Identification and Evaluation of the Face System of a Child Android Robot Affetto for Surface Motion Design

Faces of android robots are one of the most important interfaces to communicate with humans quickly and effectively, as they need to match the expressive capabilities of the human face, it is no wonder that they are complex mechanical systems containing inevitable non-linear and hysteresis elements derived from their non-rigid components. Identifying the input-output response properties of this complex system is necessary to design surface deformations accurately and precisely. However, to date, android faces have been used without careful system identification and thus remain black boxes. In this study, the static responses of three-dimensional displacements were investigated for 116 facial surface points against a discrete trapezoidal input provided to each actuator in the face of a child-type android robot Affetto. The results show that the response curves can be modeled with hysteretical sigmoid functions, and that the response properties of the face actuators, including sensitivity, hysteresis, and dyssynchrony, were quite different. The paper further proposes a design methodology for surface motion patterns based on the obtained response models. Design results thus obtained indicate that the proposed response properties enable us to predict the design results, and that the proposed design methodology can cancel the differences among the response curves of the actuators. The proposed identification and quantitative evaluation method can be applied to advanced android face studies instead of conventional qualitative evaluation methodologies

Enantioselective Protonation of Ketene Bis(trimethylsilyl) Acetals Derived from α-Aryl-α-haloacetic Acids Using LBA

Optically active α-halocarboxylic acids and derivatives are important and versatile building blocks in organic synthesis. Lewis acid assisted chiral Brönsted acid (LBA) was recently prepared in situ from tin(IV) tetrachloride and optically pure binaphthol and shown to be an effective reagent for enantioselective protonation of pro- chiral silyl enol ethers and ketene bis(trialkylsilyl) acetals. In this paper we describe highly enantioselective protonation of ketene bis(trimethylsilyl) acetals prepared from α-aryl-α-haloaeetic acids using LBA. This is a new methodology for the enantioselective synthesis of α-aryl-α-haloacetic acid derivatives, and the commercially available chiral binaphthol can be recovered efficiently for reuse

Transfer Learning of Complex Motor Skills on the Humanoid Robot Affetto

Schulz A, Queißer J, Ishihara H, Asada M. Transfer Learning of Complex Motor Skills on the Humanoid Robot Affetto. Presented at the International Conference on Development and Learning and on Epigenetic Robotics 2018 (ICDL-EPIROB2018), Tokyo (In Press)

A Humanoid Robot with Anatomy Trains that can Passively Sustain Standing Postures

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P1

Skill Memories for Parameterized Dynamic Action Primitives on the Pneumatically Driven Humanoid Robot Child Affetto

Queißer J, Ishihara H, Hammer B, Steil JJ, Asada M. Skill Memories for Parameterized Dynamic Action Primitives on the Pneumatically Driven Humanoid Robot Child Affetto. Presented at the International Conference on Development and Learning and on Epigenetic Robotics 2018 (ICDL-EPIROB2018), Tokyo

A case with difficulty in airway management nevertheless switching from emergency tracheostomy to cricothyrotomy

深頸部膿瘍は時に急速な喉頭浮腫を来たし窒息に至ることもある救急疾患である．深夜に救急外来を受診し手術室にて気道確保中に窒息をきたし，院内コードブルー発動を経て救命し得た深頸部膿瘍の1例を経験したので報告する．症例は60代男性．増悪する咽頭痛，軽度の呼吸苦を主訴に当院へ救急搬送された来院後より次第に呼吸苦が増悪し，甲状軟骨内側の膿瘍および高度の喉頭浮腫を認め，気管切開による気道確保を計画した．術中，窒息が切迫した状態となり迅速に気道を確保するために輪状甲状膜切開に術式を切り替えた．しかし，呼吸苦から体動が多く不穏となりまた体動・出血に伴い窒息に至り，徐々に血中酸素飽和度が低下していった通常の手術続行が不可能となった段階で院内コードブルーを要請し，人員を集め，輪状甲状間膜切開・気道確保に成功した最終的には後遺症なく救命が可能であった

A case report on refractory ulcerative stomatitis associated with acute lymphoblastic leukemia

症例は難治性潰瘍性口内炎を契機に判明した急性リンパ性白血病の 1 例である．患者は 60 歳台，女性．下口唇に難治性潰瘍を認め紹介となった．血液検査にて汎血球減少を認めたため，血液疾患を疑った．骨髄検査にて，Ph 染色体陰性急性 B 細胞性リンパ性白血病と診断され，初診の 4 日後からステロイド療法が開始された．なお，下口唇生検の病理組織には明らかな白血病細胞の浸潤は認めなかった．口腔症状が白血病の初発症状となることがあり，これを主訴に受診した白血病患者を早期診断することは大変重要である．しかし，口腔病変の原因は多彩であり，さまざまな科が対応することが多く，各科が連携して診療にあたることが重要と考える．We herein report a case on refractory ulcerative stomatitis associated with acute lymphoblastic leukemia. The female patient in her 60s showed refractory ulcer on her lower lip ; and the referral was made. Since pancytopenia was found by a blood test, hematologic disease was suspected. Bone marrow examination presented the diagnosis of Philadelphia chromosome-negative B-cell acute lymphoblastic leukemia. Based on this diagnosis, steroid therapy had been initiated from four days after the first visit. On biopsy of lower lip, the pathological tissue did not show obvious infiltration of leukemia cells. Since oral manifestation may sometimes be an initial symptom of leukemia, an early diagnosis on leukemia patient with main complaint of oral symptom is critically important. Oral lesions, however, have various causes, and it thus often requires care of various clinical department. Based on this, it is considered to be important to implement treatment with cooperation among each clinical department