In this paper, we provide a theoretical analysis of the amount musical noise in iterative spectral subtraction, and its optimization method for least generation. To achieve high-quality reduction with low noise, i.e., iteratively applied weak nonlinear signal processing, has been proposed. Although effectiveness reported experimentally, there have no studies. Therefore, formulate generation process by tracing change kurtosis spectra, conduct comparison different parameter settings but same...

This paper presents novel types of polarizers that are composed grooved circular waveguides. The presented suitable for realizing high-performance and low-fabrication cost in the Ka-band above because simple structure. Accurate analysis design performed using full-wave mode-matching techniques applied to circular-to-rectangular waveguide T-junctions cross-junctions. fabricated with aid have realized excellent performance without tuning elements.

Background. In β 2 -microglobulin-related (Aβ2M) amyloidosis, partial unfolding of -microglobulin (β2-m) is believed to be prerequisite its assembly into Aβ2M amyloid fibrils in vivo . Low concentrations sodium dodecyl sulfate induce β2-m an amyloidogenic conformer and subsequent fibril formation vitro , but the biological molecules that them under near-physiological conditions have not been determined.

In this paper, a master-slave integrated surgical robot system for the laparoscopic surgery is proposed. Instead of commanding manipulator from remote master console, proposed integrates controller into proximal end slave manipulator. The has flexible wrist joint, whose bending angle operated by joystick on master. Focusing suturing curved needle, which common task in surgery, we developed an active motion transformation method that allows surgeon to insert needle easily. When inserting...

In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of exoskeleton different from users' legs, it not required to attach links user's knee and adjust length links. McKibben type pneumatic artificial muscles are adopted as actuators, realizing back-drivability. We proposed control method with detection intention user using air pressure sensors isolated itself, without attaching user. The actuators pre-pressurized then difference monitored used...

Power assistive devices have been developed in recent years. To detect the wearer’s motion, conventional require users to wear sensors. However, wearing many sensors increases time, and usability of device will become worse. We a soft gait suit actuated by pneumatic artificial rubber muscles (PARMs) proposed its control method. The is easy because attachment unit does not any electrical that need be attached trainee’s body. A target application forward walking exercise on treadmill. detects...

In robot-assisted minimally invasive surgery, feedback as well sensing of translational and grasping forces allows surgeons to manipulate the robots using an appropriate force. However, there have been limited reports on single instruments capable both (translational force force), with exception electronic sensors.In this study, a pneumatically driven surgical instrument estimating is developed. Our estimation method based dynamics pneumatic pressure changes instrument. For each estimation,...

[abstFig src='/00280004/13.jpg' width='300' text='Proposed pneumatically driven multi-DOF surgical forceps manipulator' ] In this study, a pneumatically-driven manipulator was developed for master-slave-type robot. The proposed had two flexible joints, one the bending joint at tip and other transmitting force from actuators to wires of forceps. degree-of-freedoms (DOFs) by only pneumatic cylinders gripper cylinder. Given interoperability in real surgery, mechanism such that clean part could...

Motor skill learning is fundamental in many physical activities of human. In the processes motor skills, learners often receive visual or information about postures from teachers. However, usually cannot be transmitted precisely. this paper, we propose a motion teaching system to transmit teachers' directly by using capture and an assist suit. The suit, which has pneumatic artificial rubber muscle (PARM) as actuator, was designed move learner's hip joint with less loss assistive force...

In this paper, we applied our soft sensorless gait assistive suit to underwater walking, which is popular as a training method for elder persons and in rehabilitation. The has an effect that the weight of trainee canceled by water's buoyancy, can carry out desired walking exercises with lower leg load using situation. driven pneumatic artificial rubber muscles (PARMs). phase detected from pressure derivative PARMs, assists during swing phase. consists attachment unit control unit, these...

Development of intuitive user interface a dexterous forceps with wrist joint for minimally-invasive surgery (MIS) is important reducing the surgeon's confusion and fatigue. In this paper, wearable robotic manipulator proposed. By measuring attitude surgeon by motion sensor driving tip actuators, operation realized, compared fully mechanical forceps. A compact lightweight system achieved since we adopt pneumatic actuators to drive manipulator. order help force sensing surgeon, external...

In this paper, a lightweight master interface for surgical robot system is proposed. The position of the human hand measured by non-contact motion tracker, but force feedback realized handheld haptic device. A gripping displayed pneumatic bellows, which smaller and more than electric motors. As slave manipulator, gripper forceps actuated using cylinder. Force estimation possible due to back-drivability actuator. Experimental results show control performance device constructed master-slave system.

The artifacts caused by various factors, EOG (electrooculogram), blink and EMG (electromyogram), in EEG (Electroencephalogram) signals increase the difficulty analyzing them. In addition, containing often cannot be used So, it is useful indispensable to eliminate from signals. this paper, a neural network with non-recursive IIR (Infinite Impulse Response) filters are proposed method new approach that respect slotting filter into individual neurons of network. First all, order investigate...

In this research, we developed a surgical robotic system which consists of pneumatically-driven hand-held forceps with 2-dof wrist joint and 4-dof holder. A master-slave type joint, in the master is integrated itself, proposed. Moreover, intuitive operation realized by an active transformation from surgeon's wrist-rotation to tip-rotation using IMU pneumatic cylinders. Finally, experimentally confirmed joints tip rotation controls are satisfactory.

Haptic feedback in teleoperated surgical robot systems enhances safety and efficiency of the surgery. In this paper, a haptic device, which displays grasping force, is developed. The proposed device adopts welded metal bellows, can be used as actuators by supplying compressed air. has three sets bellows so that it 2-DOFs display both positive negative force. A control method developed, converts reference force to thumb index finger pressure, then controls internal pressure bellows. An...

In this paper, a lightweight master interface for surgical robot system is proposed. The position of the human hand measured by non-contact motion tracker, but force feedback realized handheld haptic device. A gripping displayed pneumatic bellows, which smaller and more than electric motors. As slave manipulator, gripper forceps actuated using cylinder. Force estimation possible due to back-drivability actuator. Experimental results show control performance device constructed master-slave system.

A novel hand-held robotic forceps for the laparoscopic surgery is developed. Intuitive operation realized by an active transformation from surgeon's wrist-rotation to tip-rotation using IMU and lightweight pneumatic actuators. The position control performance was evaluated in-vivo experiment conducted confirm ability of suturing.

In this paper, we discuss the amount of musical noise generation for blind speech extraction using minimum mean-square error short-time spectral amplitude (MMSE-STSA) estimator. To achieve high quality enhancement, have previously proposed spatial subtraction array (BSSA). However, BSSA always suffers from artificial distortion, so-called noise, owing to nonlinear signal processing. Therefore, propose improved MMSE-STSA estimator and its generalized method as post-processing part BSSA. Also,...