in this paper consists of an LCD and a target object with photo sensors that is placed on the display surface. A fiducial marker image is displayed beneath the object and the photo sensors detect the relative displacement between the marker and the object. The detected displacement is fed back to the tracking program and the program updates the marker position such that it will track the object. In general, this kind of tracking methods can suffer from display latency that arises from programs, graphic engines, and internal signal processing circuits of LCDs. This paper investigates the latency characteristics to reveal that the lag is not constant; it fluctuates with time. The paper, then, formulates the tracking system and analyzes how the lag affects the tracking stability. Then, the paper analyzes the tracking performance of two different classes of stable tracking algorithms, which are PD control and lag compensation. Based on the analyses, the paper provides a guideline on the selection of tracking algorithms, as well as tracking parameters. The analyzed results, as well as the guideline, are verified by experiments in 1-DOF horizontal motions.

Heating logs prior to peeling positively affects the surface properties of veneer as well as the wood-adhesive bond strength. However, the mechanism behind this increase in strength is not fully understood. The aim of the present study was to separate the influence of soaking temperature and peeling temperature on the physical surface properties and bonding quality. Rotary-cut birch (Betula pendula Roth) logs were soaked at 70 °C, and half of them were subsequently cooled to 20 °C prior to peeling. Surface roughness measurements, scanning electron microscopy (SEM), surface integrity testing, color measurements, and wood-adhesive bond testing were conducted with an automated bonding evaluation system. The results showed that logs soaked at 70 °C and peeled at 20 °C had roughness, color, integrity, bond strength, and wetting properties more similar to logs soaked and peeled at 70 °C than those soaked and peeled at 20 °C. In every test conducted, the effect of soaking temperature was greater than the effect of peeling temperature. High-temperature soaking not only caused softening of the material during the peeling process, but it also caused irreversible changes in the wood material, which affected the veneer surface characteristics and bond strength development.

The effects of hydrothermal pre-treatment on the color of silver birch veneer were determined. Spectrophotometric and chemical analyses of the veneer by means of extraction were conducted to determine the detailed chemical characteristics of the veneers. Results from spectrophotometric analysis revealed a significant increase in lightness (L*) and a decrease in yellowness (b*) in the veneer produced from a log soaked at 70 °C in short-term. Conversely, the effect of long-term storage resulted in a significant reduction in L* and an increase in b*. Chemical analyses of the veneer extract identified a moderate negative correlation between soluble proanthocyanidins content and treatment temperature. A higher amount of wood extractives, such as lipophilic extractives, free monosaccharides, and other organic substances, were obtained from wood material soaked at 70 °C than at 20 °C, which was most likely due to moderate chemical changes during treatment. Comparison of the results between dried veneers and wet veneers from the water extraction study revealed that the dried veneers had higher amounts of lipophilic matter and less water-soluble organic matter than the wet veneers. Other aspects of the loss of soluble proanthocyanidins in the birch veneer during plywood manufacturing are discussed.

In 2015, global attempts were made to reconcile the relationship between development and environmental issues. This led to the adoption of key agreements such as the Sustainable Development Goals. In this regard, it is important to identify and evaluate under-recognized disaster risks that hinder sustainable development: measures to mitigate climate change are the same as those that build resilience against climate-related disasters. To do this we need to advance scientific and technical knowledge, build data infrastructure that allows us to predict events with greater accuracy, and develop data archives. For this reason we have developed the Data Integration and Analysis System (DIAS). DIAS incorporates analysis, data and models from many fields and disciplines. It collects and stores data from satellites, ground observation stations and numerical weather prediction models; integrates this data with geographical and socio-economic information; then generates results for crisis management of global environmental issues. This article gives an overview of DIAS and summarizes its application to climate change analysis and disaster risk reduction. As the article shows, DIAS aims to initiate cooperation between different stakeholders, and contribute to the creation of scientific knowledge. DIAS provides a model for sharing transdisciplinary research data that is essential for achieving the goal of sustainable development.

Body movements, such as trunk flexion and rotation, are risk factors for low back pain in occupational settings, especially in healthcare workers. Wearable motion capture systems are potentially useful to monitor lower back movement in healthcare workers to help avoid the risk factors. In this study, we propose a novel system using sheet stretch sensors and investigate the system validity for estimating lower back movement.Six volunteers (female:male = 1:1, mean age: 24.8 ± 4.0 years, height 166.7 ± 5.6 cm, weight 56.3 ± 7.6 kg) participated in test protocols that involved executing seven types of movements. The movements were three uniaxial trunk movements (i.e., trunk flexion-extension, trunk side-bending, and trunk rotation) and four multiaxial trunk movements (i.e., flexion + rotation, flexion + side-bending, side-bending + rotation, and moving around the cranial-caudal axis). Each trial lasted for approximately 30 s. Four stretch sensors were attached to each participant's lower back. The lumbar motion angles were estimated using simple linear regression analysis based on the stretch sensor outputs and compared with those obtained by the optical motion capture system.The estimated lumbar motion angles showed a good correlation with the actual angles, with correlation values of r = 0.68 (SD = 0.35), r = 0.60 (SD = 0.19), and r = 0.72 (SD = 0.18) for the flexion-extension, side bending, and rotation movements, respectively (all P < 0.05). The estimation errors in all three directions were less than 3°.The stretch sensors mounted on the back provided reasonable estimates of the lumbar motion angles. The novel motion capture system provided three directional angles without capture space limits. The wearable system possessed great potential to monitor the lower back movement in healthcare workers and helping prevent low back pain.

This paper describes a general theory for the characteristics of voltage-induction-type electrostatic motors (VITEMs). VITEMs are one of macro-scale electrostatic film motors with multi-phase electrodes on both the sliders and the stators. The motor drives synchronously without voltage feeding wires to its slider due to the indirect power supply using electrostatic induction. Although the numbers of electrode phases can be chosen arbitrary to realize the motor, the characteristics of the motors were analyzed only for two specific cases in the previous studies. This work extends the previously proposed theories so that they can handle a general case, in which the slider and the stator have m- and n-phase electrodes with arbitrary numbers for m and n. The theory can estimate the optimized thrust force performance for any electrode configurations, when given fundamental parameters regarding the capacitance coefficients of the motor, which can be obtained either experimentally or numerically. Using the proposed theory, several different configurations of VITEMs are analyzed and compared, in terms of thrust force performance. The results indicate that electrode thickness considerably affects the thrust force performance of VITEMs, which is not the case for other synchronous electrostatic film motors, and thus suggest that the design of VITEMs should more carefully consider the three-dimensional structure of the electrodes.

This paper describes the development of a SCARA-type haptic device, which will be used to assist a human operator in non-contact object handling of silicon wafers using electrostatic levitation. The device has three degrees of freedom, of which only one (vertical) is actively controlled. By utilizing the admittance control paradigm, a high vertical stiffness and a high output force can be achieved. These properties are necessary for the intended application of non-contact object handling to prevent instabilities (induced by the human motion) of the electrostatic levitation system. As the nominal air gap between object and electrostatic levitator is in the order of 350 micrometer, with an allowable position error of about 150 micrometer, instability can easily occur if there is no haptic assistance, especially in the picking up or placing process. The developed SCARA-type haptic device has a mechanical stiffness of 51 N/mm for the vertical direction when it is in the weakest posture, which is sufficient for the non-contact handling task. The design and performance of the haptic device for the active vertical degree of freedom are described in this paper.

The development of upright postural control has often been investigated using time series of center of foot pressure (COP), which is proportional to the ankle joint torque (i.e., the motor output of a single joint). However, the center of body mass acceleration (COMacc), which can reflect joint motions throughout the body as well as multi-joint coordination, is useful for the assessment of the postural control strategy at the whole-body level. The purpose of the present study was to investigate children's postural control during quiet standing by using the COMacc. Ten healthy children and 15 healthy young adults were instructed to stand upright quietly on a force platform with their eyes open or closed. The COMacc as well as the COP in the anterior-posterior direction was obtained from ground reaction force measurement. We found that both the COMacc and COP could clearly distinguish the difference between age groups and visual conditions. We also found that the sway frequency of COMacc in children was higher than that in adults, for which differences in biomechanical and/or neural factors between age groups may be responsible. Our results imply that the COMacc can be an alternative force platform measure for assessing developmental changes in upright postural control.

Previous electroadhesive climbing robots generally employed typical electromagnetic motors, which spoiled some of the advantages of electroadhesion such as it being light, thin and flexible. To improve these, an integration of electrostatic actuation and adhesion was utilized in this work. By using FEM analyses, the present paper analysed the effect of design parameters on adhesive and driving forces respectively, and examined the possible interference between electrostatic actuation and adhesion inside the integration. Then this article discussed the driving force, payload capacity and torque balance of the robot with the integration. Based on these analyses, we designed and fabricated a lightweight (94 g) and low-height (15 mm) prototype with electrode films made by screen printing. Experiments on the prototype demonstrated that it can adhere to a vertical wall stably and move at a maximum speed of 35.3 mm/s.

This paper reveals that lateral softness sensations can emerge in surface tactile tele-presentation systems with force feedback, if the systems have improper displacement measurements and/or stiness mismatches between a fingertip and tactile sensors. In surface tactile tele-presentation systems, friction force should be reproduced on the master device for high fidelity rendering. If, however, the remote tactile sensor is made of soft material to resemble human fingers, users may experience apparent lateral softness, which does not exist in the remote sample. This work investigates such a phenomenon by using a force-reflecting type master-slave system. The phenomenon is analyzed to provide a simple solution to dissolve the lateral stiness problem. The experiments reveal that the selection of displacement sensing point is important to prevent emergence of the apparent softness, in addition to the matching of sensor stiffness. The paper also discusses how the force reflecting gain affects the phenomenon.