GE巻頭言103.indd
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1 はじめに 21 VR VR 2. スポーツ技能向上と VR 技術の整理 2.1 スポーツ技能の分類 VR 2. 2 筋力トレーニング VR VR 8
2 JVRSJ Vol.7 No.2 June, 感覚器 座標変換トレーニング 3 VR HMD VR VR 2.5 認識 判断 運動トレーニング VR VR 2.4 運動パターントレーニング VR 3. スポーツ特有の課題 3.1 機器の軽量 小型化 VR 3 9
3 運動の高速性 高加速性 VR 19[m/sec] 4 30[msec] 60[cm] 3.3 力感覚の呈示 VR 幾つかの試み 4.1 筋力トレーニング 感覚器 座標変換トレーニング VRML Virtual Reality Modeling Language 6 HMD 運動パターントレーニング
4 JVRSJ Vol.7 No.2 June, HMD 判断トレーニング 力感覚呈示システムの試作例 5.1 パラレルワイヤ駆動システム VR GG 20 N 図 1. パラレルワイヤ駆動システム概念図 Fig. 1 Concept of parallel wire drive system 図 2. バーチャルテニスシステム Fig. 2 Virtual tennis system 11
5 図 3. シリアルリンク構造パラレルワイヤ駆動システム Fig.3 Serial link structure/parallel wire drive system 5.2 粒子内蔵型受動要素による力覚提示システム 外膜排気口粒仕切り中枠図 4. 粒子受動要素構造 Fig.4 Structure of particle element 伸長収縮曲げ捻り図 5. 要素変形の様子 Fig.5 Deformation of element 図 6. 双腕用力提示装置 Fig.6 Force display for dual arm 7 7 A B C 8 B C g 12
![10 Outfit with pipe shape Particles Soft tube (cloth) position[cm] speed[cm/sec] force[n] force position](/docs-images/94/122409229/images/6-1.jpg "speed Area C Area B Area A 図 11. 肩 肘用装具 Fig.11 Outfit for shoulder and elbow 図 8. 実験結果 Fig.")
6 JVRSJ Vol.7 No.2 June, 領域 C 壁 領域 B 水中領域 A 空中図 7. 仮想設定環境 Fig.7. Virtual world 手先軌道 Covering film 図 10. パイプ形状型装具 Fig.10 Outfit with pipe shape Particles Soft tube (cloth) position[cm] speed[cm/sec] force[n] force position speed Area C Area B Area A 図 11. 肩 肘用装具 Fig.11 Outfit for shoulder and elbow 図 8. 実験結果 Fig.8 Experimental result 図 9. 仮想ボクシングトレーニング Fig.9 Virtual boxing training 5.3 積層型受動要素を用いた力覚提示システム
![3 kg 0.088 0.081 0.047 0.023 0 20 40 60 velocity [m m /sec] 図 13 粘性の実験結果 Fig.](/docs-images/94/122409229/images/7-2.jpg "13 Experimental result of viscosity 目標粘性係数 0.1 0.075 0.05 0.025 6.")
7 図 14 積層型可変粘弾性要素を利用した力提示装置 Fig.14 Force display by using passive elements with variable visco-elasticity force [N ] 図 12 積層型可変受動要素の変形例とシート固定 Fig.12 Deformation and fixed state of passive element with laminated structure kg velocity [m m /sec] 図 13 粘性の実験結果 Fig.13 Experimental result of viscosity 目標粘性係数 おわりに VR VR IT RT Robot Technology VR 参考文献 1 Vol.51No.pp Sportsmedicine Quartly Vol.102 No.971 pp VRML
8 JVRSJ Vol.7 No.2 June, Vol4 No.4 pp pp Vol. 44 No.12 pp Vol.5 No.1 pp Vol.3 No.1 pp Vol.4 No.2 pp Technical Report of IEICE, PRMU ( ) 14 pp Vol.5, No.3 pp D-II vol.j74-d-ii no.7 pp [17]Sadao Kawamura and Ken Ito, A New Type of Master Robot for Teleoperation Using A Radial Wire Drive System, Proc. of the 1993 IEEE International Conference on Intelligent Robots and Systems IROS'93 pp Yokohama, Japan July26-30, (1993) [18]Sadao Kawamura, Won Choe, Satoshi Tanaka, and Shunmugham R. Pandian, Development of an Ultrahigh Speed Robot FALCON using Wire Drive System, Proc. of the IEEE International Conference on Robotics and Automation, Nagoya, May 21-27, pp , (1995) [19] Vol.15 No.1 pp (1997) [20]Tetsuya Morizono, Kazuhiro Kurahashi, Sadao Kawamura, Analysis and control of a force display system driven by parallel wire mechanism, Robotica, Vol. 16,p.p , (1998) 21 C Vol.37 No.12 pp (2001) 24 Sadao Kawamura, Takashi Yamamoto, DaijiroIshida, Satoshi Ogata, Yuichiro Nakayama, andosamu Tabata Development of Passive Elementswith Variable Mechanical Impedance for Wearable Robots Proc. of the IEEE International Conference on Robotics and Automation, Washington U.S.A. May Osamu Tabata, SatoshiKonishi, Pierre Cusin,Yuichi Ito, Fumie Kawai, Shinichi Hirai and SadaoKawamura MICROFABRICATED TUNABLE BENDING STIFFNESS DEVICE Proc.of the 13 the Annual Int. Conf. On Micro Electro Mechanical Systems pp 23-27(2000) KAWAMURA Sadao
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1 1 1 2 DCRA 1. 1.1 1) 1 Tactile Interface with Air Jets for Floating Images Aya Higuchi, 1 Nomin, 1 Sandor Markon 1 and Satoshi Maekawa 2 The new optical device DCRA can display floating images in free
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Curved Document Imaging with Eye Scanner Toshiyuki AMANO, Tsutomu ABE, Osamu NISHIKAWA, Tetsuo IYODA, and Yukio SATO 1. Shape From Shading SFS [1] [2] 3 2 Department of Electrical and Computer Engineering,
Study on Throw Accuracy for Baseball Pitching Machine with Roller (Study of Seam of Ball and Roller) Shinobu SAKAI*5, Juhachi ODA, Kengo KAWATA and Yu
Study on Throw Accuracy for Baseball Pitching Machine with Roller (Study of Seam of Ball and Roller) Shinobu SAKAI*5, Juhachi ODA, Kengo KAWATA and Yuichiro KITAGAWA Department of Human and Mechanical
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3 2 2 (1) (2) (3) (4) 4 4 AdaBoost 2. [11] Onishi&Yoda [8] Iwashita&Stoica [5] 4 [3] 3. 3 (1) (2) (3)
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- (20 ) 226-8503 1974 6 10 29 4259 Tel:045-924-5050 Fax:045-924-5016 E-mail:hase@hi.pi.titech.ac.jp Tel: Fax: E-mail: Tel:03-3786-5650 Tel:090-6036-8520 P 1 16 - (20 ) 400 () 3DCG No.51 No.61 No.62 No.11
2007/8 Vol. J90 D No. 8 Stauffer [7] 2 2 I 1 I 2 2 (I 1(x),I 2(x)) 2 [13] I 2 = CI 1 (C >0) (I 1,I 2) (I 1,I 2) Field Monitoring Server
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a) Change Detection Using Joint Intensity Histogram Yasuyo KITA a) 2 (0 255) (I 1 (x),i 2 (x)) I 2 = CI 1 (C>0) (I 1,I 2 ) (I 1,I 2 ) 2 1. [1] 2 [2] [3] [5] [6] [8] Intelligent Systems Research Institute,
MmUm+FopX m Mm+Mop F-Mm(Fop-Mopum)M m+mop MSuS+FX S M S+MOb Fs-Ms(Mobus-Fex)M s+mob Fig. 1 Particle model of single degree of freedom master/ slave sy
Analysis and Improvement of Digital Control Stability for Master-Slave Manipulator System Koichi YOSHIDA* and Tetsuro YABUTA* Some bilateral controls of master-slave system have been designed, which can
Vol.53 No (Mar. 2012) 1, 1,a) 1, 2 1 1, , Musical Interaction System Based on Stage Metaphor Seiko Myojin 1, 1,a
1, 1,a) 1, 2 1 1, 3 2 1 2011 6 17, 2011 12 16 Musical Interaction System Based on Stage Metaphor Seiko Myojin 1, 1,a) Kazuki Kanamori 1, 2 Mie Nakatani 1 Hirokazu Kato 1, 3 Sanae H. Wake 2 Shogo Nishida
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PAL On the Precision of 3D Measurement by Stereo PAL Images Hiroyuki HASE,HirofumiKAWAI,FrankEKPAR, Masaaki YONEDA,andJien KATO PAL 3 PAL Panoramic Annular Lens 1985 Greguss PAL 1 PAL PAL 2 3 2 PAL DP
Vol. 23 No. 4 Oct. 2006 37 2 Kitchen of the Future 1 Kitchen of the Future 1 1 Kitchen of the Future LCD [7], [8] (Kitchen of the Future ) WWW [7], [3
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36 Kitchen of the Future: Kitchen of the Future Kitchen of the Future A kitchen is a place of food production, education, and communication. As it is more active place than other parts of a house, there
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A Study on Throw Simulation for Baseball Pitching Machine with Rollers and Its Optimization Shinobu SAKAI*5, Yuichiro KITAGAWA, Ryo KANAI and Juhachi
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GE巻頭言103.indd
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273 (212.6.29) 273-5 Motion measurement of nordic walking using inertial sensor, Takuya Tateyama, Koichi Sagawa * *Graduate School of Science and Technology Hirosaki University : (inertial sensor), (motion
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2014 Junior Chamber International Japan Annual Report 2014 Junior Chamber International Japan 2014 Junior Chamber International Japan Annual Report 2014 Junior Chamber International Japan Annual Report
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