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This paper presents a new 3D map building technique using a combination of 2D SLAM and 3D objects that can be implemented on relatively low-cost hardware in real-time. Recently, 3D visualization of the real world became increasingly important. In robotics, it is not only required for intelligent control, but also necessary for operators to provide intuitive visualization. SLAM is generally applied for this purpose, as it is considered a basic ability for truly autonomous robots. However, due to the increase in the amount of data, real-time processing is becoming a challenge. Therefore, in order to address this problem, we combine 2D data and 3D objects to create a new 3D map. The combination is simple yet robust based on rotation, translation, and clustering techniques. The proposed method was applied to a mobile robot system for indoor observation. The results show that real-time performance can be achieved by the system. Furthermore, we also combine high and low-bandwidth networks to deal with network problems that usually occur in wireless communication. Thus, robust wireless communication can be established, as it ensures that the missions can be continued even if the system loses the main network.

Abstract In the current study, we tested a prototype of an isokinetic exercise device for the lower limbs, named the ERIK. The ERIK enables a type of single-limb squat exercise with a translational load on the swing leg in a closed kinetic chain, putting load on the muscles of the stance leg in the standing position. This training applies load to the gluteal muscles, which is effective for avoiding excessive knee valgus moment, a major factor in anterior cruciate ligament injuries. To enhance the quality of the load, an electro-rheological (ER) fluid brake system is implemented in the ERIK. The ER brake can reversibly control resistive torque with a rapid response. This paper reports a prototype of the device with four training modes, verifying its performance through basic experiments. Although high resistance is created within a wide motion area and requires isokinetic training by controlling the velocity of the trainee’s legs, the ERIK has the advantage of a high level of safety because of its passive resistive function.

This paper describes the structural analysis of the programming operation of the tangible programming tool P-CUBE, which is a tangible block-type programming tool that was developed for use by beginners, including those with visual impairments. An experiment was conducted to compare P-CUBE and conventional programming software platforms, and it was demonstrated that P-CUBE encourages the development of beginners' understanding of the structure of a program. The differences between the programming operations of P-CUBE and the programming software are considered to be a factor causing differences in users' understanding of programming structures. The structures of the programming operations were analyzed using formal concept analysis, and differences between the logical frameworks in the operation of P-CUBE and a conventional software platform were demonstrated.

In virtual reality (VR) technology, force feedback/display devices are expected to enhance fine sensation and contribute to the user's immersive experience. This is particularly true for glove-type devices. Force display gloves, however, do not have a specific numerical value to indicate display accuracy. In this paper, we report the results of sensory testing and analysis with VR cylindrical objects using a passive-type force display glove. The size discrimination threshold for grasping was determined to be smaller than the nominal average error of the device; however, the threshold was larger than either the actual accuracy of the device or the threshold from an organoleptic test of a barehanded human. We have also identified the possible superimposition of the sensory accuracy errors of the operator with those of the glove. Despite this finding, we have determined that the device shows adequate accuracy for representing cylindrical objects during specific grasping tasks.