This study was designed to investigate the feasibility of utilizing an adaptation for selective elicitation of tactile sensations by means of transcutaneous electrical stimulation. We conducted the first experiment to investigate how the stimulation frequency affected the adaptation. Twenty healthy subjects participated in the second experiment to confirm our proposal that the perception intensity of the low-frequency vibration can be enhanced after a high-frequency adaptation, and vice versa. It was found that (1) a low-frequency stimulation did not adapt the nerve afferents responsible for the high-frequency vibration, (2) a high-frequency stimulation affected the nerve afferents responsible for the low-frequency vibration, but adapted to the pressure sensation more intensely, and (3) more than 62% of the subjects reported a more clear selective sensation after the adaptation had lessened or depressed the unwanted sensation. The observations showed that adaptation of the nerve afferent could be utilized for selective elicitation of tactile sensations.

This study aimed to develop a sensory feedback system which could measure force and temperature for the user of myoelectric prosthetic hands. The Sensory measurement module consisted of a force sensing resistor to measure forces and non-contact infrared temperature sensor. These sensors were attached on the fingertips of the myoelectric prosthetic hand. The module was validated by using standard weights corresponding to external force and a Peltier module. Sensory transmission module consisted of four vibration motors. Eight vibration patterns were generated by combining motion of each vibration motor and were dependent on kinds and/or magnitude. The module was verified by using standard weigts and water at varying temperatures. There were correlations of force and temperature between the sensory measurement module and standard weight and water. Additionally, exact vibration patterns were generated, indicating the efficacy of the sensory feedback system for the myoelectric prosthetic hand.

The need for human body posture robots has led researchers to develop dexterous design of exoskeleton robots. Quantitative techniques to assess human motor function and generate commands for robots were required to be developed. In this paper, we present a passivity based adaptive control algorithm for upper limb assist exoskeleton. The proposed algorithm can adapt to different subject parameters and provide efficient response against the biomechanical variations caused by subject variations. Furthermore, we have employed the Particle Swarm Optimization technique to tune the controller gains. Efficacy of the proposed algorithm method is experimentally demonstrated using a seven degree of freedom upper limb assist exoskeleton robot. The proposed algorithm was found to estimate the desired motion and assist accordingly. This algorithm in conjunction with an upper limb assist exoskeleton robot may be very useful for elderly people to perform daily tasks.

This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.

A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.

Conventional gait rehabilitation requires at least three therapists in a traditional rehabilitation training program. Several robots have been developed to reduce human burden and increase rehabilitation efficacy. In this study, we present a lower-limb wearable robot (WA-H) for gait rehabilitation of hemiplegia patients, and propose a protocol of 12 weeks gait rehabilitation training program using WA-H. To identify the efficacy of the robot and protocols, we conducted a clinical study with two actual hemiplegia patients and observed a chronological change of ambulation ability through four assessments. We discovered the progression of results by 6 minute walking test, TUGT (Timed Up and Go Test), SPPB (Short Physical Performance Battery), BBS (Berg Balance Test), and Fugl-Meyer score. The torques generated in the normal side and paralyzed side of the patient became similar, indicating rehabilitation. The result also showed the walking of the paralysis patient improved and imbalance motion had considerable improved performance.

Walking on split-belt treadmill has been applied to study walking disabilities, such as osteoarthritis (OA), to show asymmetric walking characteristics. In this study, we compared asymmetric walking in OA patients with healthy subjects under split-belt conditions and examined the reproduction of walking asymmetry in OA. Seven OA patients were instructed to walk at four frequencies, while four healthy subjects walked on a treadmill with tied-belt and split-belt conditions. To compare walking asymmetries, kinetic and kinematic measurements were made using force-plates and motion capture cameras, and subsequently center of mass (CoM) velocity, mechanical work and potential energy were calculated. Horizontal velocity change during split-belt walking of healthy subjects was similar to OA patients. Difference of mechanical work during single support phase occurred due to fall of CoM in fast belt. OA walking asymmetry could be reproduced by reducing differences of belt speeds to prevent rapid fall of CoM.

In order to protect the environment, using light material is becoming more and more attractive within the automobile industry. Aluminum alloys are the best and lightest metallic materials used in the automotive, electron, and aerospace industries. Al alloy and SGARC were joined by cold metal transfer (CMT) welding, using AlSiMn4 as a filler. Results showed that dissimilar metals from the Al 6000 series/SGARC could be successfully joined by CMT under proper processing parameters. The micro-hardness value of 125Hv was obtained at an interface.

This study reports on a uniform resin coating method by using a doctor blade type dispenser. For high productivity, continuous imprint-lithography has been studied, and developed fabrication systems are used in several applications such as anti-reflection films, dry adhesives, and water collecting surfaces. In the continuous fabrication field, researchers have typically focused on patterning and demolding procedures. During the roll-to-roll fabrication process, however, the uniform resin coating process is also important in order to obtain a high quality product, which can be evaluated by uniform thickness, precise geometric expressions, and a thin residual layer. To achieve these, a doctor blade type dispenser was designed and fabricated. As a result, thickness of coated resin was well controlled by modulating the flow rate of the resin and blading gap. In addition, a very thin layer coating process (~ 10 μm) was achieved by softly contacting the blade on the substrate.

In this study, we used GO (graphene oxide) in order to enhance the adhesion between Ag NWs (nanowires) and substrates. By using a mixture solution of GO and Ag NW, a vacuum filtration process was used to fabricate a 50nm diameter thin film. Next, by using a light annealing process, the mechanical and electrical stability of Ag NW network was improved without any other treatment. The physical properties of the Ag NW - GO hybrid transparent conductive thin film was characterized in terms of a bending test, resistance and transmittance test, and nanoscale imaging using field-emission scanning electron microscopy.

In the nano/micro scale, material properties are dependent on the size-scale of a structure. However, conventional micro-scale tensile tests have limitations to obtain reliable values of nanoscale material properties owing to residual stress and elastic slippage in the gripping/aligning process. The indenter-driven nano-scale tensile test provides prominent advantages simple testing device, high-quality nano-scale metallic specimen with negligible residual stress. In this paper, two-types of specimens (a specimen with multi-testing parts and a specimen with a singletesting part) are discussed. Focused ion beam (FIB) is employed to fabricate a nano-scale specimen from a thin nickel film. Using the specimen with a single-testing part, we obtained a nano-scale stress-strain curve of electroplated nickel film.

3D Printing has a great advantage for its capabilities in manufacturing complicated structures in a reasonable manufacturing time, and thus is widely used in various fields. Due to the high cost of the equipment and material, a fairly acceptable equipment, the Projection Stereolithography Apparatus (PSLA), has been developed, using the projection pattern approach for the purpose of quick manufacturing. We evaluated its surface quality, as compared with that of other systems. The result is the development of a high-performance, low-cost 3D Printer and its operating software, using LCD and UV LED. Working materials for an optimal manufacturing are suggested in the research, along with some suggestions of basic approaches for enhancing the accuracy and quality of the manufactured structures.