Japan Science and Technology Agency

University of Tsukuba

Other

Ichiro Kawabuchi

Kiyoshi Hoshino

Hiroyuki Nakagomi

Don Gayan Krishantha Weragala

Motomasa Tomida

Takanobu Tanimoto

Provided is a method to easily detect eye motions in the eye moving direction, which has resistance to a fluctuation in background light and to a displacement of the position of a camera. The method includes the steps of: detecting a white area of the eye from the eye area; determining a blood vessel image to be used for a template blood vessel image in the white area of the eye; detecting a nblood vessel image, which matches the template blood vessel image; calculating a nmoving amount of the eye based on a difference between the reference position and the detection position of the nblood vessel image, which matches the template blood vessel image; and calculating a nrotation angle of the eye to detect eye motions in the information processing apparatus.

Eye motion detection method, program, program storage medium, and eye motion detection device

This cycloduction measurement device is provided with a blood vessel position recognition unit and a first angle calculation unit. The blood vessel position recognition unit recognizes the position of a blood vessel in a sclera region in an eye image, and acquires information pertaining to the position of the blood vessel. The first angle calculation unit calculates the angle of cycloduction on the basis of the first information pertaining to the position of a predetermined blood vessel acquired by the blood vessel position recognition unit during actual measurement of cycloduction, and a second information pertaining to the position of the predetermined blood vessel while in a reference state.

Cycloduction measurement device, cycloduction measurement method, and cycloduction measurement program

Disclosed is a nail region detection device including: color camera; image data storage part; color specification conversion plotting part for converting captured image data from the RGB color specification system to the HLS color specification system; threshold value setting part for setting and varying a threshold value along the X axis with respect to a first plotting region; second plotting part for replotting in a two-dimensional planar second graph, plotting data items which are equal to or greater than the threshold value and detecting the physical quantity or its ratio in a second plotting region; repeat control part for repeating the processing for replotting the data items; nail determination part for determining, as a nail region, a second plotting region in which the gradient of the amount of variation in the physical quantity or its ratio is equal to or less than a predetermined value.

Nail region detection method, program, storage medium, and nail region detection device

The objective is to provide a finger shape estimating device that can estimate the image most similar to a finger image quickly and with high precision, and that can facilitate construction of a database. Provided is a finger shape estimating device provided with a matching part that reads second shape data in a specific data set from a database that has multiple data sets in which finger angle data, second shape data relating to dimensions in the vertical direction and the horizontal direction of a second finger image of said finger, and second image feature quantities in the second finger image form a set, to match the second shape data and first shape data related to dimensions in the vertical direction and the horizontal direction in a separately acquired first finger image, and an estimating part that matches the second image feature quantities in the data set comprising the compatible second shape data, from matching by the matching part, with first image feature quantities in the first finger image, and estimates the finger shape in the first finger image.

Device method and program for human hand posture estimation

An actuator in which overshooting has been reduced is provided. A cylinder is divided by a piston to provide first and second chambers, and first and second control valves, which adjust fluid pressure supply to respective chambers in a non-step manner, and first and second discharge valves, which control outflow of fluid from the first and second chambers, are provided. A first control device carries out feedback control of pressure to be supplied to the first or second chamber such that a difference between a target position of the piston and a detected position of the piston becomes smaller. A second control device carries out differential-preceding PD control to bias pressure to be commonly supplied to the first and second chambers such that the difference between the target position of the piston and the detected position of the piston becomes smaller.

Actuator, actuator control method, and actuator control program

An actuator using a fluid cylinder in which rigidity may be attained with a simple configuration, includes a fluid cylinder, a first choke valve device, and a second choke valve device. The first choke valve device is disposed between a fluid pressure source and a first chamber, and the second choke valve device is disposed between the fluid pressure source and a second chamber. An opening of a valve of a discharge valve mechanism included in each of the choke valve devices is set so as to be in inverse proportion to a target pressure in the chamber in which the fluid pressure is adjusted by the choke valve device.

Actuator using fluid cylinder and method of controlling the same

A method for driving a robot in a manner of imitation by watching (non-contact manner) based on the movement of a moving object, which has a complicated shape often causing self-occlusion, is provided. A plurality of image data of the robot is associated with pre-arranged operation commands and stored in an image corresponding operation command storing means. In order to have the robot perform a movement, the moving objecting caused to perform a desired movement, and at the same time, image data of the moving object are obtained as robot operational image data in time-series. The image data specifying and operation command generating meansspecifies image data corresponding to the operational image data included in the robot operational image data in time-series among the plurality of image data stored in the image corresponding operation command storing means, and provides a pre-arranged operation command corresponding to the specified image data to the robot as an operation command to drive the robot. Owing to this, such problems as complicated shape and self-occlusion of the moving object are eliminated, and the robot performs the movement in an imitating manner by watching.

Method for driving robot

A robot hand equipped with a function of gently pinching an object may include a single degree of freedom joint for allowing bending or stretching at a connecting portion between a distal phalange section and a middle phalange section. The robot hand may further include a driving mechanism for causing this joint to make a rotating motion within a predetermined angular range. This driving mechanism is constituted by a motor and a speed reducer. The joint and the driving mechanism are configured so that the distal phalange section is rotated relative to the middle phalange section in two directions, namely, an inward direction and an outward direction within the predetermined angular range from a state where the distal phalange section is arranged in a straight line with the middle phalange section.

Robot hand

The present invention provides an actuator using a fluid cylinder capable of imparting stiffness to a fluid cylinder such as an air cylinder with a simple constitution, a control method thereof and a choke valve device. The actuator is provided with a fluid cylinder, a first choke valve deviceand a second choke valve device. The fluid cylinderhas a cylinder chamberand a pistondispose slidably in the cylinder chamberso as to partition the cylinder chamberinto a first chamberand a second chamber. The first choke valve deviceis disposed between a fluid pressure source and the first chamberand the second choke valve deviceis disposed between the fluid pressure source and the second chamber. Each of the choke valve devicesandis provided with a discharge valve mechanism capable of changing the opening of the valve.

Growing community of inventors

Tsukuba, Japan

Kiyoshi Hoshino