so if we can start with you just telling
us your name
and where you were born and when okay so
my name is
uh malcolm kaneko so
i born at uh
hagie is a very small city is a west
part of japan
and okay that's it
and when were you born um
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1954
january 18th and could you tell us a
little bit about your
early interests in school
high school so
[ __ ] kind of uh like how did you get
interested
in i know you went to tokyo university
oh yeah okay
so where are the interesting yeah okay
it's uh i likes
mass and of
physics so when i was a kid
i enjoyed a lot with nature
and such as
that is already 50
50 years ago so
my city is very small is population is
just
50 000. it looks like this city
and there is many nature
and many fishes
in the river and many
insects so the i enjoyed a lot
so i think so if you're working in this
um
some robotics or something like that and
building up something and all the
equipment
obey to the uh some
nature rule so i think the uh
praying um if you're a kid
you can enjoy it with nature i think
this is very important this is my
experience
and so actually looking at the animals
and nature
made you think about also constructing
yes i constructed many toys by myself
and i enjoy a lot yes
and so then how did you decide to go to
university
in tokyo so actually you see
my undergraduate degree spent in
the nutrition institute of technology
and then okay i
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i decided to go to the
upper graduate
school and then okay
i i decided to go to tokyo university
because the
of university it's the first university
in japan
perhaps i have i thought i
have a chance to
meet with
some distinguished professors there
that's my my big motivation
to decide
but university that time is no
i can i didn't figure out any
future work such as robotics
just i wanted to go to
to graduate school what was your
undergraduate degree in
a mechanical engineering um
and were there specific professors that
you wanted to see in tokyo university
oh actually not
because this is a completely different
university i
i have some informations harming
professor and
for each professor is doing a kind of
subject
and but i i could not figure out
which professor is appropriate to me but
i just
just throw some um
so who did you pick at number three
oh that is free dynamics is free damage
that i hear still
here alliance he was like he's a
grateful he was a great professor for me
okay he just gave us uh
topics okay not precisely
just the topic jumping just like a
program not precisely and after that
he didn't say anything just which i can
do as i want
so the i have that kind of style
and the professor just say some comment
when i go go to the different direction
so as far as i can go straight he didn't
say anything
yeah i love that kind of style what was
his name
yeah so
yeah okay yeah he he
he often says that it's
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enjoying with nature that is
very important because all rules
simply follow the nature such as
newton's newton's law or
other roads is simply followed with
nature
and the recently i understand okay i
love research
because the nature never
they never it never tell a lie
but people say
some different words depending upon the
situation
but nature never never say
lie tell a lie so we i learned that kind
of
rule very basic rule so i love the
research
okay and so what kind what topic
did um that is very interesting topics
um for example it's very uh
the topic very related with the
current japan situation i mean the
uh heavy very big earthquake and then at
the
power planted destroyed and
due to the lack of current water
and then its heaviest that is the
heaviest
situation so the mine at that time
almost say 30 30 years ago
and my professor she
suggest me to to do the following
research
is researched just like pumping
performance but this pump is only for
the
atmos power plant is circulation
water circulation and then with this
in this circulation system there is a
pump so otherwise uh
so we can't cycle its
water in the power plant so
that is most important circulation
system
but if some aspect happened just
like this year
then the piping system is breakdown
and then the last scenario is
the no water in the core
because that's the worst scenario but
actually
this year's earthquake is
very close to the kind of situation
and then i learned at that time
is once the pipe is down the internal
in actual internal pressure is is kept
or is very high pressure so that we can
suppress
the uh papering
but once his piping system
is breaking down and then the pressure
is
down internal pressure is exam so
then the gradually some boiling
boiling start and under such a situation
how pumping performance is changed so
this is my
my that is the background of my work
so the at that time it's
i i designed the total system including
the phone
and instead of boiling
so we insert artificial
air to the system and how the pumping
performance is changing
under such waters here the two-phase
condition
okay and then i
just by chance i found a very
interesting phenomena
phenomena and under some particular
condition
the pumping system start a very big
oscillation
so the concentration actually is not
good for the
circulation system so the i
i did a number of experiments
and we found eventually why that kind of
austeration happened so this is my phd
topics i enjoy it a lot very much
sorry
so you're able to get to design actually
build things and also do experimentation
so actually not
everything because the the it's too much
so the partial design and
then the building assembly so the small
part
we bought and also we asked
some company to to build it
and was it ever implemented was it ever
used in a real
system not a scaled-down model
so of course it's a real system so big
it's more than
the whole building here so because that
is the power plant
just as scaled down it's
one over tens or something
and so after you finished in 1978
with your phd no uh phd is 1981 19 oh
you started in 78.
oh yes okay i found from the internet
but i was oh
okay um and then after that you went
to um mel
mechanical engineering laboratory is
that time
so that is a government laboratory we
don't need to
minister international trade in the
industry
so it's in it was an iced or
was it part of ice yeah
exactly how did you
um decide to go to mel oh
okay okay there are two choices one
is no actually three choices one is the
i wanted eventually to go to the
academia it's like university
but just depends on the
position availability and
so then okay there are two choices one
is to go to the private company and one
is to go to such
just like a government probably
and a private company
okay i a couple of company
with a candidate but eventually
i i gave up
uh entering the tribal university and
decided to go to the mail but actually
it's not that easy to to enter the
government
level there's that time there are two uh
patents first patent is to take exam
this is really tough exam is the
competition rate is over 50.
and second chance is if you take the phd
and then if the position is available
appropriate positions available and then
you can go
yeah yeah i for me is
is actually the second chance
and the phd based
entering then okay
you can continue your phd work
so otherwise there is no reason
for the government to hire
you because the if you have a phd
and then they try to
try to okay they have some particular
area where they want to advance
in the future and then okay so
who is the right person for this area oh
actually he he wants the phd in this
area
so if i know that we can take this at
this guy
so that kind of reason very reasonably
but in my case i took exam
and then just by chance it passed
so then in that case is the government
has a right to assign me
into anywhere they
they want so the my background was
free dynamics but he
eventually decided to assign
me in the robotics yeah because this is
quite new
at that time it's almost 30 years ago
in japan is people working in the
robotics
very few numbers in university
for example i couldn't see any any
university
is working in that kind of
area so the
at first that is a really big change for
me
from the free dynamics to the robotics
okay it's very big change
so so robotics research
needs the computer's knowledge
and mechanical knowledge
and many other also the controls
so so in such sense is completely
different
area do you know who assigned it
who made that decision okay that is a
top
of the institute okay okay
so they're just one person or a group of
people or at that time just one person
yeah okay what kind of robotics research
were they doing
when you got there that time is oh it's
really funny robot um so-called
guide guide dog robot okay you know the
for blind person
and the okay sometimes it's
the guy don't follow him or he simply
follow
the the the weight guide as kind of
it move so
that time is our institute is
developing that kind of robot and then
they
assigned me as the part of researching
that
but i couldn't understand anything
okay that's a starting point so the
nearly every days people are discussing
how to improve how to develop the next
model
but i couldn't find any couldn't
understand
any keyword is themselves so
that's very very
yeah it's very hard for me to follow
that's the starting point
what changed that or what did what
changed it what what got you
um or did you ever get understanding
yeah so at fast
i sometimes i think
think about okay i should i come back to
the original one
by changing the this my
jaw or something like that
but initially okay there are some
common points between my conventional
one
and the robotics area in some common
it's very small but there are some i
i was working desire and then gradually
gradually shifting to the
main area of robotics so it takes more
than five or six years
what was that common area common area
okay it's a
good point
in free dynamics is often
just scaling effect scaling is the
um okay
for for example the big
fish and small fish there
they can swim by using the fin
but bigger and smaller one is of
the drag force and lifting force of
course they are different
but if v scale is similar
okay then we can discuss
uh with the sum
same dimensionally
and then without considering the scale
effect
so we can discuss so the
working robot for example the very
big one and smaller and
energies consumption is different of
course the big one
is a large energy consumption the
smaller one is of course
small then i think
okay there are some there should be some
similarity
law then i i
i follow the equation
and then the uh the equation
is is transformed into the
non-dimensional
then i can get some new non-dimensional
parameter
then if we keep this parameter
and then we can discuss the energy
consumption
role without considering the scale
so that kind of common
the non-dimensional and scaling effect
so but actually it's not the main part
of robotics
but was i was i was very afraid
at that time in formulating
and finding some new rule okay even
though this
is not the pure main part of the
robotics
because i didn't have much knowledge on
what
motor control because robot control
the essence the fundamental part is the
actuator control and with the sensory
feedback
so i i didn't have any knowledge on that
at that time so
so how did you start um getting more
involved
in kind of robotic issues yeah so
the um
[Music]
the first okay after
two or three years
i my boss
suggested me to
designs working law six-week robot
and okay i did
and the basic concept is
try the main body
we the design policy is
to make the main body as
horizontal as possible and as a
constant height as possible so that we
can
reduce the energy because if the main
body is up and down
so it's much much energy
consumption so that that is the first
that's the design policy so the um
you are obliged to learn the motor
control
then i land okay so uh
by necessity i run gracia
that's the way yeah that's my fast work
and you probably learned a little bit
from
with just talking to the guide dog robot
oh yeah
oh yes oh yes of course
so that is
a fast robot and i think
the project is five or six years
and then i started to
the march fingers hand
again this topic was given
by my boss
do you know why they were doing first
guide dog and then six legs
and then hands was there
oh i see so there are okay
i i say there are a couple groups
so some group is kaido
the robot and some group is just
starting
the working robot i
just joined that project the initially
i kind of hope because i'm just a
beginner
so they didn't expect me much
just okay and for me just around your
face
and when you got there how many people
were part of
mel so roughly
20 20 are researchers so
the group is uh to a swing
yeah sorry who were some of the people
who worked with you on the guide dog
on the guide dog project who are some of
the other
researchers
co-workers a co-worker you mean the
the exact name if you remember
oh yes okay so
dr tatchi and dr comoria
and dr tanya okay
you know him yes yes you've met him too
he is a very good advisor
and he's very good i learned a lot
so these are main core methods
and okay the the select robots also
the core members
is one of them yeah so anyways uh
dr tanya for long long years
he was my boss so his daughter gave me
the hand
oh
eventually he was he was
almost the head of the man
personnel disappeared it just is just
changed
from immigrant to aisds
[Music]
yeah i met him because i was working
with a son
so so i was
an exchange researcher um and he put me
with the puddle
project so that's when i met him
did you meet the doctor yes
so what was what were some of the things
you were interested in in the
multi-finger hand
what kinds of problems did you do okay
so
i every time further i think
for the research is i want to do
something which never done
by other people and
okay there are many many people working
on
multi-finger robot but
my my idea is
the
some new sensor
is to implement some new
sensor especially okay
if we have some object
so human is unconsciously we can
manipulate object
very dexterity but
for very simple task is robot is really
really hard
i learned that kind of fact
through the first model of a hand
and i implemented i i
recognized i realized the
four sensors is very important
for the hand artificial hand
and i designed
invented a new type of torque sensor
and that is very effective and
we got a patent not only japan but but
also the united states
but see the time is already expired it's
not
everyone can use it but then
okay that that is a very big advancement
for me
to run the sensor and also to run the
control
activity control system of the robot
and when was that project that's
that is uh 1980 86
and okay it's coming so
i involved the
hand research for more than
more than since that time
almost 20 years okay that is my
my main major
work on robotics
in robotics yes so the i
i developed so far
five or six robot hand
so initially
is just two fingers and then three
fingers
okay so that then so
every design i learned something
so the gradually my knowledge increased
and then more sophisticated the robot
hands
so we i could design
and were you looking at work that was
previously done
in other places about robot hands
another place in the the different
institutions
another place
is my textbook
that's
so actually it's a tendon driven system
and there is
various categories category
and for example
the human hand also is driven by tendon
and human in human hand is a tendon
coupled
so one joint maybe it's a many tendons
and for the robot so
just like one motor for
one joint so this is a simplest one
and the solid spirit one is okay
so one finger is for example
three joint and then
their approach there are four actuators
implemented so joint number plus one
actuator
then totally the actuator can control
the tension
as well and usually so one
joint is one actually this is simple
and the control is easy because the one
this joint only one actuator
only focus on this uh one
particular actuator for
controlling just one child this is the
second pattern
and sound pattern is
the one joint is driven by two actuator
and so n joint means two in actuator
so there are three categories and such
various approaches
n joint is controlled by n plus one
attribute
so my approach is all one actuator
is one joint that is a
simplest one so any joint is an
attribute
then disadvantage is the
this system can't control the tension
the tension is
physically for example the actuator's
base
is moved like this so that we can
keep the appropriate tension
so we need the
some tension mechanical tension control
but anyway the southwest so approach
i done a lot that is excellent
[Music]
so did you visit did you do any
traveling and visit him or visit other
yes so i visited
mit at that time he was mit
and i visited many places
as one is the dlr
hand this is another very famous hand
in german
and in italy also the maybe you know
dario power value and
he is also one of the pioneer in such a
hand so
anyway i visit many places
and how did you what were some of the
differences between
the different hands that you built how
did you
kind of develop the hand their point
is i my my
interesting point is the force control
for compliance control i mean the
human and
we can control the fingertip
compliance so for example if you keep
tension
that part because the muscle is here and
if you keep
tension and then the fingertip becomes
stiff
but if you lose tension fingertip is
moved very compliantly
so this function is very important to
manipulate the object dextrously
so the my concern always
how to generate such a compliance okay
but this is not easy but since my
point is that such compliance figurative
compliance
so
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my sensor is the so-called the toxins
or four sensors and four sensors really
important
but actually for for the our human
hand
there is no false sensor
but just force control is done
by keeping tension so by will
so then the muscle contract then
okay fingertip is uh doesn't move
even though some external force is given
that's for the robot system if you
utilize the wire
and the wire and the outer two
just like operating system in the
bicycle so that is
it's a very big friction in it
then it is really hard to achieve the
fine
force control at the finite level
so the in order to achieve the fine
force control
we need some force sensors as a
final joint and then
this force sensor is force sensing
feedback
we can compensate the friction so the
it's uh so that this is therefore
the force sensor is very important for
the hand
as far as you utilize such a poorly
wired driving system
another important point is the backlash
you know the backlash backlash is there
is a gear
okay the gear is often utilized to
reduce the
velocity because water is usually moving
very quickly
so if you utilize the motor directly to
individual joint
then okay too fast but on the other hand
is no not powerful
so the uh we reduce the speed and
for gaining the power or not power for
gaining the force
force and speed
is multiple
of fly almost a constant if you increase
the force
you have to reduce the velocity if you
increase the velocity
so that you can't obtain the large force
okay anyway so the gear is
ideal case there is no gap
between the teeth and teeth okay
but actually there are small
small gap moving in this direction
is this tools it makes contact with this
tools
but this they change the direction okay
there are some gap therefore it takes
some time
delay time so the delay is
some non-linear element non-linear means
okay
this is some gap is such a delay
is not a linear component that's a
non-linear component
and the control system
includes such a non-linear element
then it not control itself is not that
easy
so the ideal situation is no gap
just in this direction okay always makes
contact
uh this point makes contact with this
part and the opposite
rotation okay the other part is contact
to this
without any timeline so then we can keep
some linear
linear transmission system that is
ideal situation so the question how to
really
such a ideal situation then
okay if you utilize a cable
a cable has some elastic element
and then the external
altitude there are the contact between
outer tube and internal wire
some friction okay actually this is very
big friction
so the system is some elastic
element and then the friction element
elastic friction or this is the
distributed system
so this really complicates system
and then that kind of transmission
system
always includes the backlash
patras means if the actuator
moves start to move but output doesn't
move fast
because there are some timeline and then
this actuator moves the opposite
direction
but there against another timer
so that kind of control system is very
terrible
i learned that kind of
fact through the
couple development of the hardware and
okay so the i recognize
the important point key point of such a
tender control system
is how to remove the backlash
then my design is
okay eventually okay don't use altitude
because this combination tab just only
the wire
okay that is okay because wire is
elastic current elastic element is a
linear component
so then the basic could
do for designing the hand
is that okay anyway don't
use altitude and
don't please remove the subject backlash
that's a key point so the my final
version of the robot system
and hand system is i don't utilize any
altitude
only the wire and the wire length is
as small as short as possible so that we
can remove
such unexpected friction
and we can keep the as
linear system as possible
so that's the key when did you finish
your final hand
final hand is uh 19
19 1996 that is
no actually 2003. that is my
final design
and what were some of the the studies or
experiments that you did with the hand
while you were designing it
to to see how it works
so what kind of studies did you do okay
um okay
good point so i i love
the simple system not complicated system
but much finger hand already complicated
enough
that's the
idea is i don't want to put many sensors
such as humans we have
four four kind of sensors or a couple of
sensors
this and then distributed especially
at the fingertip area the huge number of
sensing realm
such as some sensing element can
detect the force some element can detect
the slippage
and some error can detect the pressure
and so forth but i i
didn't uh implement that kind of sensor
i
simply uh implement the
joint position sensor this is definitely
necessary
otherwise we can't control the such kind
of shape
and we implement the force sensor
as i mentioned before four sensors also
important
to to to execute
to achieve defined forms from fingertip
regular force control
but of course we need the figurative
tactile sensor
but i didn't implement
then my idea is okay the finger fine
fingers
makes contact some object
how to determine such a contact
point okay without using any tactile
sensor
this is very interesting topic then
my idea is the
um for example
okay this is my this is one finger
and for example this shoulder part
how it keeps very confined like this and
then
this elbow part join this another
actuator here
and this is very rigid and we move our
okay
shoulder is very compliant and this part
is very rigid
and then hit for example here then
okay additional motion is given to the
elbow
but this is very compliant and then this
kind of motion happen
okay this is a conductor point contact
point doesn't change
but the r may change posture may change
like this
then this is position sensor this is
also position sensor
then we can this robot know how this
posture looks like
but this point doesn't move then
okay if you uh have a
such kind of posture in the computer
display
and then okay the posture is change
okay with respect to time but there is
one point which doesn't change
because the contact point as far as
object doesn't move so this contact
point doesn't change
so very we can easily that one point
which doesn't change oh
this is a contact point so i think this
idea is
it's very clear because without using
any
tactile sensor so i can detect to
control the point
okay so the you can save the money
but you can obtain somehow
the effect of tactile sensing
okay so i did this work
during my stay in java
that is of my postdoc program
so i really enjoyed but i i was really
feel happy
when i found that kind of rule and
okay this is also what i published as a
i to print the paper transaction
i really enjoy example
so my policy is is
not so many uh sense try to reduce the
sensor as much as possible
but we keep the function okay
so that is my my consistent
policy design policy
did you use that policy in other ways oh
yes
all's love all my work
okay as simple as possible
do you want to give us some more
examples
of robots that you really enjoy making
i okay i
in 1990 i
okay sensitive tactile sensing okay this
one is also the kind of tactile sensing
and at that time is just
just a beam being in the
uh elastic
beam such as the piano you know the
piano
uh wire p in if you look at the inside
of piano there is
many wire and this wires
is just this range of the wire maybe
this rings
and no tactile sensing no element
but for example
the cockroach there is antenna
and then they can detect the contact
point very quickly
and they're always moving the antenna
like like this
so the i think the active motion just
by giving the active motion uh
even though there is no tactile sensing
element
only actually the cockroach
the antenna sensing element distributed
all over the
antenna but asked
my student is cut the antenna
of the cockroach and then after that
we connect the cutted antenna
by glue yeah then
the nav system already done
already cut it
so the nav system doesn't work anymore
but the the base point
there are many other sensors maybe some
sensor can feel the sensation of force
then okay then artificial
antenna if some object makes contact
with the thick part
but still the force is transmitted
through the connecting point to the the
base
then okay the cockroach
behavior is not right the
original one but it can't detect
some object just in this case it's just
force is passing through then okay my
idea is just like that is the
such a piano wire is somehow flexible
and then the the base is one actuator
and the one force sensor
or top sensor and then it makes contact
contact can be detected by the torque
sensor
and then the additional small
displacement is given to the wire
piano y then the torque sensor increase
the output increase so this principle is
really simple
for example um this is rigid okay
in this case it makes contact if the
object is rigid
you cannot you cannot give
any further motion but if this one is
for example fish rod suppose fischer
fischer
is very that is elastic one
then that part if the
the load makes contact with the
environment so you can
give the further further displacement at
the base
this point doesn't move but you can give
the further displacement
then idea is very simple for example
this is
a fishing rod if the tip part makes
contact with the
object okay just for example
10 degrees additional displacement to
the base
you feel nearly nothing but
this point if you give 10 10 degrees
additional displacement you feel a big
force
okay this is ideal so if the contact
point is closed the tip then you
feel very confined if very close to your
hand
you feel as very stiff that means the
the compliance you can feel
as your hand is the function of the
contact
contact distance so idea is really
simple
so the uh i really enjoyed to find this
rule
and of course i wrote this this idea in
the item paper and
i'm very happy when
the paper was referred in science
i think it's not science nature so
since that time many people referred my
paper
so actually at this very happy moment
to find the paper is not appear itself
is referring nature
okay and it came out of especially that
that observation of the animals and
insects and
you know yes very nice then at that time
i learned that
okay this sensing system is actually
initially i observe the cockroach i i
have a video if you want i can show you
but
nowadays is a biologically inspired law
this keyword is very popular but in my
opinion
so we have to be very careful because
the
robot and
some animal including human is
okay because animal human
has a long long history so only the
strongest one
can arrive continuously so
therefore they should include
some some very sophisticated function
okay so therefore the robot should
learn a lot should should imitate
the some animal some human behavior
okay idea is is beautiful idea it looks
like
very fine but we have to be very careful
because the uh
because the if you peel
the for example human robot
and the shape looks like very shame but
once
we opened inside the component
is completely different because the
actuator is just
just only one for each joint but for
humans
many muscles are coupled and the sensor
is so many
but it's just just a few number of
sensors
so the mechanical component electrical
component is completely different
so so therefore the simply run
secret imitations often fail
so so this is my experience
okay i'll give you a very good example
um airplane
okay so designer is
many people from roman period
they wanted to design
just like a bar okay that kind of
swing motion but then
they fell this is a long long history
and then it's a light presence united
states
eventually succeeded but
okay one clever guide
found that okay without seeing
motion the artificial system
they can get a lifting force
yeah so um
this the swinging motion produce
not only the uh property force
but also this swing lifting force
so the swinging motion can produce the
two kind of force
then the point is not succinct motion
the point is how to generate the lifting
force
and propelling force so it's not
necessary to subject swinging motion
just a fixed wing can do that
additional is one proper problem you
know
is a high high speed of rotation
that system can
can move forward anyway okay
then the the
system move forward the system includes
such a fixed ring
the fixed swing automatically gets a
lifting force
okay this lifting force is the
uh is proportional uh proportional to
the
uh moving support speed actually the
quadratic type proportion
so the clever guy is the
such kind of analysis
i mean the swinging is not necessary
it's not imitate the
swinging motion just singing motion
is producing both the lifting force
and proper force then the questions
how to realize these two forces
okay then by combining properly
force properly properly producing only
the
property force and the airplane can go
forward
on the ground then with the fixed
wing it automatically gets a lifting
force
so this this guy is very clever
okay and so the uh then i
always thinking about okay
bio biologically inspired robot
okay see this keyword is very
interesting
but we have to be very careful the pure
imitation
of biological motion
often fail because the
this example of the development of the
airplane
uh is one very good example
well you only have a few minutes left
are we only one minute you have to meet
your friends right
okay but you're starting to get warmed
up
[Music]
then that is a history of my grasping
and then also some sensing then
okay in 2002 or
three i met
an associate one
associate professor his
high speed vision i joined my life
this is a great job for me
and his idea is
his vision is is
almost 60 times faster
than human eye so the scanning
of rate is
1000 frames per second human
cannot human can handle roughly
10 frames per second okay
the 1000 frame per second
is a hundred times more than human
then okay i think about
if we combine both high speed vision
and high speed actuator then
okay we can easily develop the
robot system that can exceed
the human capability so this is the idea
then i i developed the
100 g capturing robot
okay 100g means the action this
quick action is maximum acceleration is
100g
so the 100g is very very big
acceleration
where g is the gravitational
acceleration
so the hundred times more so if your
weight
is for example 50 kilogram
then it's a hundred times more so
under such a situation you can survive
at
all okay then we design
and such kind of 100g capture robot
and combined with a high speed vision
system
and we we dropped the object from the
one meter high
in that that point is almost four meter
per second
the speed speed is so quick and human
can
capture okay but this logo can capture
so in such sense if this robot is
overcome the human capability in some
particular task
so then okay my interest is
shifted okay see so far
at that time before that time my
goal is to to design
and lower the lower hand
just like a human hand okay
but i gradually learned
this is really in terms of the dexterity
okay in terms of excess actually the
human
is very good at texas but we can
manipulate
that kind of object just very texturally
but current roadhead can do that
even the most sophisticated robot
hand you can do that but
on the other hand if you change the
viewpoint
so very easily we can develop the robot
system
that exceeds the human capability okay
we should go in this direction so since
that time
my my computer my lab
is catch phrase is hyper human
hyper human is we design the
artificial system that can exceed
the human capability so this is
more impact okay so this is just
just it was eight over nine years ago
so so therefore i'm now i'm
really happy because i found
my real direction okay
then um after that is
i developed three robots including the
heart 200 100 g
capturing lower the catchphrase is too
fast to see
and then the second robot is the
is the
on the air pocket table
we we as one guy is
moved and this moves the object
like just like this but as a guy tried
to capture this object
on the such air pocket table
but other guy always failed because of
the lack of the recognition
speed of human eye because objects
moving like this
then the subject can catch
which point is appropriate for capturing
always
fail then okay this is a very good
example for me
now let's design the robot system okay
to to capture this object
then okay this is the second level and
so
uh when i enjoyed the
pizza in italian this one and i i
just by chance the pizza master is
is manipulating the pizza in the oven
okay then they are using just very
simple
plate and then with the law
and then he is moving this part
and then just this kind of motion then
the pisa is
not only the translation more
translating motion
but also rotating okay this is another
good example and i design
this kind of logo and by combining the
high speed vision system
and we can manipulate the object and
more than human and more faster than
human
okay this is a sad example then
i realized many people ask me
fat supplication okay so actually
there is no exact
practical application
okay maybe the robot can
can capture fly can capture mosquitoes
but
then okay i think about okay now
i try to design and develop
something which is very benefit
provides some benefit to the human
then okay the good application field
is the medical interfere because the
stiffness stiffness is very important
for medical area
if you visit the medical doctor
then some disease then medical doctor
often touch your body
by their hand this is palpation
so-called palpation
then medical doctor try to find software
is there any stiff point or not
especially this part
and stomach and so forth and so
therefore stiffness measurement is very
important
in the medical diagnosis then
i have the technology of the high speed
vision
i have a technology of high speed
actuator
if you want to get stiffness okay
you need some actuation you you have to
give some force
and then you observe how the deformation
looks right
then you can obtain the stiffness so
i realized i have these two technology
okay why not you i applied this
technology
medical area so that is
2005 so the
during the last six years i
involved heavily inside
and so that i'm sifting my area from
robotics
medical here okay this is my whole story
[Music]
i'm really so happy right now
it's really really interesting it's a
very nice story how it all kind of goes
yeah
i saw that things if you combined i
i really want to show this by video so
faster you can you can see my homepage
but it's not that old
so the
that would be great because we can add
them
sorry no problem