Approximately 1.1. billion people worldwide live with some form of disability, and assistive technology has the potential to increase their overall quality life. However, end users’ perspective needs are often not sufficiently considered during development this technology, leading frustration nonuse existing devices. Since its first competition in 2016, CYBATHLON aimed drive innovation field by motivating teams involve users more actively process tailor novel devices actual daily-life needs....

There is a strong demand in many fields for practical robots, such as porter robot and personal mobility robot, that can move over rough terrain while carrying load horizontally. We have developed called RT-Mover, which shows adequate performance on targeted types of terrain. It has four drivable wheels two leg-like axles but only five active shafts. A strength this it realizes both leg mode wheel simple mechanism. In paper, the mechanical design concept discussed. With an emphasis...

Advances in interventional radiology have made possible magnetic compression anastomosis between the bile duct and small intestine as a novel treatment. A 70-year-old man who had undergone subtotal gastrectomy for gastric cancer 2 years previously experienced recurring cholangitis with high fever jaundice. Diagnostic evaluation subsequently demonstrated complete obstruction of common which was attributed to recurrent cholangitis. parent magnet placed endoscopically into afferent loop...

In this paper, we propose a basic control method for the leg-wheel robot moving on unexplored rough terrains. When terrain, compliance values and trajectories of legs are set up according to environment without using external sensors. And step axis mechanism that have developed, realizes stable rolling movement robot. The proposed is evaluated by walking experiment in an outdoor natural terrain.

Integrating circular economy (CE) principles into mining practices offers a promising path toward reducing environmental harm while promoting sustainable resource management. This shift boosts the industry’s efficiency and profitability aligns it with global sustainability goals. paper delves strategies for closing material loops, such as waste valorization, recovery from mine tailings, water reuse in processes. Additionally, this study highlights innovative technologies their potential to...

We introduced a new vehicle that is the latest version of rough terrain (RT)-Mover series to participate in 2016 Cybathlon. The completed all required tasks at competition and won fourth place powered wheelchair category.

In many fields employing robots, e.g., wheelchair rescue and construction those which can move on rough terrain are desired. A robot with a simple mechanism high mobility for all-terrain is discussed in this paper. novel type of four-wheel-type mobile developed, its design from functional viewpoint. addition, strategies moving introduced, fundamental capability verified through simulations experiments.

There is increasing demand for continued development in personal mobility vehicles, because many people want to use them improve their life. For example, wheelchair users, including with disabilities, need powered wheelchairs daily activities, and elderly expect mobile platforms better quality of are two main research targets these types vehicles: more intelligence higher performance. This paper discusses the latter topic. The vehicle proposed this has high performance on rough terrain;...

In many fields employing robots, e.g., wheelchair rescue and construction robots that can move on rough terrains are desired. A robot with a simple mechanism high mobility for all is discussed in this paper. four-wheel-type mobile developed, its design from functional viewpoint. Its fundamental capability of moving verified through simulations experiments.

We have developed a personal mobility vehicle (PMV) with four driven wheels that is capable of negotiating obstacles leg motion mechanism. When are encountered, lifted, moved ahead in stepping-like motion, and lowered back down, thereby allowing the PMV to advance further. In our previous paper, we discussed principle gait algorithm used by PMV, which utilized as legs negotiate obstacles. original algorithm, when encountered terrain might require traverse, system determined whether such was...

Abstract This paper proposes a stair-climbing gait for four-wheeled vehicle. The idea and methodology of climbing stairs are described, the results experiments shown. Crawler-type vehicles with special, complicated mechanisms commonly used continuous steps (stairs). In contrast, in this paper, vehicle additional degrees freedom, whose mechanism is not as complicated, discussed. A algorithm based on pace proposed, its performance evaluated.

Purpose: Personal mobility vehicles (PMVs) are now being actively developed. Most PMVs wheel-driven, a mode of transport notable for its efficiency. However, such tend to have little over rough terrain. We propose new type PMV, vehicle that traverses relatively smooth terrain by wheel but is capable negotiating using mechanisms as legs. Method: The PMV we intended provide user with degree outdoor in daily urban life, say when going neighbourhood shop or simply taking stroll. do not consider...

The authors have been developing an underwater vehicle "Umihico" that autonomously plans and executes given missions. This paper discusses the problem of finding optimal motion plan for AUV. proposed planning algorithm is divided into two steps, global path local steps. In step, we first define a connectivity graph to evaluate cost each class. Next apply Dijkstra's or all-pairs find (minimum cost) smooth segment which connects configurations in class region computed. If there are any...

A leg-wheel robot has mechanically separated four legs and two wheels, it performs high mobility stability on rough terrains. In this paper, we propose gait algorithms for trot pace gaits, velocity limitation method, which allow continuous locomotion of a under random commands. The are based the predictive event driven method determine leg lifting timing to avoid reaching border work space. limits command when exceeds mechanical specifications robot. Combined with algorithms, proposed...

<br>1. This paper is the full translation from transactions of JSME Vol.72, No.721.

A leg-wheel robot has mechanically separated four legs and two wheels, it performs high mobility stability on rough terrains. The adaptive gait for large terrains of the is composed three strategies. In this paper, an upward step, which one part gait, described. proposed method evaluated by simulations experiments. point flow step When reaches does not come to advance easily because can go up normal gait. At time, difference between actual wheel angles desired grows. Starting detected using...

A leg-wheel robot has mechanically separated four legs and two wheels, it performs high mobility stability on rough terrains. The adaptive gait for large terrains of the is composed three strategies. In this paper, integrated normal gaits terrain proposed. proposed following features: 1. There a path from to any other gait. 2. does not fall into endless loop detection, because moves whenever detects something. 3. changes finally step-over which maximum ability movement when can move. move...

We propose a personal mobility vehicle (PMV) supported by support system (MSS), which expands the field of activities PMV. This vehicle, is called RT-Mover P-type 2, shows adequate performance in urban area. A strength it that realize both leg mode and wheel simple mechanism. In this paper, we introduce whole integrated with PMV MSS, evaluate basic itself experimentally.

We propose a supporting system for automatic control of personal mobility vehicles (PMVs) to pass through narrow space in indoor environment. This consists IR markers located on an entrance and sensor mount PMV. An calculates relative distance between itself marker angle approach marker. To validate the proposed we perform both experiments estimate accuracy calculated demonstrate using our manufactured These results show that is effective path guidance PMVs.

A leg-wheel robot, which has mechanically separated four legs and two wheels, performs high mobility stability on rough terrain. In this paper, we propose a basic control method for the robot moving unexplored terrains. When terrain, compliance values trajectories of are set up in proportion to environment without using external sensors. And step axis mechanism that have developed realizes stable rolling movement robot. The proposed is evaluated by simulations experiments. Using combined...

A leg-wheel robot has mechanically separated four legs and two wheels, it performs high mobility stability on rough terrains. The adaptive gait for large terrains of the is composed three strategies. In this paper, step-down gait, which one part described. point flow When approaches a downward step, forefoot touches surface deeply. It forecasts existence step by information forefoot's touch point. After that, does edge searching operation. This operation going down since fell under if walked...

The leg-wheel robot we developed has four legs and two wheels mechanically separated operates with high mobility stably on rough terrain. We propose a free gait algorithm for the that enables continuous locomotion under random velocity commands. algorithm, based predictive event-driven approach, determines leg-lift timing to keep within prescribed work areas. is operated remotely by an operator who uses controller give straight angular velocity. Our fully automates leg control via operator's...

This paper describes the concept of a Personal Mobility Vehicle (PMV) for daily life. Although powered wheelchairs, which is one category PMVs, already exist commercially, some capabilities them are not adapted certain scenarios our In this paper, we pick up necessary features that performed enough by conventional wheelchairs and discuss how to solve them. We developed brand new PMV, named RT-Mover PType WA, show its primitive motions.