Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3441369.3441371

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3441369.

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/HSI49210.2020.9142662

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICIIT  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICIIT  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICBBE  

DOI： 10.1145/3375923.3375955

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICBBE  

DOI： 10.1145/3375923.3375954

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Language：English   Publishing type：Research paper (scientific journal)  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE  

DOI： 10.1109/ICMECH.2019.8722890

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICNCC  

DOI： 10.1145/3301326.3301389

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICBBE  

DOI： 10.1145/3301879.3301890

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本航空宇宙学会  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：画像センシング技術研究会  

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：IEICE  

It is important for trainees to grasp their own tendency and features of motion objectively and quantitatively with no labor and effort when they practice striking and thrusting motions of swordplay such as Tankendo (close quarter combat with short bamboo sword). To fulfil the above requirement, it is desirable that the trainees are supported by a system for capturing and analyzing, which allows them to immediately use on the spot without changing clothes with almost no labor and effort, whenever necessary. Our study therefore suggests a system capable of capturing and analyzing the postures of articulated human motions in a sagittal plane using at most 4-color spherical light reflective markers through one camera. Our system consists of 4 primary-color spherical light reflective markers, elastic belts with markers, indications for marker wearing positions and one small-size high-speed camera (cell phone). The styrene foam marker is formed into a small-sized light sphere on a thin plastic seat. Some of the markers are attached directly to a user’s body by means of double-coated adhesive tape. Others, which have been previously fixed to the elastic belts, are attached to the body by wrapping around the trunk, head and extremities. The indications for marker wearing positions instruct the user what color of marker should be attached to what site of the body according to the colors and size of user’s clothes and the color combination of objects in the background, following a given flow chart.

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：電子情報通信学会  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICCAI  

DOI： 10.1145/3194452.3194454

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：BESSH-2018  

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：SCAT  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2017.p0829

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2017.p0819

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：Japanese Society of Biofeedback Research  

<p>  Virtual Reality (VR) is a technology, which acts on sense organs, such as visual and auditory organs, to enable the user to sense a computer-created environment virtually as if it was a real environment. A technology, which allows the user to perform addition, deletion, or modification of information presented through computer processing with respect to the objects in the real world, which may be sensed directly by human beings, is referred to as Augmented Reality (AR) or Mixed Reality (MR). The fields, which take advantage of VR/AR, include medical care, health and welfare, education, game, aerospace, automobile, tourism and business. In this report, the latest VR/AR technology is introduced focusing particularly on Head Mounted Display (HMD), which is about to reach the level of consumer equipment, to provide a clue to have a discussion about its feasibility of clinical applications.</p>

DOI： 10.20595/jjbf.44.1_9

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/WACVW.2017.19

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/ijat.2017.p0433

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/ijat.2017.p0378

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IRIS  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Association for Computing Machinery  

DOI： 10.1145/3022702.3022713

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Association for Computing Machinery  

DOI： 10.1145/3022702.3022711

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Association for Computing Machinery  

DOI： 10.1145/3022702.3022712

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICONIP  

DOI： 10.1007/978-3-319-46672-9_60

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：Japanese Society of Biofeedback Research  

DOI： 10.20595/jjbf.43.1_1

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：バイオフィードバック学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：バイオフィードバック学会  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IJASEAT  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IJASEAT  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ISER  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：バイオフィードバック学会  

DOI： 10.20595/jjbf.42.2_114

CiNii Research

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：Society of Biomechanisms  

手は，人間の体において最も器用で巧みな作業を行うことができる部位である．器用なロボットハンドを実現する場合，人間の手に近い自由度を持たせることが近道であるが，アクチュエータや動力伝達機構のため，人間の手の大きさよりも大きく重くなってしまう．そこで，各指の開閉に必要な自由度等を減らし，また，機械でのみ実現できる機能や機構を付与することで，人間の手のような器用さや巧みさを保持しながら，同程度の大きさや重さに近づけている．本稿では，最新の研究動向や開発動向を交えながら，さまざまな特徴を持つヒト型多指ロボットハンドを紹介する．

DOI： 10.3951/sobim.38.31

CiNii Research

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Other Link： https://jlc.jst.go.jp/DN/JALC/10028590650?from=CiNii

Language：Japanese   Publishing type：Research paper (other academic)   Publisher：Society of Biomechanisms  

手は，人間の体において最も器用で巧みな作業を行うことができる部位である．器用なロボットハンドを実現する場合，人間の手に近い自由度を持たせることが近道であるが，アクチュエータや動力伝達機構のため，人間の手の大きさよりも大きく重くなってしまう．そこで，各指の開閉に必要な自由度等を減らし，また，機械でのみ実現できる機能や機構を付与することで，人間の手のような器用さや巧みさを保持しながら，同程度の大きさや重さに近づけている．本稿では，最新の研究動向や開発動向を交えながら，さまざまな特徴を持つヒト型多指ロボットハンドを紹介する．

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

Virtual nail art systems require a nail chip superposition method corresponding to the wrist rotation. In this study, we propose it using the relationship between the center of gravity of a fingernail and a fingertip and the gap of the center of gravity position of a nail to the central axis of a finger. We investigated results of the nail chip superposition using our proposed method. As a result, we confirmed nail chips were superimposed to the hand image.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

In this study, we propose a new fingernail area extraction method using characteristics of color. First, a value of color difference is calculated between color of an attention pixel and an average color of local area around it. Then, the high value pixels are removed. After that, some areas are extracted by setting a threshold. We investigated relationships between wrist rotation angles and success probability of nail detections. As a result, we confirmed our proposed method was effective when the palm side area was taken.

DOI： 10.11485/itetr.38.10.0_33

CiNii Research

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Image Information and Television Engineers  

DOI： 10.3169/mta.2.167

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SII2013  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JACIII  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ASPEN2013  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

回旋性視運動眼振などの刺激に対するゲインの小さい眼球運動を計測するためには，高い精度が必要となる．従来の眼球回旋計測手法においては，瞳孔径変化によって変形した虹彩パターンを修正することで瞳孔径変化の影響を打ち消しているが，常に誤差1.0 [degree] 以下での計測を行うことは困難であった．そこで我々は，瞳孔径変化に対して影響されない部位である虹彩外縁部に存在している結膜血管に着目し，従来の虹彩紋理パターンを用いた眼球回旋計測手法と結膜血管抽出手法を組み合わせることで，高速高精度な眼球回旋計測を行う方法を考案した．評価として6 名の眼球回旋運動映像から，血管端位置を目測にて計測し，本システムの誤差を算出し，瞳孔径変化時においても，常に誤差0.25 [degree] 以下，毎秒処理速度60 回以上での計測が可能であった．

CiNii Research

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Other Link： http://hdl.handle.net/2241/00135155

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Recently, a depth camera is increasingly available with reasonable price. The author describes the specification and defect of the camera. and method of applying it to the estimation of full articulation of a human hand in a proper manner.

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Image Information and Television Engineers  

We propose a virtual keyboard without installing anything on your hands, make a character input by user's gesture. We narrow down keys can be entered using the position of the center of gravity of the hand. We detect a typing operation using fingertip positional change in rectangular frame set to each finger. Combination of these, we construct virtual keyboard that can input keys even if hands move in image. We experimented with this system. As a result, skilled person can enter keys high percentage of correct and stable input time. We confirmed non-expert gets used to this system in short time, input time and percentage of correct is improved.

CiNii Research

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)   Publisher：The Institute of Image Information and Television Engineers  

Previous fingernail detection method was not good at removing some skin areas which have nail-color and gloss. We found that color continuity in skin area can be used for removing these areas. In this paper, therefore, we propose new fingernail detection method using distribution density of strong nail-color pixels and color continuity. We investigated relations between wrist rotation angles and percentage of correct detection. The number of users was three. As a results, we confirmed that our propose method could detect only fingernails at least 85% from ±40 to ±90 and raise accuracy compared with previous method.

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/FCV.2013.6485464

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：MVA Organization  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer-Verlag  

DOI： 10.20965/jaciii.2013.p0739

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Language：Japanese   Publishing type：Research paper (scientific journal)  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/GCCE.2012.6379589

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The author introduces a game that can be played in a virtual world through the same movements in the real world without installation of sensors and a special controller. The core of this technology that is proposed in this paper is a hand pose estimation technology that restores 3D postures from 2-D hand images. This system requires only two small inexpensive high-speed cameras as the peripheral devices. It is not necessary to attach reflective markers on the body of the user.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

To measure the rotational eye movement that has very small amplitude such as torsional optokinetic nystagmus(tOKN), is required high resolution and precise. The conventional method can keep high precise by modifying the iris pattern reshaped by pupil diameter change. But that measurement is performed at less than 0.5° error always has been difficult. Therefore, We are focused on conjunctiva blood vessels are present in the outer iris is not affected pupil diameter change, and combine traditional method using iris pattern matching and conjunctiva blood vessels extraction method. We suppose fast and precise method of measurement of rotational eye movement.

DOI： 10.11485/itetr.36.12.0_57

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JRM  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：JRM  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.4028/www.scientific.net/AMM.162.358

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JRM  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE/SICE  

DOI： 10.1109/SII.2011.6147487

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

CiNii Research

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

To search the factor of motion sickness, measurement of rotational eye movement is required to be robust in the dark. But it is difficult to obtain accuracy because iris patterns highly deform in the dark. There is a method of widely searching whether to presume the position of the moving pattern from the model to make the match with the transformed pattern succeed. But it takes time to the method for the request from the model to process the method of the wide-ranging search while the error margin occurs too much. This study proposes the method by which a wide-ranging search can be carried out with a high-speed algorithm so as to be robust in the dark.

DOI： 10.11485/itetr.35.15.0_27

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

To search the factor of motion sickness, measurement of rotational eye movement is required to be robust in the dark. But it is difficult to obtain accuracy because iris patterns highly deform in the dark. There is a method of widely searching whether to presume the position of the moving pattern from the model to make the match with the transformed pattern succeed. But it takes time to the method for the request from the model to process the method of the wide-ranging search while the error margin occurs too much. This study proposes the method by which a wide-ranging search can be carried out with a high-speed algorithm so as to be robust in the dark.

DOI： 10.11485/itetr.35.15.0_27

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

If the user can input information by hand movement, it enables more complex work in 3D virtual space. We propose a system to detect key input using 3D hand posture estimation system which estimates by camera image with high accuracy without holding the hand still. It is necessary for the input like keyboard to estimate both hands posture accurately. By using the estimated result by two camera images which are captured from different direction, the system detects key input with high accuracy.

DOI： 10.11485/itetr.35.15.0_59

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

It is advantageous to be able to use the nail position information for the gesture recognition about interaction system using the 3D vision and the gesture. However, nail area extraction method effective by both sides of the hand is not confirmed. In this paper, therefore, the purposes of this study are to find important conditions for the separation using color information with white light. As a result, The author could get sights that it is necessary to make lights powerful and put them around hands in order not to make shadow.

DOI： 10.11485/itetr.35.15.0_47

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The authors introduce a 3D hand pose estimation system with first-stage rough screening and second-stage detailed search based on 2D-apprearance-based approach. We especially show the technology which enables a stable handling of objects with two high-speed cameras for a remote control of a vision-controlled robot. In our system, the fixing way of two cameras is not exact, rather those two are just required to be facing orthogonally. Using two estimation results by two cameras, our system works well, estimating the facing condition of the thumb and four fingers, and postures of hand fingers.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We introduce a technique which extracts finger nail areas from a hand image at high speed and high accuracy, for the purpose of improvement of accuracy in 3D hand pose estimation. In the system, first, a hand image is converted into original RGB, YIQ, HSV, HLS, L^*u^*v^* color-coordinate systems and select one where two regions are comparatively in the two-dimension, so as to select the proper color-coordinate system for extraction of the finger nail areas. As the result, HLS color system which is composed of hue, saturation, and brightness showed a good performance. Next, we introduced a the rectangle frame with upper and lower limits at each two axes where all pixels are judged as finger nail area. Our method showed that the number of the areas and each centers can be extracted at high accuracy when these limits are selected properly.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The authors introduce a 3D hand pose estimation system with first-stage rough screening and second-stage detailed search based on 2D-apprearance-based approach. We especially show the technology which enables a stable handling of objects with two high-speed cameras for a remote control of a vision-controlled robot. In our system, the fixing way of two cameras is not exact, rather those two are just required to be facing orthogonally. Using two estimation results by two cameras, our system works well, estimating the facing condition of the thumb and four fingers, and postures of hand fingers.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2011.p1024

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1117/12.890900

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE/SICE  

DOI： 10.1109/SII.2010.5708323

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICAM  

We propose a control algorithm for air cylinder actuator which has a normal PID controller with a variable offset pressure controller, so as to achieve the high speed response and less overshoot. The offset pressure is used as constant in the conventional control algorithm, which gives the stiffness to the air cylinder actuator piston. Our control algorithm therefore adopted a time-variant offset pressure in each air cylinder actuator chamber, so that the actuator properly increase or decrease the stiffness according to the target. The experimental results showed that a rise time was almost the same as that of PID controller, but tracking improved by 40% compared with a normal PID controller when the lamp of target was more moderate.

DOI： 10.1299/jsmeicam.2010.5.135

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ISR  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ISR  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：CONVR  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：VRIC  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

A tactile sensor is indispensable for the remote control of robot hands. A tactile sensor is requested to be small and thin, and be able to estimate the contact force. To mount on a finger pad of the humanoid robot hand, a small tactile sensor that can estimate the magnitude of the force, and the direction and position of the force should be thin and soft. In this study, we propose an optical tactile sensor with a thin, soft elastic body as well as sub miniature camera.

DOI： 10.11485/itetr.34.11.0_63

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

Most of the previous virtual guitar systems, having specific interface devices, output sounds based on inputted chords by users. But you can recognize the generated guitar chords according to other persons' motions by observation. This paper therefore proposes the method to recognize guitar chords using single camera without specific input device. The estimated results showed that the proposed system matched 76.3 percents the correct chords without any sensors.

DOI： 10.11485/itetr.34.11.0_67

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

EMG signals represent muscle tension very well. Conventionally, there are studies that were going to make human machine interface by estimating finger movement in EMG.. However, their studies can't estimate the movement of two fingers using the same muscle separately. Because they didn't consider extracting a characteristic expressing movement of every finger for input signal. Therefore I tried to separating two fingers movement by estimating the MP joint angle of two fingers by the multiple regression analysis that used spectrogram.

DOI： 10.11485/itetr.34.11.0_59

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

We proposed a control algorithm for air cylinder actuator which is a normal PID controller with a variable offset pressure controller achieved high speed response and small overshoot to target. The offset pressure gives the rigidity to the air cylinder actuator piston. The offset pressure is used constant in the case of a general control algorithm. Our control algorithm for it is used asunder offset pressure in each air cylinder actuator chamber. The results that a rise time almost the same as a PID controller but a tracking has improved by 40% compared with a normal PID controller in the case of lamp input of the low increase rate.

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1145/1836821.1836833

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JRM  

CiNii Research

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JRM  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

A tactile sensor is indispensable for the remote control of robot hands. A tactile sensor is requested to be small and thin, and be able to estimate the contact force. To mount on a finger pad of the humanoid robot hand, a small tactile sensor that can estimate the magnitude of the force, and the direction and position of the force should be thin and soft. In this study, therefore, we propose an optical tactile sensor with a thin, soft elastic body and sub miniature camera.

DOI： 10.11485/itetr.33.40.0_1

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：URAI  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

A tactile sensor is indispensable for the remote control of robot hands. A tactile sensor is requested to be small and thin, and be able to estimate the contact force. To mount on a finger pad of the humanoid robot hand, a small tactile sensor that can estimate the magnitude of the force, and the direction and position of the force should be thin and soft. In this study, therefore, we propose an optical tactile sensor with a thin, soft elastic body and sub miniature camera.

DOI： 10.11485/itetr.33.40.0_1

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The Previous systems for 3D human hand posture estimation have adopted clustered multi-layer large-scale database with narrowing of search space by its past estimation results. But once an estimated result at a time is out of the search space, the system can't find out a true or optimal value. Our system therefore has adopted non-clustered large-scale database with narrowing of search space, rather, a coarse search at the first stage according to some aspects of inputted hand images, and an accurate search at the second stage with low-order image features. The experimental results showed that the averaged estimation error is -2.11 degrees, and the candidates for accurate search at the second stage are reduced from 28,386 to 137.7 data sets, which indicates our system realizes the stable hand posture estimation with high accuracy and processing speed as previous system without using the past results.

DOI： 10.11485/itetr.33.40.0_9

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The Previous systems for 3D human hand posture estimation have adopted clustered multi-layer large-scale database with narrowing of search space by its past estimation results. But once an estimated result at a time is out of the search space, the system can't find out a true or optimal value. Our system therefore has adopted non-clustered large-scale database with narrowing of search space, rather, a coarse search at the first stage according to some aspects of inputted hand images, and an accurate search at the second stage with low-order image features. The experimental results showed that the averaged estimation error is -2.11 degrees, and the candidates for accurate search at the second stage are reduced from 28,386 to 137.7 data sets, which indicates our system realizes the stable hand posture estimation with high accuracy and processing speed as previous system without using the past results.

DOI： 10.11485/itetr.33.40.0_9

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

A tactile sensor is indispensable for the remote control of robot hands. A tactile sensor is requested to be small and thin, and be able to estimate the contact force. To mount on a finger pad of the humanoid robot hand, a small tactile sensor that can estimate the magnitude of the force, and the direction and position of the force should be thin and soft. In this study, therefore, we propose an optical tactile sensor with a thin, soft elastic body and sub miniature camera.

DOI： 10.11485/itetr.33.40.0_1

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IUCS  

DOI： 10.1145/1667780.1667800

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We propose a hand posture estimation system that can search a hand posture image most similar to the input data from a large-scaled database. Our system uses, at the first stage, coarse screening by the proportional information on the hand images which roughly correspond to forearm rotation or bending of the thumb or four fingers. And then, at the second stage, performs a detailed search for similarity for selected candidates. To describe forearm rotation, and wrist's internal and external rotation, bending and stretching, no separate processes were used for estimating the corresponding joint angles. We have also enhanced flexibility for hand size and form, e. g. those having thicker fingers, longer fingers, or deeply hooking fingers, through using different typical fingers CG images featuring different bone length and thickness and joint movable ranges in order to permit the system to respond accurately to people of all ages and both sexes, including foreign people. By estimating the sequential images of the finger shape by using this method, we successfully realized a process involving a joint angle estimation error within several degrees, a processing time of approximately 80fps

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

In the authors previous systems for estimating human hand position, it was difficult to estimate with high accuracy without holding the hand still. The inability of such systems to work with a moving hand position reduces the convenience and applicability of the system in different situations. Our system therefore uses an easier algorithm based on image aspects of input hand images. This system can extract the hand area from a hand and arm with high speed and high accuracy. The system is constructed to find and match similar hand images from a large database with high speed and high accuracy and to search for similarities with the image features used. Experimental results using a high-speed camera and a notebook computer showed that the system can estimate 3D hand position and wrist flex and rotation movements with high accuracy. The averaged estimation error was −2.11 degrees and the standard deviation of the estimation error was±14.14 degrees.

DOI： 10.3169/itej.63.822

CiNii Research

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Other Link： https://jlc.jst.go.jp/DN/JALC/00332264750?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical Engineers of Japan  

The authors propose a hand posture estimation system in real time and with high accuracy, for robot hand control and human interface with hand motions without no sensors attached to the users. This method searches the similar image quickly from a large volume of previously-sorted image database which contains complicated shapes and self-occlusions of the human hand. Because the system doesnt need any special peripheral equipment such as range sensor and PC cluster, and works with a note PC using a single high-speed camera, the user can control and make a dexterous robot hand behave as he/she does, and use the system as an information input device by moving his/her hand and fingers.

DOI： 10.1541/ieejeiss.129.800

CiNii Research

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Other Link： https://jlc.jst.go.jp/DN/JALC/00330131368?from=CiNii

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：VRIC  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：VRIC  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

In this paper, we constructed 3D hand posture estimation system which searches the most similar image at each time, not by narrowing the search space by the past results from the database, but using two-stage searches: the first one is coarse screening using relative positions of fingernails, and the other is fine calculation of the similarity using low-order image features. The estimated results were outputted as the finger joint angles. The experimental results showed that the system estimated the human hand posture with 18.31 degrees as the standard deviation of estimation errors in all the finger joint angles, which suggests the efficiency of the proposed system.

DOI： 10.11485/itetr.33.17.0_21

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Yoga teaches that unilateral nostril breathing improves the physical conditions. In the meantime, transnasal expiratory and inspiratory capacities are frequently different between the right and left nasal sides. It is also known that the nasal side with greater ventilation inverts to the other side with smaller ventilation. The time cycle on which the nasal side with a greater nasal cavity resistance and that with a smaller nasal cavity resistance invert is called "the nasal cycle." The author proposes the compact system for the measurement of the nasal cycle with high accuracy, which imposes a small burden to the head and small restrictions to body movements and respiration.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Previous systems for human hand posture estimation have adopted clustered multi-layer database with narrowing of search space by its past estimation results. But once an estimated result at a time is out of the search space, the system can't find out a true value. Our system therefore has adopted non-clustered database with narrowing of search space, rather, coarse search at the first stage with some aspects of hand images, and accurate search at the second stage with HLAC. The experimental results showed that averaged estimation error is -4.51 degrees, and the candidates for accurate search at the second stage are reduced from 20,192 to 85.3, which indicates our system realizes the high accuracy and processing speed as previous system without using the past results.

DOI： 10.11485/itetr.32.40.0_1

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

薄くて柔らかい弾性体に加わる力の位置,大きさ,方向,そして力を加える物体の姿勢情報を推定することが可能な三次元触覚センサの開発を行った.弾性体の側面から,スリットを通した二色の光を照射することで,光の層が等高線の役割を果たし,弾性体の変形後の三次元形状を推定することができる.これにより,厚さ0.1mmの弾性体も使用可能となり,微笑な力に対しても弾性体が変形し,広いダイナミックレンジと高分解能の推定が可能となる.また,力の加わる面とカメラで撮影する面がほぼ等しいため,弾性体表面の形状を検出でき,力を加える物体の形状情報や姿勢情報を推定することができる.この二点を利用することで,棒で力を加えたときの棒の位置や角度,力の入れ具合を高精度で入力できるインタフェースへの応用も可能である.

DOI： 10.11485/itetr.32.40.0_5

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

薄くて柔らかい弾性体に加わる力の位置,大きさ,方向,そして力を加える物体の姿勢情報を推定することが可能な三次元触覚センサの開発を行った.弾性体の側面から,スリットを通した二色の光を照射することで,光の層が等高線の役割を果たし,弾性体の変形後の三次元形状を推定することができる.これにより,厚さ0.1mmの弾性体も使用可能となり,微笑な力に対しても弾性体が変形し,広いダイナミックレンジと高分解能の推定が可能となる.また,力の加わる面とカメラで撮影する面がほぼ等しいため,弾性体表面の形状を検出でき,力を加える物体の形状情報や姿勢情報を推定することができる.この二点を利用することで,棒で力を加えたときの棒の位置や角度,力の入れ具合を高精度で入力できるインタフェースへの応用も可能である.

DOI： 10.11485/itetr.32.40.0_5

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

When the self-collision for the robot hand that had a multi finger and multi degree of freedom was evaded, it was necessary to enlarge the interval of the finger judged that evasion was necessary in the system by making a past finger rest so that what where the finger was made to rest by inertia in an arbitrary place may be the difficult situation, and achieve the collision evasion when the finger operation was fast etc. mutually (hereafter, collision judgment area). However, it becomes impossible to be near the finger when the collision judgment area is enlarged and to operate and the operation of the robot hand will be limited. Therefore, in a small collision judgment area, authors developed the system that did the collision evasion to the finger by avoiding and operating as a technique for achieving the collision evasion. It explains the system as follows.

DOI： 10.11485/itetr.32.40.0_9

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The author proposes a hand posture estimation system that can retrieve a hand posture image most similar to the input data from a non-multilayer database. Our system uses, at the first stage, coarse screening by the proportional information on the hand images which roughly correspond to forearm rotation or bending of the thumb or four fingers. And then, at the second stage, performs a detailed search for similarity for selected candidates. Through the system construction, you can understand that extraction of hand region is very important for 3D hand posture estimation based on 2D-appearance- based approach.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

When the self-collision for the robot hand that had a multi finger and multi degree of freedom was evaded, it was necessary to enlarge the interval of the finger judged that evasion was necessary in the system by making a past finger rest so that what where the finger was made to rest by inertia in an arbitrary place may be the difficult situation, and achieve the collision evasion when the finger operation was fast etc. mutually (hereafter, collision judgment area). However, it becomes impossible to be near the finger when the collision judgment area is enlarged and to operate and the operation of the robot hand will be limited. Therefore, in a small collision judgment area, authors developed the system that did the collision evasion to the finger by avoiding and operating as a technique for achieving the collision evasion. It explains the system as follows.

DOI： 10.11485/itetr.32.40.0_9

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

Previous systems for human hand posture estimation have adopted clustered multi-layer database with narrowing of search space by its past estimation results. But once an estimated result at a time is out of the search space, the system can't find out a true value. Our system therefore has adopted non-clustered database with narrowing of search space, rather, coarse search at the first stage with some aspects of hand images, and accurate search at the second stage with HLAC. The experimental results showed that averaged estimation error is -4.51 degrees, and the candidates for accurate search at the second stage are reduced from 20,192 to 85.3, which indicates our system realizes the high accuracy and processing speed as previous system without using the past results.

DOI： 10.11485/itetr.32.40.0_1

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

Previous systems for human hand posture estimation have adopted clustered multi-layer database with narrowing of search space by its past estimation results. But once an estimated result at a time is out of the search space, the system can't find out a true value. Our system therefore has adopted non-clustered database with narrowing of search space, rather, coarse search at the first stage with some aspects of hand images, and accurate search at the second stage with HLAC. The experimental results showed that averaged estimation error is -4.51 degrees, and the candidates for accurate search at the second stage are reduced from 20,192 to 85.3, which indicates our system realizes the high accuracy and processing speed as previous system without using the past results.

DOI： 10.11485/itetr.32.40.0_1

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：URAI  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SIGGRAPH  

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SIGGRAPH  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1093/ietisy/e91-d.6.1693

Web of Science

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The authors propose a method to use slenderness ratio of hand area as well as the contour information of a large number of hand shapes in advance in a database, for estimation of the human hand posture with wrist rotation by a single camera. The experimental results showed that the standard deviation of estimation error in all finger joints and speed are 13.22degrees and 9〜13fps respectively, and 13.22degrees and 1.3fps respectively without the ratio of hand area, suggesting that our method is effective.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

This study proposed a three-dimensional tactile sensor that enables to use a thin and soft elastic body without requiring any such processing as drawing of pattern on the surface or injection of pigment, etc., in the belief that this would enable to produce a wide dynamic range and a high resolution. We manufactured an optical type pressure sensor capable of irradiating a light in parallel to an elastic body, in such a way that the contour line may indicate the shape of the object material and, with the position of incidence of this light as clue, estimating the "contact position of the object material," "magnitude of the force," and "angle of incidence of the force." The estimation experiment showed that the output of the tactile sensor exhibits the same accuracy as that of a conventional hard and heavy sensor.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We proposed a control algorithm for air cylinder actuator to accomplish high-speed response and small overshoot to a target, which is composed of a normal PID controller with a PD controller for common bias pressure. The results of experiments showed that a rise time is almost the same as that of conventional PID controller but the overshoot decreased from 30% to 4%, suggesting that our system is useful for position or speed control with pneumatic actuators.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The authors proposed a simulator for designing of multi-fingered robot hands, with which a designer can quantitatively know how many minimum degrees of freedom, where and how they should be arranged for a humanoid robot hand with different usage and purpose. For the evaluation of the simulator, optimal arrangement of the degrees of freedom was discussed for the usage of chopsticks by a humanoid robot hand.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We proposed a control algorithm for air cylinder actuator to accomplish high-speed response and small overshoot to a target, which is composed of a normal PID controller with a PD controller for common bias pressure. The results of experiments showed that a rise time is almost the same as that of conventional PID controller but the overshoot decreased from 30% to 4%, suggesting that our system is useful for position or speed control with pneumatic actuators.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The authors proposed a simulator for designing of multi-fingered robot hands, with which a designer can quantitatively know how many minimum degrees of freedom, where and how they should be arranged for a humanoid robot hand with different usage and purpose. For the evaluation of the simulator, optimal arrangement of the degrees of freedom was discussed for the usage of chopsticks by a humanoid robot hand.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：ヒュ-マンインタフェ-ス学会  

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ISUC.2008.30

Web of Science

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DOI： 10.1145/1401615.1401626

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communication, Engineers, IEICE  

DOI： 10.1093/ietisy/e91-d.6.1693

Scopus

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本バ-チャルリアリティ学会  

The skin-color extraction at high accuracy and with high speed is indispensable for user interfaces where the human gestures are used as the input and cues to a system. The conventional color systems for skin-color extraction may often lose the accuracy due to the change of light conditions. When the accuracy is satisfying, the calculating speed may slow down. In this paper, therefore, the authors propose a new color system acquired by two vectors of individual persons' color distribution, where the skin-color area is extracted by a rectangle which optimally fits the skin-color ellipsoid. And the ranges in each axis are simply specified in extraction by the rectangle. This method can decrease the extraction error, as well as drastically reduce the calculation amount. The experimental results showed that the skin-color system proposed in the paper can extract the skin area at the speed of 149 fps, and at the rate of 94 % of correction, or more. Our system can also extract the human nail area.

DOI： 10.18974/tvrsj.12.4_471

CiNii Research

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

CiNii Research

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Robotics Society of Japan  

CiNii Research

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1163/156855307782506183

Web of Science

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JRM  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The authors developed a method enabling to search similar images at high speed, with high accuracy, and in uniform processing time even in the case of use of a large-scale database, by clustering databases with about uniform numbers of data through self-organizing including self multiplication and self-extinction, and by collating the input image with the data in the database by means of low-order amounts of characteristics of images, while narrowing the search space in accordance with the past history. By making estimation of continuous hand finger shape image string by using the method, we succeeded in realizing processing with an estimation error of joint angle within several degrees, at a processing time of 150 to 160 fps, and in an operating time without dispersion, in the case of use of a PC having a CPU clock frequency of 2.8 GHz and a memory capacity of 1GB. Because the image information and the joint angle information are paired in the database, the robot hand called as "Copycat hand" was able to reproduce the same motions as those of hand fingers of a human being, without any delay in time, by outputting the results of estimation at the robot hand.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

The tactile sensors with the elastic body may work as human skin sensors, because the elastic body is soft and thin, and easy to be distorted. But the conventional elastic bodies for the optical sensors are not thin due to their producing procedure, and the sensors have no sufficient resolution on the estimation of the position, force, and angle of the object. In this study, therefore, we propose a new tactile sensor with a thin elastic body to increase the high resolution of the estimation of the position, force, and angle of the object. The elastic body has no patterns on the surface of, or within the body to measure the features of distorted body. Rather, we adopted the lights to estimate the characteristics of the force through the image processing on the distortion of the elastic body.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

For the purpose of acquisition of the knowledge to construct the practical computer vision for hand posture estimation with, the authors experimentally investigated the visual cues in understanding of the shape of human hand. In this paper, we discussed mainly on the wrinkle, nail, and color of the hand skin. In the experiment, the minimum time for presentation of the hand image was measured beforehand and fixed in each subject, in which he or she can recognize the shape. Then, the editted images of the human hand were presented, where one of three cues were emphasized, decreased, or added with anatomical contradiction. The subjects were instructed to answer the hand shape that he or she observed. As the results, the contribution ratios of the visual cues were 25% in nail, 20% in wrinkle, and 15% in skin color, respectively.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

An optical pressure sensor with elastic body has the possibility to be a soft and thin pressure sensor as a human skin, owing to the features of the material. But the information of direction and magnitude of the local strain is not enough for the calculation of the accurate horizontal load. In this paper, therefore, the authors theoretically discussed the algorithm to calculate the 3-dimensional loads in the elastic body, using the features where the distribution density of strain inceases in the horizontally forced area. We proposed a model for the relation between strain and external force in the elastic body, through which the magnitude of the force, position of the contact, and each of horizontal and vertical load can be calculated from the distribution density of strain. The different weights were given according to the area in the elastic body to increase the accuracy in the estimation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

For the purpose of acquisition of the knowledge to construct the practical computer vision for hand posture estimation with, the authors experimentally investigated the visual cues in understanding of the shape of human hand. In this paper, we discussed mainly on the wrinkle, nail, and color of the hand skin. In the experiment, the minimum time for presentation of the hand image was measured beforehand and fixed in each subject, in which he or she can recognize the shape. Then, the editted images of the human hand were presented, where one of three cues were emphasized, decreased, or added with anatomical contradiction. The subjects were instructed to answer the hand shape that he or she observed. As the results, the contribution ratios of the visual cues were 25% in nail, 20% in wrinkle, and 15% in skin color, respectively.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

For the purpose of acquisition of the knowledge to construct the practical computer vision for hand posture estimation with, the authors experimentally investigated the visual cues in understanding of the shape of human hand. In this paper, we discussed mainly on the wrinkle, nail, and color of the hand skin. In the experiment, the minimum time for presentation of the hand image was measured beforehand and fixed in each subject, in which he or she can recognize the shape. Then, the editted images of the human hand were presented, where one of three cues were emphasized, decreased, or added with anatomical contradiction. The subjects were instructed to answer the hand shape that he or she observed. As the results, the contribution ratios of the visual cues were 25% in nail, 20% in wrinkle, and 15% in skin color, respectively.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

An optical pressure sensor with elastic body has the possibility to be a soft and thin pressure sensor as a human skin, owing to the features of the material. But the information of direction and magnitude of the local strain is not enough for the calculation of the accurate horizontal load. In this paper, therefore, the authors theoretically discussed the algorithm to calculate the 3-dimensional loads in the elastic body, using the features where the distribution density of strain inceases in the horizontally forced area. We proposed a model for the relation between strain and external force in the elastic body, through which the magnitude of the force, position of the contact, and each of horizontal and vertical load can be calculated from the distribution density of strain. The different weights were given according to the area in the elastic body to increase the accuracy in the estimation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The tactile sensors with the elastic body may work as human skin sensors, because the elastic body is soft and thin, and easy to be distorted. But the conventional elastic bodies for the optical sensors are not thin due to their producing procedure, and the sensors have no sufficient resolution on the estimation of the position, force, and angle of the object. In this study, therefore, we propose a new tactile sensor with a thin elastic body to increase the high resolution of the estimation of the position, force, and angle of the object. The elastic body has no patterns on the surface of, or within the body to measure the features of distorted body. Rather, we adopted the lights to estimate the characteristics of the force through the image processing on the distortion of the elastic body.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

An optical pressure sensor with elastic body has the possibility to be a soft and thin pressure sensor as a human skin, owing to the features of the material. But the information of direction and magnitude of the local strain is not enough for the calculation of the accurate horizontal load. In this paper, therefore, the authors theoretically discussed the algorithm to calculate the 3-dimensional loads in the elastic body, using the features where the distribution density of strain inceases in the horizontally forced area. We proposed a model for the relation between strain and external force in the elastic body, through which the magnitude of the force, position of the contact, and each of horizontal and vertical load can be calculated from the distribution density of strain. The different weights were given according to the area in the elastic body to increase the accuracy in the estimation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The tactile sensors with the elastic body may work as human skin sensors, because the elastic body is soft and thin, and easy to be distorted. But the conventional elastic bodies for the optical sensors are not thin due to their producing procedure, and the sensors have no sufficient resolution on the estimation of the position, force, and angle of the object. In this study, therefore, we propose a new tactile sensor with a thin elastic body to increase the high resolution of the estimation of the position, force, and angle of the object. The elastic body has no patterns on the surface of, or within the body to measure the features of distorted body. Rather, we adopted the lights to estimate the characteristics of the force through the image processing on the distortion of the elastic body.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Service Robots must recognize and reproduce human gesture to help the persons. The hand has complex multijointed fingers among the body parts. The hand posture estimation, therefore, is known for the greatest difficulty, especially with the wrist rotation. In this paper, we constructed 3D hand posture estimation system which searches for approximate nail postions and hand countour data from a database composed of nail postions, hand contour, and finger joint angles. The experimental results showed that the system estimated the hand posture with wrist rotation with processing speed of 100fps, with standard deviation of 6.53 degrees in the finger joint angle as the accuracy.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

It was the one intended for very slow operation, and it was not appicable in the robot hand etc. that operated at high speed though there was something that the self-collision evasion control was dane to the robot manipulator in real time so far. In this research, the system that was able to evade the self-collision to five finger robot hand that operated at high speed by composing the trouble space that showed the state to habe caused the self-collision beforehand. and calculating the distance to the state from a present passing speed in real time was constructed. Moreover, the posture of an original robot that did not collide was generated with the map to the space when the virtual trouble space with a certain constant thickness was composed on the surface of the trouble space, and the target was indicated in the trouble space.

CiNii Research

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DOI： 10.1109/IECON.2007.4460062

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1093/ietfec/e89-a.11.3290

Web of Science

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Three conditions at least should be satisfied when you try to control a dexterous robot hand according to the result of human hand posture estimation: the estimation accuracy should be high enough to generate the same motions as those of the human hand and fingers; the processing speed should be short enough to be controlled in real time processing; and each processing time should be almost the same for stable robot control. Various hand posture estimation systems have been proposed. Some of them seem to accomplish a certain level in accuracy, but the sufficient processing speed has not been achieved. In this paper, the authors propose a hand posture estimation system with high-speed and at high accuracy with uniform processing time, by adopting Self-Organizing Map with the algorism of self-multiplication and self annihilation to the database to accomplish multi-step search. The number of data in each classes in each steps is almost the same. And the history was used and the target classes and data were limited to decrease the search space. A color high-speed camera was used in our system to be robust against light conditions. Our system accomplished the human hand posture estimation with 160fps.

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1093/ietisy/e89-d.6.1820

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1093/ietisy/e89-d.6.1813

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

Degrees of freedom in the motion must be reduced to some extent in order to sufficiently construct the humanoid robot hand in small and light-weight. There is due to a large constraint at the number and total power in the robot hand, since an adequate actuator which can be used at present is only a motor, and which may especially spoil the motion of pinching papers and needles in the fingertip which is one of the important function in the robotic hand. In this study, therefore, the authors developed the robotic hand that can generate the pinching motion by appropriately adding necessity minimum degrees of freedom without destroying the general harmony as a humanoid robotic hand.

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communication, Engineers, IEICE  

DOI： 10.1093/ietisy/e89-d.6.1813

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1145/1179133.1179138

Scopus

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Language：English   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：ヒュ-マンインタフェ-ス学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We have been developing a humanoid robot hand that is expected to acquire shape, size, mass and functions all equal to humans. In this proceeding, we explain the history of the developing to achieve a pinching function.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The processing time for human hand posture estimation should be equal for the purpose of stable control of robots. The hand posture estimation by means of searching a similar image from a vast database, moreover, may cause the increase of processing time, and prevent realtime controlling of a robot. In this study, therefore, the author proposed a new estimation method of human hand posture by rearranging the vast database with the Self-Organizing Map (SOM) including self-reproduction and self-annihilation, which enables two-step searches of similar image with short and equal period of processing time within small errors. The experimental results showed that our the system exhibited good performance with high accuracy within processing time of 20ms or less for each image input with a 2.8GHz CPU PC.

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1093/ietfec/e88-a.10.2514

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

It is difficult in the conventional cylinders to generate the performance of immobilizing the piston at a certain position which is defined as stiffness. The authors investigated and compared with pneumatic artificial rubber muscle, and developed an automatic choke valve where the unidirectional valve is arranged as bypassing so that the air of the high pressure will flow into the air cylinder and the piston can move at high velocity, and where the valve is automatically choked to decrease each flow so that a passive stiffness by spring effect or damping effect of the internal air is obtained. Then, we carried out experiments for evaluation of the system, using a humanoid robot arm with seven degrees of freedom as double acting air cylinder actuators with automatic choke valves and with I-PD control. The experimental results showed that an overshoot was approximately ten percents against the target angle but the joint was controlled with an error under one degree about follow-up to the target angle and with a time constant less than one second, even when five joints were simultaneously controlled under the influence of their respective motions These results indicate that our air cylinder with automatic choke valve is effective to obtain quick motions with high accuracy easily.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The hand posture estimation system by searching a similar image from a vast database, such as our previous research, may cause the increase of processing time, and prevent realtime controlling of a robot. In this study, therfore, the authors proposed a new estimation method of human hand posture by rearranging the vast database with the Self-Organized Map (SOM) including self-proliferation and self-disappearance, which enables two-step searches of similar image with short period of processing time within small errors. The experimental results showed that our the system exhibited good performance with high accuracy within processing time of 20ms or less for each image input with a 2.8GHz CPU PC.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electronics, Information and Communication, Engineers, IEICE  

DOI： 10.1093/ietfec/e88-a.10.2514

Scopus

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

To implement learning ability of human motion skills by watching, some problems at least should be solved as follows: Firstly, human hand posture estimation needs to be accomplished with high accuracy and high-speed processing. Secondly, algorithms to translate the estimated information into robot's own motor commands are necessary, where there are differences of, for example, dynamics, structures, and numbers of degree of freedom between humans as actors and teachers and robots as observers. Thirdly, ability to understand what is the goal of the motion should be implemented, then, the robot needs to know which trajectory should be selected, and how and when the force should be controlled. In this paper, the author introduces some results on robot's "learning by watching" project obtained recently, focusing mainly on human hand posture estimation systems and humanoid robot hands which can stably pinch at the fingertips.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

In this study, a CG animation tool was designed that allows interpolation and extrapolation of two types of repeated motions including finger actions, for quantitative analyses of the relationship between features of human motions and subjective impressions. Three-dimensional human motions are measured with a magnetic motion capture and a pair of data gloves, and then relatively accurate time-series joint data are generated utilizing statistical characteristics. Based on the data thus obtained, time-series angular data of each joint for two dancing motions is transformed into frequency domain by Fourier transform, and spectral shape of each dancing action is interpolated. The interpolation and extrapolation of two motions can be synthesized with simple manner by changing an weight parameter while keeping good harmony of actions. Using this CG animation tool as a motion synthesizer, repeated human motions such as a dancing action that gives particular impressions on the observers can be quantitatively measured and analyzed by the synthesis of actions.

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The authors realized a system for retrieving the shape of human hand fingers in real time and with high accuracy, without using any special peripheral equipment such as range sensor, PC cluster, etc., by a method of searching similar image quickly and with high accuracy, from a large volume of image database containing complicated shapes and self-occlusion. In designing the system, we constructed a database in a way to be adaptable even to differences among individuals, and searched CG images of hand similar to unknown hand image, through extraction of characteristics using high-order local autocorrelational patterns, reduction of the amount of characteristics centering on principal component analysis, and prior rearrangement of data corresponding to the amount of characteristics. As a result of experiments, we realized a processing speed of 30 tips or over, and high-accuracy estimation of human hand shape.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We built the master-slave system for humanoid robotic hand control with data glove for the purpose of obtaining optimal and automatic matching between a motion-measurement device and output device both of which have many degree of freedom. The relationship of inputs and outputs between data glove and robotic hand was described multiple linear regression model for multiple linear regression coefficient which was resulted singular value decomposition to decrease the influence of system noise with an algorithm which be abele to avoid amplification of noise. By this way, it was been possible to match the relationship of inputs and outputs automatically and at fast. The result of experiments from viewpoints of positioning accuracy and time subordinate characteristic, the robotic hand could be controlled with no offset and below 80ms delay including communication and waste of actuators times.

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

In the conventional finger form presumption, there was a problem that special apparatus could not be needed or presumption on real time could not be performed. In this study, a hand posture estimation system was proposed with database of hand images and joint angle data with processing time of 30 frames per a second. In the database, each image was devided into some areas from where the features were extracted with higher-order local autocorreration function. Joint angle data paired with each image were obtained with a data glove. The number of features in the database was decreased and the images were sorted according to the features, so as to obtain the orderly database. When hand images are input to the system with a high speed camera, features of each image is sequentially extracted with the same method, and the likelihood is selected according to the distance. The experimental results showed that the system performs with high accuracy within processing time of 33 ms for each image input.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：映像情報メディア学会  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Degrees of freedom in the motion must be reduced to some extent in order to sufficiently construct the humanoid robotic hand in small and light. There is due to a large constraint at the number and total power in the robot hand, since an adequate actuator which can be used at present is only a motor, and which may especially spoil the motion of pinching papers and needles in the fingertip which is one of the important function in the robotic hand. In this study, therefore, the authors developed the robotic hand that can generate the pinching motion by appropriately adding necessity minimum degrees of freedom without destroying the general harmony as a humanoid robotic hand.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：映像情報メディア学会  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to construct of a robot hand system which can reproduce the human hand movement with relatively the same precision and processing speed as the humans'. In the system, a hand posture database with the movement data for recognition was constructed and was enhanced by interpolation. When unknown video images are input to the system, the likelihood image is searched according to local patterns of high order local autocorrelation The system estimated the human hand posture and reproduced the same movement by controlling a dextrous robot hand at comparatively high precision within video rate.

CiNii Research

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Language：English   Publishing type：Research paper (other academic)   Publisher：JACIII  

CiNii Research

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Language：English   Publishing type：Research paper (other academic)   Publisher：JACIII  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Okinawa University  

The purpose of this study is to examine the relationship between physical motion characteristics and the subjective impressions produced in dancing. Motions of Okinawan folk dance "Kachaasii" were used for the experiment, because the dancers can produce various kinds of movement with no regular rules of operation, which suggests that the structures of subjective impressions for dance motions are not limited, and that quantitative analyses are easily adoptable to in the frequency or time domain. Questionnaire with adjectives and adverbs for subjective estimation were the target for principal component analysis. Response variables were each principal component scores which are equivalent to subjective impressions, and explanatory variables were kinematics features of arm's movement in multiple regression analysis.

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

By designing the humanoid robotic hand system that can imitate other's behaviour by watching, with similar processing speed and accuracy with humans, the auhtors tried to experimentally prove the hypothesis that the human mirror neuron is the influential, or rather, unique method in which the ill-posed problems in both of recognition and control can be solved.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

Our purpose is to develop the humanoid robotic hand which can transmit feelings, emotions and impressions to human observers through the hand motions or the gestures. In this study, a compact and light robotic hand was developed for the humanoid robots by extracting and mounting necessity minimum function in human hand motions. And basic dynamics and controllabilities to the time-series signals in the joints were experimentally examined, through which a compact feed-forward control system was implemented. The controllabilities were investigated to sinusoidal input with different periods and to frequency modulation input as the system evaluation. And finally, the sign language motions were produced as an example of nonverbal communication of the robotic hand.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

By designing the humanoid robotic hand system that can imitate other's behaviour by watching, with similar processing speed and accuracy with humans, the auhtors tried to experimentally prove the hypothesis that the human mirror neuron is the influential, or rather, unique method in which the ill-posed problems in both of recognition and control can be solved.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Ithe goal of our work is to construct a human-robot communication system in which a robot behaves according to its own "learning by watching" ability. In this study, we firstly introduce a light and compact robotic hand, which has a thumb and four fingers, and which can produce abduction and adduction motions between four fingers. We secondly investigated the fundamental characteristics of controllability, through which the hand moves according to desired time-series patterns of each angles. Finally, we proposed the control system of the robotic hand with a data-glove, where numbers of degrees of freedom are different and the positions of sensors and angles are also different between them.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

A small and compact equipment was designed in which the human nasal expirations through both sides of the nose are separately measured, and the long-time measurement of the nasal breathing and its alternate replacement of the dominant side were carried out from the viewpoint of the circadian rhythm. The results of frequency analyses at the individual side and multivariate autoregressive model among two variables showed that there are differences in the frequency component according to the circadian rhythm, firm rhythmicity of the unilaterality, and crosswise difference according to the change of respirations.

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Language：English   Publishing type：Research paper (other academic)   Publisher：JRM  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to examine the relationship between physical motion characteristics and the subjective impressions produced in dancing. Motions of Okinawan folk dance "Kachaasii" were used for the experiment, because the dancers can produce various kinds of movement with no regular rules of operation, which suggests that the structures of subjective impressions for dance motions are not limited, and that quantitative analyses are easily adoptable to in the frequency or time domain. Questionnaires with adjectives and adverbs for subjective estimation were the target for principal component analysis. Response variables were each principal component scores which are equivalent to subjective impressions, and explanatory variables were kinematic features of arm's movement in multiple regression analysis.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

A pointing device is indispensable element in composing graphical user interface. Now, mouse is widely used as a pointing device because its usage is intuitive and easy to understand. For the user to use the mouse device, the user must be able to touch the equipment directly with the provided mouse. Therefore, the area of the operation which the mouse equipment could be freely used is limited. In general, a mouse device is comprised of pointing and switch systems. If it is possible to replace the system on a nontuch device, there would be no need to consider the kind of limitation which a mouse device has. In this paper, we propose a technique to estimate the shape and position of the human hand with from a monocular camera for recognition of the human gestures. In the system, the sequential images are recorded with a monocular camera, and then transformed into the log-polar mapped images by log-polar mapping. The higher order local autocorrelation feature changes when the target is rotated. We introduced therefore a rotational invariance by carrying out the log-polar mapping before extracting the higher order local autocorrelation feature. Our system using the log-polar mapping reduces the date size of the images without spacial accuracy of the target.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Our purpose is to develop the robotic hand which can transmit feelings, emotions and impressions to human observers through the hand motions. In this study, a compact and light robotic hand was developed for the humanoid robots by extracting and mounting necessity minimum function in human hand motions. And basic dynamics and controllabilities to the time-series signals in the joints were experimentally examined.

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

In this paper, we propose a technique to estimate the shape and position of the human hand with from a monocular camera for recognition of the human gestures. We believe that the computer recognition of the human gestures without or in addition to the conventional input devices such as keyboards and mouses, will surely become a good interface in the human-computer communication. In our system, the sequential images are recorded with a monocular camera, and then transformed into the log-polar mapped images by log-polar mapping. Then, the human hand regions are extracted depending on a frame subtraction image, an edge image and color informations. The center of the image is used initially as the log-polar coordinate origin. In the initial stage of the processing, the center of gravity of hand reginestimated is asigned to a log-polar coordinate origin. But later soon, the fingers' shape is used by the multiple regression analysis using higher order local autocorrelation features. We recognize gestures by shape and trajectory of the hand motion. The higher order local autocorrelation feature changes when the target is rotated, therefore, we introduced a rotational invariance by carryin

CiNii Research

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

DOI： 10.3169/itej.56.1841

CiNii Research

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Other Link： https://jlc.jst.go.jp/DN/JALC/00160758209?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

DOI： 10.3169/itej.56.1624

Scopus

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Forum on Information Technology  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

本稿では,手話の形状と軌道が同じで,動作時間の差により複数の意味を持つ同動作異義語の時間弁別閾値について検討を行い,手話を弁別するには手指の形状や位置,表情などの他に動作時間の情報も重要であること,また,同動作異義語に対して,手話単語の理解がどの時間範囲において確立するのかを示す.

DOI： 10.3169/itej.56.302

CiNii Research

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Other Link： https://jlc.jst.go.jp/DN/JALC/00155160871?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to examine the relationship between physical motion characteristics and the subjective impressions produced in dancing. The structure of subjective impressions for dance motions with no regular rule of operation was investigated using Okinawan folk dance "Kachaasii", through which, mainly by arms with many degrees of freedom, dancers can produce various kinds of movements which frequency analyses are easily adoptable to. Questionnaires with adjectives and adverbs for subjective estimation were the target for principal component analysis. Response variables were each principal component scores which are equivalent to subjective impressions, and explanatory variables were kinematic features of arm's movement in multiple regression analysis. Furthermore, it tries generation of these dance movements by humanoid robotic arm.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The goal of this study is to construct a huma-robot communication system. In the present study, therefore, we propose a technique to recognize motions of human hand and fingers from a single CCD image sequence, so as to extract motion parameters and control a humanoid robotic arm with hands. It is possible from the image to recognize the shape and posture of human hand and fingers if it is of a rigid body with simple shape. But a joint object with combination of rigid bodies may generally need both geometric model constructed beforehand and matching the images with the model. In this paper, we decrease computational complexity by adopting the range limitation of finger angles and the minimum accuracy for the control. So we estimate the fingers' shape using self-organizing feature map. we decided the control parameter of humanoid robotic hand from the estimated result of the fingers' shape. So, we carried out control experiments of humanoid robotic hand with these control parameters.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

In this paper, we propose a technique to estimate shape and position of target object in sequential images based on human visual characteristics. Sequential images which are recorded with a monocular CCD camera are transformed into log-polar mapped images in order to reduce the size of images without image accuracy in and around the target. We carried out experiments to demonstrate the effectiveness of the proposed method for the processing time and accuracy. As the experimental results, the tracking and the recognizing were successfully accomplished with high accuracy within 40ms per a frame with an available personal computer without extra peripheral equipments.

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

DOI： 10.3169/itej.55.1539

CiNii Research

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Other Link： https://jlc.jst.go.jp/DN/JALC/00123588683?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this paper is to examine the durations of motions as a cue of the sign language in the sign language. The authors presented three words of the sign language, whose durations were different but whose trajectories were almost the same, by CG animation technology. In addition, two-way ANOVA was adopted in three groups as follows : the deaf, sign-language experts and beginners, so as to analyse the discrimination strategies in the time scale.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

All kinds of study studied it about impression image and configuration of dancing till now. In our study group, examined relevance of exercise characteristic and impression of subjectivity for Okinawa dancing "Kachaasii". Moreover, the animation which in late years representation ability of computer graphics has grown, and do behavior of human of indication with nature more is demanded. The study to examine impression of subjectivity of human and relevance with exercise by expressing a dance and actuating of human using computer graphics inside is reported. However, in these studies, be not ten minutes now to express the natural actuating that humans do. So, in this study, tried generation by dancing actuating to invent impression of subjectivity using hyman actuating generation procedure by frequency analysis.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We are possible to estimate shape and posture from an image in case of it is a rigid body and simple shape, but generally, in case of joint object which is a combination of many rigid body, I prepare a geometric model of an intend for object beforehand, and technique to recognize is used by model matching with an image. A posture estimate for the whole human body is necessary in order to build the virtual world, and a posture estimates of a finger become important in order to realize interface of a computer and remote control of a machine. In addition, it is necessary to estimate a position and posture with resolving power of degree that a robot can reproduce when I regarded construction of a communication system with humans as a robot. In this study, I suggest technique to estimate a control parameter from an image by a stemma camera in order to reproduce of humans movement with a robot hand. So we estimate finger and arm shape what consist of many rigid body and becomes complicated shape, that computational complexity of model matching increases. So we attempt to cut computational complexity with resolving power of degree that a limitation condition of joint angle operation range of humans and a robot hand can reproduce.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The goal of this study is to investigate the essence of human walking by analyzind a handstand walk, and to apply it to the locomition of bipedal walking robot. In the present study, time-series angle changes of wrist, arm, shoulder, upper body were measured in handstand walk. The phases of stationary standing, balanced walking and falling were compared each other. The results showed that the small changes in joint angle of upper body and shoulder were one of key factors to keep handstanding stable. The characteristics of dynamic walk were suggested in a balanced handstand walk.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Imitation learning by watching is the way that a teacher or other person shows how to solve a task and a student translates the process into his own dynamics to realize the same motion with the teachers'. Some researches reported that the imitation learning can be carried out by robots with CCD vision. The recent studies switched their focus from simple trajectory learning to high-level task learning, where the key to success is to choose proper motion parameters in each tasks. In this study, eye movements and subjective focus point in a subject were measured when a subject observed novel dance motions, and these features were compared with his reproducing pattern of the motions. The purpose was to understand how to choose the motion parameters and how to shift his strategy in imitation learning of novel, fine and complex movements.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

In this study, the authors focused on and observed the human infants' primitive reflexes, and intended to reproduce the behavior though a humanoid robotic arm with rubber muscles and muscle-skeleton structure equivalent to that of the human. The purpose is to investigate a hypothesis that fine and complex voluntary movements might be generated through changes of the parameters, which produce the primitive reflexes. In the present study, especially, motion characteristics of the robotic arm and rubber-muscle's tension features were clearly examined.

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to estimate three-dimensional motions of the sign language with a monocular camera. In the system, a three-dimensional human model with three-dimensional polyhedrons with seven degrees of freedom was prepared, and two-dimensional image sequences sith a CCD camera were applied. Moreover, optical flows in three frames before current time were used for the motion estimation, so that the system can be robust to self-occlusions by performer's own face and body. In the experiment, standstill, straight, circular, arc motions and their combinations were adopted for the estimation. As the results, the system realized the gesture estimation and tracking with high accuracy. In the experiment of reproducing three-dimensional motions with computer graphics, gesture reproductions were performed within 340ms per a frame without any specific computer hardwares. These results showed that the system is effective for three-dimensional motion estimation for sign language with a single CCD camera.

DOI： 10.11485/itetr.25.29.0_49

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

In this study, the author used a humanoid robotic arm with rubber muscles whose muscle-skeleton structure was equal to that of tile human, for the purpose of understanding precise and complicated voluntary movements produced by human brain. First, responses which resembled primitive reflexes observed in the human infant were generated by the robotic arm, and output patterns of human CNS to each muscles were estimated. Then, magnitude and time-related parameters of the output patterns were changed, so as to experimentally examine how much precise and complicated the behavior of the robot may become in its voluntary movements.

DOI： 10.11485/itetr.25.29.0_67

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to examine the relationship between physical motion characteristics and the subjective impressions produced in dancing. The structure of subjective impressions for dance motions with no regular rule of operation was investigated using Okinawan folk dance "Kachaasii". Only the movement of the leg was discussed here. First, the questionnaire method and the principal component analysis were adopted for investigation of the mental structure of the leg motion in dance. Next, the dance was reproduced with computer graphics, and the subjective impressions were examined. The results showed that the movement of leg has five subjective scales : preference, weight, width and kinetics.

DOI： 10.11485/itetr.25.29.0_79

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to estimate three-dimensional motions of the sign language with a single camera. In the system, first, a three-dimensional human model with three-dimensional polyhedrons with nine degrees of freedom was prepared, and two-dimensional image sequences with a CCD camera were applied. Moreover, optical flows in three frames before current time were used for the motion estimation, so that the system can be robust to self-occlusions by performer's own face and body. In the experiment, standstill, straight, circular, arc motions and their combinations were adopted for the estimation. As the results. the system realized the gesture estimation and tracking with high accuracy. And human voluntary movement model was constructed based on optimal control. An objective function was define as follows: square of the rate of change of acceleration multiplied by an exponential function of time integrated over the entire movement. Variational calculus was used to obtain the equation expressing the 3-D wrist trajectory. As the result of parameter estimation, even a small difference in a same sign language motion was clear in the parameters.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

In this paper, we propose a method of gesture recognition in seqauential images based on tracking of a human hand with the information of optical flows and colors. Sequential images which are recorded with a single CCD camera are transformed into log polar images in order to reduce the size of images. This system requires no extra peripheral equipments neither such as a digital signal processor board, nor a special optical systems for pre-processing. We carried out experiments to demonstrate the effectiveness of the proposed method. As the experimental results, the tracking and the recognizing were successfully accomplished with high acccuracy. The system can track the target with processing time of about 40 milliseconds per a frame with an available personal computer without extra peripheral equipments.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to estimate three-dimensional motions of the sign language with a single camera. In the system, a three-dimensional human model with three-dimensional polyhedrons with nine degrees of freedom was prepared, and two-dimensional image sequences with a CCD camera were applied. Moreover, optical flows in three frames before current time were used for the motion estimation, so that the system can be robust to self-occlusions by performer's own face and body. In the experiment, standstill, straight, circular, arc motions and their combinations were adopted for the estimation. As the results, the system realized the gesture estimation and tracking with high accuracy. In the experiment of reproducing three-dimensional motions with computer graphics, gesture reproductions were performed within 0.34ms per a frame without any specific computer hardwares. These results showed that the system is effective for three-dimensional motion estimation for sign language with a single CCD camera.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to estimate three-dimensional motions of the sign language with a single camera. In the system, a three-dimensional human model with three-dimensional polyhedrons with nine degrees of freedom was prepared, and two-dimensional image sequences with a CCD camera were applied. Moreover, optical flows in three frames before current time were used for the motion estimation, so that the system can be robust to self-occlusions by performer's own face and body. In the experiment, standstill, straight, circular, arc motions and their combinations were adopted for the estimation. As the results, the system realized the gesture estimation and tracking with high accuracy. In the experiment of reproducing three-dimensional motions with computer graphics, gesture reproductions were performed within 0.34ms per a frame without any specific computer hardwares. These results showed that the system is effective for three-dimensional motion estimation for sign language with a single CCD camera.

DOI： 10.11485/itetr.25.9.0_53

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

For the purpose of quantitative investigation of the relationship between human movements and subjective impressions, principal component analysis and multiple regression model were adopted to Okinawan folk dance ゛Kachaasii゛, through which, mainly by arms with many degrees of freedom, dancers can produce various kinds of movements which frequency analyses are easily adoptable to.Questionnaires with adjectives and adverbs for subjective estimation were the target for principal component analysis.Response variables were each principal component scores which are equivalent to subjective impressions, and explanatory variables were kinematic features of arm's movement in multiple regression analysis.The results showed that Kachaasii has five subjective scales: preference, rigidity, speediness, stability, and changeability.Furthermore, there were highly correlation between those scales and motion features respectively as follows: preference vs.turnaround of wrist, rigidity vs.turnover of wrist and height of movement, speediness vs.no pause of movement, unstability vs.moving near, and changeability vs.horizontal movement of arm.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

Although a large number of previous studies have been made on discussion about subjective evaluation to dance and motion, little is known about the relation between characteristic of motion and subjective impression. This study was to examine the relation between characteristics of motions and contingency, and a subjective impression quantitatively in CG which realizes Okinawan Kachaasii dance, using principal component analysis and multi regressionanalysis. The present study clarifies the relation between the characteristics and time contingency of motion, and index or key for subjective impression in the Okinawan dance through dancing CG character's evaluaton. Through dancing CG character's evaluation, which helps CG designers to produce impression and atractive contents.

DOI： 10.11485/itetr.24.39.0_25

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

This paper reports on the development of a wireless portable apparatus for measuring joint angles of fingers. To measure motions of (Okinawa traditional) dance, a magnetic motion capture system and a data glove are used in our study. However, the data glove has an electric wire to output its detected signals, which causes motions of dancers to be constrained. So, we made the data transmission system for angles of fingers and considered whether it was possible to transmit multichannel data in real time by using it.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This paper reports on the development of a wireless portable apparatus for measuring joint angles of fingers. To measure motions of(Okinawa traditional) dance, a magnetic motion capture system and a data glove are used in our study. However, the data glove has an electric wire to output its detected signals, which causes motions of dancers to be constrained. So, we made the data transmission system for angles of fingers and considered whether it was possible to transmit multichannel data in real time by using it.

DOI： 10.11485/itetr.24.39.0_31

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to clarify motion characteristics and the relevance related to impressions. Although evaluations on the impressions aroused by arm movements in Okinawan dance "Kachaasii" have been carried out, it is not clear how other parts of the body and their movements evoke psychological impressions. This study quantitatively estimated the relationship among impressions, parts of the body and the motion characteristics.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to clarify motion characteristics and the relevance related to impressions. Although evaluations on the impressions aroused by arm movements in Okinawan dance "Kachaasii" have been carried out, it is not clear how other parts of the body and their movements evoke psychological impressions. This study quantitatively estimated the relationship among impressions, parts of the body and the motion characteristics.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study is to identify the relationship between motion kinematics or dynamics and the impressions produced in dancing. The structure of subjective impressions for dance motions with no regular rule of operation was investigated using Okinawa dance "Kachaasii". First, the questionnaire method and the principal component analysis were adopted for investigation of the mental structure of the dance. The direction, the ratio of quadrature axis and vertical line, the sum of acceleration, range of angular variation of fingure top, wrist or elbow were discussed.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

We make impression structure of non-fixed form dancing as Kachaasii clear, that we invent the impression there is you as a purpose with feeling a predicted body location. By this study, at first using Okinawa dancing Kachaasii we are compared with various double account interest with stoppage of the gaze point of a subject we measure the track of eyes In next, Than a measurement result of the gaze point of a body location peculiar to we examined relevance. A result of experiment we examined it when one exercise was done eyeball exercise showed a change for the exercise that there is an eyeball we understood that I showed specified eyeball exercise.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to identify the relationship between motion kinematics or dynamics and the impressions produced in dancing. The structure of subjective impressions for dance motions with no regular rule of operation was investigated using Okinawan dance "Kachaasii". First, the questionnaire method and the principal component analysis were adopted for investigation of the mental structure of the dance. The direction, the ratio of quadrature axis and vertical line, the sum of acceleration, range of angular variation of fingure top, wrist or elbow were discussed.

DOI： 10.11485/itetr.24.38.0_47

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Although a large number of previous studies have been made on discussion about subjective evaluation to dance and motion, little is known about the relation between characteristic of motion and subjective impression.This study was to examine the relation bertween characteristics of motions and contingency, and a subjective impression quantitatively in CG which realizes Okinawan Kachaasii dance, using principal component analysis and multi regressionanalysis.The present study clarifies the relation between the characteristics and time contingency of motion, and index or key for subjective impression in the Okinawan dance through dancing CG character's evaluation. Through dancing CG character's evaluation, which helps CG designers to produce impression and atractive contents.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this paper is to examine the sensitivity and features of peripheral vision and fixation in smooth pursuit when visual tasks were presented on a foveal vision. The spatial range and dynamic features of peripheral vision were investigated compared to reaction time, both when the gaze of subjects were fixed and when the instruction was given to follow the moving target. As the results, reaction time was increased under both conditions when the tasks were presented to foveal vision. In addition, the sensitive area of vision tended to shift to moving direction of gaze according to velocity of the moving target. These results suggested that visual information process may be disturbed when the attention of a subject is focused to fovea, and there may be different mechanism of processing in foveal and peripheral vision.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this paper is to examine the sensitivity and features of peripheral vision and fixation in smooth pursuit when visual tasks were presented on a foveal vision. The spatial range and dynamic features of peripheral vision were investigated compared to reaction time, both when the gaze of subjects were fixed and when the instruction was given to follow the moving target. As the results, reaction time was increased under both conditions when the tasks were presented to foveal vision. In addition, the sensitive area of vision tended to shift to moving direction of gaze according to velocity of the moving target. These results suggested that visual information process may be disturbed when the attention of a subject is focused to fovea, and there may be different mechanism of processing in foveal and peripheral vision.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We make impression structure of non-fixed form dancing as Kachaasii clear, that we invent the impression there is you as a purpose with feeling a predicted body location. By this study, at first using Okinawa dancing Kachaasii we are compared with various double account interest with stoppage of the gaze point of a subject we measure the track of eyes In next, Than a measurement result of the gaze point of a body location peculiar to we examined relevance. A result of experiment we examined it when one exercise was done eyeball exercise showed a change for the exercise that there is an eyeball we understood that I showed specified eyeball exercise.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：電子情報通信学会  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Although a large number of previous studies have been made on discussion about subjective evaluation to dance and motion, little is known about the relation between characteristics of motions and subjective impression. This study was to examine the relation between characteristics of motion and contingency, and a subjective impression in CG which realizes Okinawan Kachaasiidance, using principal component analysis. The present study clarifies the relation between the characteristics and time contingency of motion, and index or key for subjective impression in the Okinawan dance through dancing CG character's evaluation. Through dancing CG character's evaluation, which helps CG designers to produce impressive and atractive contents.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study was to examine in investing impression organizaiton of non-fixed form dancing as Kachaasii and factor of information oredicted that the impression. The evaluation of impression only motion characteristic of dancing isn't shown, too. This study evaluated of impression about various dance and examined new evaluation axis for Kachaasii with principal compornent analysis.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

A wireless portable apparatus for measuring joint angle of fingers has been developed. In order to measure motions of (Okinawan) dance, a magnetic motion capture system is utilized in our study. For measuring joint angle of fingers a data glove is useful. The data glove, however, has an electric cable to output its detected signals, and this causes the motions to be constrained. In this paper, it is described that joint angle data were transmitted in a magnetic field which was generated by the motion capture system and at the most 5.7×10^<-1> of bit error rate occurred. An improvement of an error detecting and correcting circuit for the apparatus is also considered.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：電子情報通信学会  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Human vision has two areas: one is fovea cetralis which is located at the center of visual axis and has high resolution, and the other is the peripheral where the resolution decreses according to the distance from the fovea. This relationship between distance and visual resolution is known as the log polar mapping, which realizes two different functions in central and peripheral visions respectively. The object is focused and recognized with high resolution in the central vision, but the area is small. However, the objects in a large area are roughly recognized in peripheral vision with low resolution. We propose the new method of target tracking with log polar mapping adapted to sequencial image and with moving-area elimination through the optical flow obtained with difference image method and generalized gradient-based method. Through our system, the target tracking is realized with high resolution with short period of processing time, and with data processing reduced

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We measured the dancer who was judged by previous research at 3-dimensional motion capture system of a magnetic formula for the purpose of quantitative description of characteristic and contingency of motion in Okinawan Kachaasii dance. We examined the relationship among motions of shoulder, elbow and wrist through the cumulative power contribution and impulse response of the multivaliate autoregressive model. The results showed that "the cheerful" factor as the second principal component is defined as the vector of wrist-rotation response from shoulder impulse.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Although a large number of previous studies have been made on discussion about subjective evaluation to dance and motion, little is known about the relation between characteristics of motions and subjective impression. This study was to examine the relation between characteristics of motion and contingency, and a subjective impression in CG which realizes Okinawan Kachaasiidance, using principal component analysis. The present study clarifies the relation between the characteristics and time contingency of motion, and index or key for subjective impression in the Okinawan dance through dancing CG character's evaluation.Through dancing CG character's evaluation,which helps CG designers to produce impressive and atractive contents.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

This study proposes a character recognition system which discriminates test sample into the category which the test sample belongs on the basis of information extracted from learnig pattern about feature dimension effective in discernment. due to lack of deterministic selecting methods, the feature selection has been heuristically selected. and the space which should be searched was conventionally huge. however, this system enable good selection of features based on genetic algorithms which obtain an optimum solution. We confirmed validity and superior performance of the proposed method by computer simulations.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this study was to examine investing impression organization of non-fixed form dancing as Kachaasii and factor of motion information predicted that the impression. The evaluation of impression only motion characteristic of dancing isn't shown, too. This study evaluated of impression about various dance and examined new evaluation axis for Kachaasii with principal component analysis.

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

We measured the dancer who was judged by previous reseach at 3-dimensional motion capture system of a magnetic formula for the purpose of quantitative description of characteristic and contingency of motion in Okinawan Kachaasii dance.We examined therelation among motions of soulder, elbow and wrist through the cumulative power contribution and impulse response of the multivaliate autoregressive model.The results showed that the wrist motion has neither synchrony nor periodicity with other two joint motions. However, the motion of shoulder and elbow and rotation of a wrist each synchronized and periodicity was also seen. Furthermore,the shoulder rotation affected two joints in the frequency domain.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose this study was examine physical motions characteristics of Okinawan-dance was classed by subjective impression. The subjective impression of Kachaacii dance was estimated with principal component Analysos, and the physical motions of shoulder, elbow and wrist joint in Kachaasii was examined with multivariate autoregressive model. The time-series data of positions and angles of three joints were calculated according to the deforming conditions and shielding directions of the ring lights. The results of cumulative power contribution and impulse response showed that mutual interaction of joint rotations produced high scores in subjective evaluation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose this study was examine physical motions characteristics of Okinawan-dance was classed by subjective impression. The subjective impression of Kachaacii dance was estimated with principal component Analysis, and the physical motions of shoulder, elbow and wrist joint in Kachaasii was examined with multivariate autoregressive model. The time-series data of positions and angles of three joints were calculated according to the deforming conditions and shielding directions of the ring lights. The results of cumulative power contribution and impulse response showed that mutual interaction of joint rotations produced high scores in subjective evaluation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

Multivariate autoregressive model was adopted to quantitatively estimate the motion characteristics in walking of blind children. Multivariate AR parameters were investigated from the viewpoint of relative power contribution and impulse response. As the results, the present analysis quantitatively described the characteristics of walking such as shuffling walk in blind children.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This paper shows some researches on dance which have been carried out by author's group. In the first chapter of this paper, motion capture technology is introduced. In the succeeding three chapters, subjective evaluation of Okinawan "Kachaasii" dance for clustering types of motion characteristics, multivariate autoragressive analysis of the dance, and analysis of subjective impression caused by rules of joint motions by CG are shown respectively.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This study proposes a new method for character recognition which automatically selects key features in Japanese characters. Our new system adopted genetic algorithms (GA) for feature selection, while experts' experience and knowledge have been used in the previous studies for feature selection, due to lack of effective methods and huge space to search. The algorithm was adapted to ETL-8b database and the effectiveness was evaluated. Score of 91.0(%) was obtained for recognition, which supported that the dimensions of character feature can be effectively reduced by GA.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study was to examine the correlation between subjective impressions and physical motions of shoulder, elbow and wrist in Kachaasii dance. The subjective impression was estimated with semantic differential technique, and the physical motions ware investigated with multivariate autoregressive model. The time-series data of positions and angles of three joints were calculated according to the deforming conditions and shielding directions of the ring lights. The results of cumulative power contribution and impulse response showed that mutual interaction of joint rotations produced high scores in subjective evaluation.

DOI： 10.11485/itetr.22.32.0_19

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to identify a major factor of ambiguity of nasal cycle from the viewpoint of contingency of each breathing. The waveform of nasal breathing measured with thermistors was converted to time-series data of the breathing volume, and multivariate autoregressive model was adopted to the shift. The experimental data showed that both of nasal breathings drifted according to a similar pattern in the morning and at night, while each side behaved independently in the daytime. These results suggested that the nasal cycle easily changes due to disturbances although each side has similar pattern of output.

DOI： 10.11485/itetr.22.32.0_13

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The subjective impression of KACHAASII's skillfulness was quantitatively evaluated with semantic differential technique. Then, the contingency of joint rotation in shoulder, elbow and wrist joints was examined with multivariate autoregressive model. The time-series data of positions and angles of three joints were calculated according to the deforming conditions and shielding directions of the ring lights. In an excellent dancer, the motions of shoulder and elbow were highly synchronized and smoothly controled. The low-frequency output of the shoulder and elbow were mutually interacted. Meanwhile, the wrist behaved independently of other joints' rotation.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this study is to investigate the relationship between the human nasal cycle and circadian rhythm. Both sides of nasal breathing were measured with small thermistors and the time-series data were converted into digital data. The nasal cycle was obtained by calculating the switching duration of a predominant side of nasal breathing. The experimental results showed that the frequency of the nasal cycle is high in the daytime compared with that in the early morning and at night, suggesting that the nasal cycle was influenced by circadian rhythm.

DOI： 10.11485/itetr.21.40.0_7

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This study adapted three analyses to spontaneous interblink intervals to investigate the temporal fractal in the human eyeb1ink. First, periodic regularity was qualitatively investigated with one-dimensional maps. Second, the regularity was quantitatively measured by the Poisson regime test. Third, the temporal fractal dimensions were estimated from the regression coefficients of cumulative frequency distribution of the log-log histograms. The behavior of eyelids was optically measured and transformed into point-series data in three conditions : with no, passive and active stressers respectively. The results were as follows : first, the blinking patterns change mainly in period three or four. Second, the intervals change not at random but with statistically significant regularity. Third, the fractal dimension in subjects with no or passive stressers exhibited great value compared with that in subjects with active stresser. Those results suggest that the spontaneous blink patterns have regularity with various time scales, even though the blink seems to occur randomly, and that the scale which is defined as temporal fractal dimension mainly changes according to the psychological attitudes of subjects.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This study proposed first-passage-time function models of one-dimensional Brownian motion with drift for spontaneous eye blinking, and investigated blink burst at low level of vigilance with the models. The first-passage-time probability density was calculated with two parameters : distance from the initial point to the threshold and the drift rate, and analyzd with Pearson plots. The results showed that the decrease of distance to the threshold caused blink burst which exhibited exponential function distribution in joint histogram, but the shift of drift rate caused no changes in the distribution.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

The purpose of this experiment is to analyze the relation between pupil and heart rate under active and passive stress. The changes of pupillary diameter and heart rate variability were measured under three conditions: with no, mental and physical stress increased the pupil size, which suggests that different types of stress cause different features of pupillary dynamics.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electronics, Information and Communication Engineers  

This study proposed first-passage-time function models of one-dimensional Brownian motion with drift for spontaneous eye blinking, and investigated blink burst at low level of vigilance with the models. The first-passage-time probability density was calculated with two parameters: dist:ince from the initial point to the threshold and the drift rate, and analyzed with Pearson plots. The results showed that the decrease of distance to the threshold caused blink burst which exhibited exponential function distribution in joint histogram, but the shift of drift rate caused no changes in the distribution.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

The purpose of this experiment is to analyze the relation between pupil and heart rate under active and passive stress. The changes of pupillary diameter and heart rate variability were measured under three conditions : with no, mental and physical stress.The results showed that mental stress decreased pupillary hippus and physical stress increased the pupil size, which suggests that different types of stress cause different features of pupillary dynamics.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This conference paper gives a brief and up-to-date review on physiology and psychology of vision. It is composed of eight chapters as follows : Visual area of cortex, development of visual system, eye movemnet and eyeball, organization of visual features, occluded line and edge, perception of motion, attention and eye blinking.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Reliability Engineering Association of Japan (REAJ)  

信頼性技術は, 産業社会の基盤を支える重要な技術であり, 技術立国を国是とする我が国においてその重要性は明白である.主に数理統計学と故障物理を柱として発展してきた信頼性技術であるが, 高度化複雑化する技術課題に対して新たなブレイクスルーが求められている.一方, 情報処理分野ではニューロ技術と総称される手法が開発され, 既に多くの応用事例がある.これらは各々の応用分野で成功を収めており, いまや情報処理システムの基本的技術手法の一つとなっている.本稿では, ニューロ技術の基礎とその信頼性問題の諸側面との関わりについて記述する.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日産科学振興財団  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Image Information and Television Engineers  

This study proposed one-dimensional stochastic diffusion models for spontaneous eye blink and analyzed burst patterns of the blinks during low vigilance. The models presumed the interblink interval distribution to be first-passage-time probability densities of the Ornstein-Uhlenbeck process. To estimate the parameters, the behavior of upper eyelids was measured when the vigilance of the subjects was high and low. As the results, the observed data was in good agreement with the model output and the threshold of a virtual blink generator changed with vigilance. It became evident that the Ornstein-Uhlenbeck first-passage-time models are valid spontaneous blink models and that the burst patterns occur because of a shift of the threshold.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan (IPSJ)  

This study proposed one-dimensional stochastic diffusion models for spontaneous blink and analyzed clustery patterns of eyeblink in low vigilance. The models presumed the interblink interval distribution as first-passage-time probability densities of the Ornstein-Uhlenbeck process. The behavior of upper eyelids was experimentally measured when the vigilance of subjects was high and low to estimate the parameters. As the results, the threshold of a virtual blink generator changed according to their vigilance. It became evident that the Ornstein-Uhlenbeck first-passage-time models carry validity as spontaneous blink models and that the clustery patterns occur due to a shift of the threshold.

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

This study used an optimization algorithm to mathematically investigate the light-regulation mechanism of the pupil. Regulation criteria were derived from consideration of the autonomic nervous system and the morphology of pupillary smooth muscles. An objective function was defined as follows : square of the rate of change of acceleration multiplied by an exponential function of time integrated over the entire movement. Variational calculus was used to obtain the equations expressing the pupil behavior. To evaluate the model, infrared pupillography was used to measure pupillary constriction and dilatation in response to step changes of light. The observed data was in good agreement with the model output, supporting our idea that the pupillary light response is regulated to maximize rapidity as well as smoothness.

DOI： 10.3169/itej1978.48.1036

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Other Link： https://jlc.jst.go.jp/DN/JALC/00080699460?from=CiNii

Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

This study proposes a new method for estimating visual load rapidly and objectively The physiological indices used are the closing and opening durations of each spontaneous blink, which durations are derived from the peak of the electro-oculography waveform. Three experiments respectively investigating the changes of the closing and opening durations due to the experimental visual load, due to the biological rhythm, and due to the width of the palpebral fissure showed that the opening duraion of a spontaneous blink is prolonged by the visual load This effect does not depend on the biological rhythm, interindividual variations, and the initial width of the palpebral fissure

DOI： 10.3169/itej1978.48.702

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Other Link： https://jlc.jst.go.jp/DN/JALC/00080572404?from=CiNii

Language：Japanese   Publisher：Japan Audiological Society  

In this study, a time-variant adaptive digital filter was designed for the purpose of improving the articulation scores of Japanese consonant-vowell syllables in the hearing impaired. In the system, some band-pass filters were generated beforehand which match the human auditory filters. The local peaks of consonant spectrum in high frequency were selectively detected by the running spectrum method, and the proper filter characteristics were adopted to the monosyllables to enhance transient formants and band noise of consonants. Articulation scores and phonetic confusion among the original and modified syllables were experimentally investigated with the pseudo hearing impaired. As a result, modified plosives improved the articulation, however, modified fricatives increased phonetic confusion. Other monosyllables decreased confusion, but exhibited no significant improvement. These results suggest that enhancing the local peaks of consonant is effective to the consonants where formant transients are used as a psychoacoustic cue in auditory perception.

DOI： 10.4295/audiology.37.57

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Language：Japanese   Publisher：The Institute of Image Information and Television Engineers  

Markov properties are the stochastic processes which determine the dependency of a current event upon earlier events. This study applies this statistical index to spontaneous blink intervals to quantitatively analyze the factors which regulate interblink intervals. Vertical electro-oculography is used to measure the blinks of normal subjects for thirty minutes with and without a mental task. As a result, subjects without a mental task exhibit strong Markov properties, which suggests that blinks evoked by stationary physical stimulus such as dryness and dustiness occur depending upon earlier events. On the other hand, subjects with a mental task exhibit weak Markov properties, which suggests that blinks evoked by transient cognitive factors occur randomly according to the current state of the subjects.

DOI： 10.3169/itej1978.48.317

CiNii Research