出版者・発行元：MDPI AG  

<jats:p>With the aging society in Japan, the number of elderly people residing in elderly facilities is increasing. In previous study, we developed a transfer assistive device designed to aid the elderly in transferring from the bedroom to the bathroom. Additionally, the device assists the elderly with standing and sitting to facilitate independent toileting activities. We verified that, throughout the entire transfer movement, the lumbar burden on caregivers remained below 3400 N. In this study, based on quantitative evaluation indices of transfer movements, the relationship between the lumbar burden on caregivers and factors such as psychological anxiety or cognitive impairment in the elderly during the use of a transfer assistive device was elucidated through motion analysis. We developed a control algorithm for the human–machine collaborative transfer system with the aim of alleviating the strain on the caregiver’s lower back while ensuring the elderly can use the device with peace of mind. The practicality of the control algorithm was verified.</jats:p>

DOI： 10.3390/act13030096

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出版者・発行元：MDPI AG  

<jats:p>A thorough safety assessment of an automated driving system (ADS) is necessary before its introduction into the market and practical application. Scenario-based assessments have received significant attention in research. However, identifying sufficient critical scenarios for ADSs is a major challenge, especially for complex urban environments with a variety of road geometries, traffic rules, and traffic participants. To identify the critical scenarios in this complex environment, it is essential to understand the environmental factors that lead to safety-critical events (e.g., accidents and near-miss incidents). Thus, this study proposes a method for identification of critical scenario components by analyzing near-miss incident data and extracting environmental factors that induce driver errors. In this study, we applied the proposed method to a scenario, in which an ego vehicle makes a right turn at a signalized intersection with an oncoming vehicle approaching the intersection in left-hand traffic, as a case study. The proposed method identified two components (dynamic occlusion caused by oncoming right-turn vehicles and change in traffic lights) that were both critical and challenging for ADSs. The case study results showed the usefulness of the identified components and the validity of the proposed method, which can extract critical scenario components explicitly.</jats:p>

DOI： 10.3390/app131910770

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記述言語：英語   出版者・発行元：Fuji Technology Press Ltd.  

During the autonomous navigation of personal mobility vehicles (PMVs) in pedestrian spaces, avoiding collisions with pedestrians walking nearby is necessary. The avoidance paths of PMVs are affected by the behaviors of the pedestrians, which may also affect passenger comfort. Herein, a local path-planning method that considers passenger comfort to realize comfortable pedestrian avoidance during the autonomous navigation of PMVs in pedestrian spaces is proposed. First, the avoidance path and pedestrian behavior parameters affecting passenger comfort are investigated by evaluating passenger comfort in scenarios with different avoidance paths and pedestrian behaviors. Next, the requirements of a pedestrian avoidance method that considers passenger comfort are set based on the parameters affecting passenger comfort. Finally, a novel path-planning method that satisfies the requirements is proposed. The method is shown to generate comfortable paths in pedestrian spaces via a numerical simulation and participant experiment.

DOI： 10.20965/jrm.2023.p0231

DOI： 10.20965/jrm.2023.p1562_references_DOI_L9BzZvUrZQE1QYCaUobpaWoQ2Vs

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I032772209

記述言語：英語   掲載種別：研究論文（学術雑誌）  

AIM: Healthy older drivers may be at high risk of fatal traffic accidents. Our recent study showed that volumetric alterations in gray matter in the brain regions within the dorsal attention network (DAN) were strongly related to the risk of unsafe driving in healthy older people. However, the relationship between white matter (WM) structural connectivity and driving ability in healthy older people is still unclear. METHODS: We used diffusion tensor imaging to examine the association between microstructural alterations in the DAN and the risk of unsafe driving among healthy older people. We enrolled 32 healthy older individuals aged over 65 years and screened unsafe drivers using an on-road driving test. We then determined the pattern of WM aberrations in unsafe drivers using tract-based spatial statistics. RESULTS: The analysis demonstrated that unsafe drivers had significantly higher axial diffusivity values in nine WM clusters compared with safe drivers. These results were primarily observed bilaterally in the dorsal superior longitudinal fasciculus, which is involved in the DAN. Furthermore, correlation analyses showed that higher axial diffusivity values in the superior longitudinal fasciculus were associated with lower Trail Making Test A scores within unsafe drivers. This result suggests that functionally, WM microstructural alterations in the DAN are associated with attention problems, which may contribute to the risk of unsafe driving among healthy older people. CONCLUSION: Our findings may elucidate the neurobiological mechanisms underlying the increased risk of unsafe driving in healthy older people, potentially facilitating the development of new interventions to prevent fatal accidents.

DOI： 10.1002/pcn5.45

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記述言語：英語   出版者・発行元：Society of Automotive Engineers of Japan, INC  

Indoor temperature affects the arousal level and thermal comfort of drivers. In this study, we aim to prevent the drowsy state and to improve the thermal comfort of drivers in driving for a long time using changes in ambient temperature in cabin. Targeting the scene of driving for 90 minutes, the hypothesis that repeated thermal stimulation to the driver can prevent the decrease of arousal level and thermal comfort of the driver was tested. We investigated the drowsiness level, thermal comfort based on subjective evaluation, and physiological parameters of the driver in the condition of repeated thermal stimulation for 90 min with driving in a simulator. As a result, the drowsiness level with a scale from 0 (alert) to 4 (extremely drowsy) was kept below 1 (slightly drowsy), and the comfort sensation with a scale from -3 (very uncomfortable) to 0 (comfortable) was maintained above -1 (slightly uncomfortable). These results suggest that repeated thermal stimulation is valid to prevent the decrease of arousal level and thermal comfort of the driver.

DOI： 10.20485/jsaeijae.13.2_83

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

In Japan, the aging population is expected to increase the number of elderly people in the future. The purpose of this study was to develop a hip lift transfer assistive system to improve the QOL of elderly living and to prevent back pain for caregivers. We extracted the impediment factor and the necessary scene for the assistance, decided on the transfer process from the wheelchair in the toilet, and considered the reduction method of the burden based on the quantitative evaluation of the caregiver's lumbar burden and developed the device. Then we proposed the algorithm of the system by grasping the behavior and lumbar burden characteristics at the time of using the hip lift transfer assistive system by the developed device in which the proposed support algorithm of standing seating assistance operation is implemented in the actual use environment. Through the assistive movement evaluation experiment and the actual operation in the toilet, we have verified that the use of this device can reduce the caregivers' lumbar burden below the standard value (3400 N) and have proved the effectiveness of the proposed transfer assistive system.

DOI： 10.3390/s21227548

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出版者・発行元：Elsevier BV  

Abstract An automated mobility scooter is expected to provide convenient and safe transportation for users in their living area. However, there is limited research on user comfort compared to that on user safety for the automated driving of mobility scooters. Because the user does not perform driving tasks in automated driving, the visual information from the peripheral environment and visual behavior is expected to closely affect the psychological comfort of the user. This study clarifies the effects of factors related to the automated driving of mobility scooters and the peripheral environment on the visual behavior and psychological comfort of the user. Effects of driving velocity and pedestrian density on the visual behavior and psychophysiological responses of users were investigated via a driving simulator. The results showed that automated driving in an environment with a high pedestrian density can result in a decrease in fixation duration, deactivation of visual processing, sympathetic activation, and feeling of negative emotion. This implies that the assessment of visual behaviors of users is important for the design of automated mobility scooters to improve user comfort.

DOI： 10.1016/j.trf.2021.07.011

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

Detection of traversable areas is essential to navigation of autonomous personal mobility systems in unknown pedestrian environments. However, traffic rules may recommend or require driving in specified areas, such as sidewalks, in environments where roadways and sidewalks coexist. Therefore, it is necessary for such autonomous mobility systems to estimate the areas that are mechanically traversable and recommended by traffic rules and to navigate based on this estimation. In this paper, we propose a method for weakly-supervised recommended traversable area segmentation in environments with no edges using automatically labeled images based on paths selected by humans. This approach is based on the idea that a human-selected driving path more accurately reflects both mechanical traversability and human understanding of traffic rules and visual information. In addition, we propose a data augmentation method and a loss weighting method for detecting the appropriate recommended traversable area from a single human-selected path. Evaluation of the results showed that the proposed learning methods are effective for recommended traversable area detection and found that weakly-supervised semantic segmentation using human-selected path information is useful for recommended area detection in environments with no edges.

DOI： 10.3390/s21020437

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

AIM: In Japan, fatal traffic accidents due to older drivers are on the rise. Considering that approximately half the older drivers who have caused fatal accidents are cognitively normal healthy people, it has been required to detect older drivers who are cognitively normal but at high risk of having fatal traffic accidents. However, a standardized method for assessing the driving ability of older drivers has not yet been established. We thus aimed to identify a new sensing method for the evaluation of the on-road driving ability of healthy older people on the basis of vehicle behaviors. METHODS: We enrolled 33 healthy older individuals aged over 65 years and utilized a machine-learning approach to dissociate unsafe drivers from safe drivers based on cognitive assessments and a functional visual acuity test. RESULTS: The linear support vector machine classifier successfully dissociated unsafe drivers from safe drivers with accuracy of 84.8% (sensitivity of 66.7% and specificity of 95.2%). Five clinical parameters, namely age, the first trial of the Rey Auditory Verbal Learning Test immediate recall, the delayed recall of the Rey-Osterrieth Complex Figure Test, the result of the free-drawn Clock Drawing Test, and maximal visual acuity, were consistently selected as essential features for the best classification model. CONCLUSION: Our findings improve our understanding of clinical risk factors leading to unsafe driving and may provide insight into a new intervention that prevents fatal traffic accidents caused by healthy older people.

DOI： 10.1111/pcn.13084

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

Individuals with severe physical impairments have difficulties operating electric wheelchairs (EWs), especially in situations where fine steering abilities are required. Automatic driving partly solves the problem, although excessive reliance on automatic driving is not conducive to maintaining their residual physical functions and may cause more serious diseases in the future. The objective of this study was to develop a shared control system that can be adapted to different environments by completely utilizing the operating ability of the user while maintaining the motivation of the user to drive. The operating characteristics of individuals with severe physical impairments were first analyzed to understand their difficulties when operating EWs. Subsequently, a novel reinforcement learning-based shared control method was proposed to adjust the control weight between the user and the machine to meet the requirements of fully exploiting the operating abilities of the users while assisting them when necessary. Experimental results showed that the proposed shared control system gradually adjusted the control weights between the user and the machine, providing safe operation of the EW while ensuring full use of the control signals from the user. It was also found that the shared control results were deeply affected by the types of users.

DOI： 10.3390/ijerph17155502

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記述言語：英語   出版者・発行元：Fuji Technology Press Ltd.  

In this study, we proposed an autonomous motion planning method for improving passenger comfort while ensuring safety, particularly with respect to mobility scooters used by elderly people. We proposed a trajectory planner for restricting vehicle behaviors with large accelerations and jerks by selecting a safe trajectory from a set of preset trajectories. Then, based on this trajectory planner, we developed an autonomous motion planning method with four different driving modes, and evaluated the effectiveness of the method through a numerical simulation. The simulation results demonstrated that the proposed method increased comfort without compromising on safety.

DOI： 10.20965/jrm.2020.p0580

DOI： 10.20965/jrm.2023.p0231_references_DOI_1cWmMhNmcDQNTEVHG9APlLkMfN4

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I030459521

出版者・発行元：Springer Science and Business Media LLC  

<jats:title>Abstract</jats:title><jats:p>The wheelchair is the major means of transport for elderly and physically disabled people in their daily lives. However it cannot overcome architectural barriers such as curbs and stairs. In this study, we developed an inverted-pendulum-type robotic wheelchair for climbing stairs. This wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. When climbing stairs, the wheelchair rotates the rotary links while maintaining an inverted state of a mobile body by controlling the position of the center of gravity using a seat slider. In previous research, we confirmed that the wheelchair can climb by applying the control method consisting of a center-of-gravity control phase and rotary link control phase. However, it took approximately 15 s to rotate the rotary links during climbing because faster climbing causes the movement of wheels and the wheelchair to fall. This paper focuses on a control method to restrain the movement of the wheels when the stair climbing speed is increased. We realized that the movement was caused by forces acting on the pitch angle, such as the inertial force and the reaction of the driving force. We proposed the method considering the dynamic equilibrium of the pitch angle and confirmed the effect of the restraining wheels’ movement when the proposed method was applied.</jats:p>

DOI： 10.1186/s40648-020-00171-4

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出版者・発行元：MDPI AG  

<jats:p>Drowsy driving is one of the main causes of traffic accidents. To reduce such accidents, early detection of drowsy driving is needed. In previous studies, it was shown that driver drowsiness affected driving performance, behavioral indices, and physiological indices. The purpose of this study is to investigate the feasibility of classification of the alert states of drivers, particularly the slightly drowsy state, based on hybrid sensing of vehicle-based, behavioral, and physiological indicators with consideration for the implementation of these identifications into a detection system. First, we measured the drowsiness level, driving performance, physiological signals (from electroencephalogram and electrocardiogram results), and behavioral indices of a driver using a driving simulator and driver monitoring system. Next, driver alert and drowsy states were identified by machine learning algorithms, and a dataset was constructed from the extracted indices over a period of 10 s. Finally, ensemble algorithms were used for classification. The results showed that the ensemble algorithm can obtain 82.4% classification accuracy using hybrid methods to identify the alert and slightly drowsy states, and 95.4% accuracy classifying the alert and moderately drowsy states. Additionally, the results show that the random forest algorithm can obtain 78.7% accuracy when classifying the alert vs. slightly drowsy states if physiological indicators are excluded and can obtain 89.8% accuracy when classifying the alert vs. moderately drowsy states. These results represent the feasibility of highly accurate early detection of driver drowsiness and the feasibility of implementing a driver drowsiness detection system based on hybrid sensing using non-contact sensors.</jats:p>

DOI： 10.3390/app10082890

DOI： 10.20485/jsaeijae.13.2_83_references_DOI_KWIosAsSGMZqkJSIOJlF4NvSlDh

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

交差点右折時の対歩行者事故低減に向けて，交通環境が右折時の運転行動に及ぼす影響を明らかにすることが目的である．本稿では，著者らが先行研究で提案した衝突リスクを評価できる運転行動指標を，交通環境が多様な公道に適用することを目指し，常時記録の運転行動データを用い，運転行動指標と交通環境の関係を検討した．

DOI： 10.11351/jsaeronbun.51.333

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

In developed countries, the number of traffic accidents caused by older drivers is increasing. Approximately half of the older drivers who cause fatal accidents are cognitively normal. Thus, it is important to identify older drivers who are cognitively normal but at high risk of causing fatal traffic accidents. However, no standardized method for assessing the driving ability of older drivers has been established. We aimed to establish an objective assessment of driving ability and to clarify the neural basis of unsafe driving in healthy older people. We enrolled 32 healthy older individuals aged over 65 years and classified unsafe drivers using an on-road driving test. We then utilized a machine learning approach to distinguish unsafe drivers from safe drivers based on clinical features and gray matter volume data. Twenty-one participants were classified as safe drivers and 11 participants as unsafe drivers. A linear support vector machine classifier successfully distinguished unsafe drivers from safe drivers with 87.5% accuracy (sensitivity of 63.6% and specificity of 100%). Five parameters (age and gray matter volume in four cortical regions, including the left superior part of the precentral sulcus, the left sulcus intermedius primus [of Jensen], the right orbital part of the inferior frontal gyrus, and the right superior frontal sulcus), were consistently selected as features for the final classification model. Our findings indicate that the cortical regions implicated in voluntary orienting of attention, decision making, and working memory may constitute the essential neural basis of driving behavior.

DOI： 10.3389/fnagi.2020.592979

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：公益社団法人 自動車技術会  

本研究では画像処理によって前屈み行動を抽出し，運転行動の指標の一つとして分析を行った結果，見通しの悪い交差点では，顔を左右に向けるだけではなく，前屈みによる確認行動をとっていることが分かった．本稿では，熟練ドライバの運転行動を評価することにより前屈み行動と確認行動の関係性について議論する．

DOI： 10.11351/jsaeronbun.51.161

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出版者・発行元：SAGE Publications  

DOI： 10.3233/tad-190225

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出版者・発行元：MDPI AG  

<jats:p>Thermal factors not only affect the thermal comfort sensation of occupants, but also affect their arousal level, productivity, and health. Therefore, it is necessary to control thermal factors appropriately. In this study, we aim to design a thermal environment that improves both the arousal level and thermal comfort of the occupants. To this end, we investigated the relationships between the physiological indices, subjective evaluation values, and task performance under several conditions of changes in the indoor ambient temperature. In particular, we asked subjects to perform a mathematical task and subjective evaluation related to their thermal comfort sensation and drowsiness levels. Simultaneously, we measured their physiological parameters, such as skin temperature, respiration rate, electroencephalography, and electrocardiography, continuously. We investigated the relationship between the comfort sensation and drowsiness level of occupants, and the physiological indices. From the results, it was confirmed that changes in the indoor ambient temperature can improve both the thermal comfort and the arousal levels of occupants. Moreover, we proposed the evaluation indices of the thermal comfort and the drowsiness level of occupants using physiological indices.</jats:p>

DOI： 10.3390/app9050899

DOI： 10.20485/jsaeijae.13.2_83_references_DOI_3V5dHsRqTURIOroA72lVxuaZOJb

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

室内温度の変化はドライバ覚醒度と温熱快適性に影響を与える．本研究では，ドライバの居眠り運転防止と温熱快適性の向上を目指し，室内温度の変化パターンが異なる環境下におけるドライバの覚醒度と温熱快適性について，ドライビングシミュレータ運転時の生体情報，主観評価，運転パフォーマンスにより評価した．

DOI： 10.11351/jsaeronbun.50.1446

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I030058821

記述言語：英語   出版者・発行元：Society of Automotive Engineers of Japan, INC  

The objective of this study was to develop indices for detecting a driver’s state that consider the driver’s judgment process in various circumstances using a naturalistic driving behavior database. The deceleration timing when a driver approaches a non-signalized intersection was considered, and a deceleration strategy for the approach to an intersection was formulated based on a naturalistic driving behavior database compiled from the real world. A deviated state detection method that incorporates the formulated strategy is proposed, and the validity of the method was examined.

DOI： 10.20485/jsaeijae.10.1_106

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

交差点右折時の人対車両事故の低減に向けて，衝突リスクを評価可能な運転行動指標に基づいた運転行動変化による衝突リスクの低減効果について検討した．ドライビングシミュレータを用い，交差点を右折する際に運転行動を変化させる操作介入を行う実験を実施し，運転行動変化によって衝突リスクが低減されるか評価した．

DOI： 10.11351/jsaeronbun.50.480

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I029595253

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

交差点右折時の対歩行者事故低減に向けて，ドライバの先読みを考慮した歩行者衝突リスク評価手法の実現が目的である．本研究では，環境にばらつきのある公道走行時の衝突リスク評価を目指し，公道走行データ分析と危険場面再現実験によりドライバの運転行動選択と歩行者衝突リスクに影響する交通環境要素について検討した．

DOI： 10.11351/jsaeronbun.49.372

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028916886

記述言語：英語   出版者・発行元：Society of Automotive Engineers of Japan, INC  

Driving comfort and driving safety are essential factors for drivers. As the environment of vehicle affects the comfort sensation and the arousal level of the drivers, it is necessary to contemplate the way to design of environmental factors inside vehicle. In this study, we focus on the thermal factors inside vehicle, and we aim to design a thermal environment which can improve both the thermal comfort and the arousal level of drivers. In our previous research, we showed that the changes in indoor temperature have possibility to improve both the comfort sensation and the arousal level of driver by analyzing the subjective parameters. To clarify the design requirements, it is needed to evaluate the thermal comfort and the arousal level of drivers continuously, quantitatively and separately. So, we focused on the physiological parameters which can be measured continuously, we investigated the relationship between the thermal comfort sensation, the arousal level of drivers based on facial expression and the physiological parameters, such as Electroencephalogram (EEG) and Electrocardiogram (ECG) when the indoor temperature changed. As a result, we showed that it is possible to evaluate the thermal comfort sensation and the arousal level of drivers quantitatively, continuously and separately by using those physiological parameters.

DOI： 10.20485/jsaeijae.9.2_86

DOI： 10.20485/jsaeijae.12.2_32_references_DOI_GxrYG67ahBTmbKSOxMbyFUqN8uC

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Society of Automotive Engineers of Japan, INC  

Our research aims to investigate the relation between the driving behavior in the actual environment and the cognitive ability for elderly drivers. To examine the planning process during driving, we analyzed the driving behavior of passing through an intersection with a stop sign and lane changing during driving. As a result of the analysis, about 70% of elderly drivers didn’t drive safely just like driving instructors. Moreover, it was found that elderly drivers of Mild Cognitive Impairment (MCI) group had lower divided attention and alternating attention than that of non-MCI group. The drivers of MCI group were more difficult to decide a task during driving than that of non-MCI group.

DOI： 10.20485/jsaeijae.9.3_138

DOI： 10.3389/fnagi.2020.592979_references_DOI_OQHJhYSaM5ekhE0H49jBbvohhka

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16H03130/

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

安全性と快適性向上を目指した車内の温熱環境設計を目的とし，室内温度の変化がドライバの覚醒度と熱的快適感に及ぼす影響と，覚醒度の変化に伴う運転パフォーマンスについて調べるため，Driving Simulator実験を行った．その結果，室内温度の周期的変動により，覚醒度と熱的快適感の両状態を向上できる可能性が示唆された．

DOI： 10.11351/jsaeronbun.49.365

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028916850

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

ドライバの顔向き推定による注視領域抽出システムを提案する．車載カメラによって撮影されたドライバの顔画像に対しフェイストラッキングを適用し推定した顔向き情報と，車両前方を撮影した画像情報を統合することにより，ドライバが前方カメラ画像中のどの領域を注視しているか抽出を行う．

DOI： 10.11351/jsaeronbun.48.1113

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028581452

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

高齢社会の進展に伴い，自動車設計の過程において，高齢者の使いやすさを考慮することは重要となる．本研究では，高齢者の自動車乗車時の動作の特徴と筋負担の傾向から負担因子を把握し，下肢の身体特性との関連性を明確にした．更に，その特徴に基づき，負担低減化のための方策を提案し，その有用性について検討した．

DOI： 10.11351/jsaeronbun.48.477

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028093513

記述言語：英語   掲載種別：研究論文（学術雑誌）  

Persons with severe Duchenne Muscular Dystrophy (DMD) usually have difficult in operating electric wheelchairs (EW) using standard input device due to the lack of muscular power and the deformation of their hands. This paper proposed a novel one dimensional two degree of freedom (1D2F) input device based on the quantitative evaluation of hand function which consists of fingertip force and active range of motion. The validity and the operating features of this device are demonstrated by experiments.

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

交差点右折時の対歩行者事故低減に向けて，ドライバの先読みを考慮した歩行者衝突リスク評価手法を実現することが目的である．本研究では，単独走行右折場面の衝突リスク評価についてヒヤリハットデータ分析と危険場面再現実験により検討し，ドライバの視行動の特徴に基づいて衝突リスクを評価できることがわかった．

DOI： 10.11351/jsaeronbun.48.921

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028451806

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

本研究では交差点の形状と交差車両の挙動より得られる回避空間について，衝突形態を予測し，回避手段を決定することで超小型電気自動車の出会い頭衝突の防止を目指す．その中で交差点の実際の交差角度とドライバが認識している交差角度の差が回避空間に影響し，防止方策のために交差角度の検出が必要であることが分かった．

DOI： 10.11351/jsaeronbun.48.867

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028451450

記述言語：英語   掲載種別：研究論文（学術雑誌）  

Electric powered wheelchairs (EPWs) are essential devices for people with disabilities as aids for mobility and quality of life improvement. However, the design of currently available common EPWs is still limited and makes it challenging for the users to drive in both indoor and outdoor environments such as uneven surfaces, steep hills, or cross slopes, making EPWs susceptible to loss of stability and at risk for falls. An alternative wheel-legged robotic wheelchair, "MEBot", was designed to improve the safety and mobility of EPW users in both indoor and outdoor environments. MEBot is able to elevate its six wheels using pneumatic actuators, as well to detect changes in the seat angle using a gyroscope and accelerometer. This capability enables MEBot to provide sensing for a dynamic self-leveling seat application that can maintain the center of mass within the boundaries of the wheelchair, thereby, improving EPW safety. To verify the effectiveness of the application, MEBot was tested on a motion platform with six degrees of freedom to simulate different slopes that could be experienced by the EPW in outdoor environments. The results demonstrate the robustness of the application to maintain the wheelchair seat in a horizontal reference against changes in the ground angle.

DOI： 10.1016/j.medengphy.2015.12.007

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.16-00092

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

単路直進時の歩行者との危険場面は，壁等の視認不可能な場所からの出現による場合もあるが，既に見えている歩行者の場合であっても発生することが特徴のひとつと考えられる．本研究では歩行者行動の予測が関係していると考え，衝突リスクに及ぼす影響を明らかにするため，走行速度や視認行動について分析した結果を示す．

DOI： 10.11351/jsaeronbun.47.543

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I027250929

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

危険場面での運転行動を，より現実に近い状況で取得することを目的とした実験車JARI-ARVは，運転者前方に搭載した画面の映像をもとに走行するため，運転行動の変容が懸念される．そこで交差点右折時のJARI-ARVの特性把握を目的として，通常車両とJARI-ARVにおける運転操作及び車両挙動を比較した実験の結果について述べる．

DOI： 10.11351/jsaeronbun.46.665

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出版者・発行元：SAGE Publications  

Persons with severe Duchenne muscular dystrophy (DMD) cannot operate electric wheelchairs through standard joysticks because they lack muscular power and are affected by deformation of the hands. To address this difficulty, first the authors determined the requirements of input devices based on a survey of the daily life of persons with DMD and the authors developed new joysticks for an electric wheelchair considering the characteristics of the hand functions of persons with DMD. These devices were based on a quantitative evaluation of the hand functions of persons with severe DMD, which consists of fingertip force and range of motion of the fingers. Two new joysticks were developed, considering hand function, posture, and hand shape of two persons with severe DMD. Thus, the devices can be operated using slight force and movement of the fingers. Furthermore, the authors examined the shape of the hands of persons with severe DMD to determine the shape of the devices.

DOI： 10.3233/tad-140412

DOI： 10.15748/jasse.7.300_references_DOI_BPSdkMu5ZeFuyRH33CY4yu2yJeJ

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出版者・発行元：Springer Science and Business Media LLC  

The objective of this study is to propose the indices which detect the deviated state of drivers while driving by considering drivers’ judgment process and using road environment and naturalistic driving behavior database. To realize this objective, drivers’ speed choice behavior around curve situations was focused and the speed choice process was formulated. Moreover, a deviated state detection method considering the formulated speed choice process around curve situations was proposed and the validity of the method was examined.

DOI： 10.1007/s12239-014-0078-7

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

事故リスクに基づくドライバ安全運転評価の実現のため，事故実態から一時停止交差点の運転行動指標を複数考案し，運転行動データベースで実路のヒヤリハット率と相関の高い運転行動指標を特定した．さらに，テストコース実験で当該運転行動からヒヤリハットに至るメカニズムを明らかにし，運転行動指標の妥当性を検証した．

DOI： 10.11351/jsaeronbun.45.717

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I025744478

記述言語：英語   掲載種別：研究論文（学術雑誌）  

BACKGROUND: This paper describes the development of a mobile base for the Personal Mobility and Manipulation Appliance Generation II (PerMMA Gen II robotic wheelchair), an obstacle-climbing wheelchair able to move in structured and unstructured environments, and to climb over curbs as high as 8 inches. The mechanical, electrical, and software systems of the mobile base are presented in detail, and similar devices such as the iBOT mobility system, TopChair, and 6X6 Explorer are described. FINDINGS: The mobile base of PerMMA Gen II has two operating modes: "advanced driving mode" on flat and uneven terrain, and "automatic climbing mode" during stair climbing. The different operating modes are triggered either by local and dynamic conditions or by external commands from users. A step-climbing sequence, up to 0.2 m, is under development and to be evaluated via simulation. The mathematical model of the mobile base is introduced. A feedback and a feed-forward controller have been developed to maintain the posture of the passenger when driving over uneven surfaces or slopes. The effectiveness of the controller has been evaluated by simulation using the open dynamics engine tool. CONCLUSION: Future work for PerMMA Gen II mobile base is implementation of the simulation and control on a real system and evaluation of the system via further experimental tests.

DOI： 10.1179/2045772313Y.0000000094

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/kikaic.78.3362

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23300207/

記述言語：英語   掲載種別：研究論文（学術雑誌）  

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

DOI： 10.1109/EMBC.2012.6346676

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記述言語：日本語   出版者・発行元：京都 : ヒューマンインタフェース学会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I11087013

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記述言語：日本語   出版者・発行元：ヒューマンインタフェース学会  

DOI： 10.11184/his.13.2_147

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掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/kikaic.77.4591

DOI： 10.1002/ecj.12049_references_DOI_3VyYylft8uucjwVdtNJZW5B4ZwT

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23300207/

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：The Japan Society of Mechanical Engineers  

Although understanding the risk factors with suitable evaluation indices is useful in order to improve the safety of vehicle driving, there is no evaluation index for low-speed vehicles on pedestrian spaces. Because the characteristics of pedestrian spaces as driving environment is different from that of roadway for automobiles, we do not directly use the existing evaluation indices proposed in research field of automobiles. Therefore, we constructed an evaluation index for low-speed vehicles driving on pedestrian spaces. At first, we compared the characteristics of the driving situations of existing indices to that of our target situation, and proposed the evaluation index “Ellipse-Mapped Relative Risk”. Next, we confirmed the characteristics of proposed index by simulation and experiment. From the results of simulation, EMRR’s ability to evaluate the apparent risk in various driving situations was confirmed. On the other hand, from the results of experiment, consistency for the risk perception of the drivers was confirmed. At last, with the proposed evaluation index, a risk effect of pedestrians was partly confirmed as the first step of understanding the risk mechanisms.

DOI： 10.1299/jmtl.4.24

DOI： 10.1299/mej.14-00568_references_DOI_KzADBJ8amfzP5QUijXlQKdMv1sw

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10J08623/

記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/kikaic.76.682

DOI： 10.1299/transjsme.20-00009_references_DOI_TO0V3nKgGoocOJ85IzqmD3rxK7P

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I10637504

記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/kikaic.76.407

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I10599817

記述言語：英語   出版者・発行元：The Japan Society of Mechanical Engineers  

This paper describes the construction of a driver model of a powered wheelchair operation for the understanding of the characteristics of the driver. The main targets of existing researches about driver models are the operation of the automobiles and motorcycles, not a low-speed vehicle such as powered wheelchairs. Therefore, we started by verifying the possibility of modeling the turning operation at a corner of a corridor. At first, we conducted an experiment on a daily powered wheelchair user by using his vehicle. High reproducibility of driving and the driving characteristics for the construction of a driver model were both confirmed from the result of the experiment. Next, experiments with driving simulators were conducted for the collection of quantitative driving data. The parameters of the proposed driver model were identified from experimental results. From the simulations with the proposed driver model and identified parameters, the characteristics of the proposed driver model were analyzed.

DOI： 10.1299/jmtl.3.380

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記述言語：英語   出版者・発行元：The Japan Society of Mechanical Engineers  

The purpose of a powered wheelchair driving simulator is to decrease the time and effort in the process of clinic, research and development. In this paper, the design concepts of our driving simulator for research and development use are explained. To design the simulator's software and hardware, two following experiments were conducted. 1: The driver's horizontal field of view was measured. While making a right turn at a corner of a corridor, the movement of the driver's gazing point was measured. From this result, the maximum and minimum values of gazing point movement were analyzed to design the simulator's angle of view. 2: Motion cues such as acceleration and vibration were measured. The characteristics of these motion cues were analyzed to design the motion system. From the experiment results, a driving simulator of a powered wheelchair was developed. To evaluate the driving simulator, the experiment for comparing with a real powered wheelchair driving was conducted. Evaluations improved by the components which were specially designed for the driving simulator.

DOI： 10.1299/jmtl.2.90

DOI： 10.1299/jmtl.3.380_references_DOI_ZWjPzNZqKHnuUB5DuAJzWwoRaji

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

一時停止交差点における高齢者の不安全行動の特徴を分析し，その行動と身体特性との関連性を整理する．その結果から，高齢者の分割注意機能，抑制機能の劣る高齢者を対象に，交差点までの車両位置と高齢運転者の身体特性に基づく情報支援システムを提案し，そのシステムの有効性をシミュレータおよび，実車により検証した．

DOI： 10.11351/jsaeronbun.40.1605

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I10466705

出版者・発行元：Informa UK Limited  

In a previous study, we developed a force-detecting interface to operate an electric wheelchair for persons with muscular dystrophy. However, the force input method of the interface tends to be directly influenced with respect to disturbance caused by road surface conditions. We proposed a disturbance removal method to detect users’ intentions using experimental results on the roads, where shocks or vibrations are experienced. Moreover, because of the structure of the electric wheelchair, the vehicle behaviour may easily become unstable due to disturbances such as the caster behaviour and the shape of the road (bumps and slopes). When an user's intended input differs from the vehicle's behaviour (brought about by these disturbances), the user has the burden of revising the command to the wheelchair. We proposed the longitudinal stability control system for the wheelchair utilising an in-wheel-motor system to improve the vehicle stability with respect to environmental disturbance.

DOI： 10.1080/00423110801958584

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記述言語：英語  

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

自動車乗降動作時における腰関節、股関節周りの動作の特徴から骨盤周りの負担を解明する必要性が明確になり、人間の乗降動作位置から身体負担を予測する手法を提案する。そこで、その手法を代表的ないくつかの車両寸法に適用し、身体負担を予測する手法の妥当性を検討した。

DOI： 10.11351/jsaeronbun.39.4_147

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I9601707

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

本研究は，高齢運転者の日常運転の不安全傾向を評価した．また，運転シミュレータによる右折時の詳細解析を行い，身体特性といった背景要因も把握し，右折時運転特性によるタイプ分類手法を提案した．新規の高齢運転者に対し，提案手法を適用することにより検証を行い，運転シミュレータ上にて運転支援への応用を検討した。

DOI： 10.11351/jsaeronbun.39.4_141

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I9601699

記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

DRで収集した交差点黄信号時の急停止事例に着目し、ジレンマゾーンを分析した。分析結果から、交差点黄信号に対する急停止判断の要因は対向右折車両、先行車の要因に大きな影響を受けることがわかった。あわせて、黄信号によって誘発される追突ヒヤリハットに関する分析も行ったのでその内容を報告する。

DOI： 10.11351/jsaeronbun.39.6_277

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I9741330

記述言語：日本語   出版者・発行元：バイオメカニズム学会  

本稿では, ALS (筋萎縮性側索硬化症) 患者を対象とした, BCI (ブレイン・コンピュータ・インターフェース) の開発について述べる. BCIは運動機能が著しく低下したALS患者のコミュニケーション手段として期待が大きいにもかかわらず, 技術主導の研究が多く, ニーズとのマッチングが十分ではないのが現状である. 本研究では, ALS患者を対象としたニーズ調査を行い, 日本語音声を聴覚刺激として与えた際に誘発されるP300を検出するBCIのコンセプトを構築した. 本システムは日本語の五十音から, 5者択一課題により3段階で一文字を選択することができる. 健常者およびALS患者での文字選択実験から, 意思伝達装置としての実用性が示された.

DOI： 10.3951/biomechanisms.19.197

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出版者・発行元：MDPI AG  

<jats:p>This article describes the scope of vehicle dynamics control application on micro-scale electric vehicle for enhancing its active safety. The use of in-wheel-motor control in various control objectives as active safety devices are stated in the paper. In the first half of the paper, the control systems for enhancing vehicle dynamics are described. The active front steering by using steer-by-wire mechanism for improving vehicle handling and stability is mainly presented. The latter half of the paper presents the control system designed for driving assist system. The lane keeping control with torque distribution strategy is described. The theoretical controller design and experimental validation are shown in the paper</jats:p>

DOI： 10.3390/wevj1010244

DOI： 10.20965/jrm.2015.p0005_references_DOI_8zz1Iki7Z4hrustQT7vLLHaLj89

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記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I8908451

出版者・発行元：Springer Berlin Heidelberg  

Even if some adjustment is provided, it is still harder for disabled people to use the joystick to operate the wheelchair although they can move their bodies. There is considerable difference in disabled characteristics among individuals. To deal with this difficulty, clarifying each person's characteristics and understanding one's individual characteristics are important issues for the proposal of their operation systems. This paper aims to propose the new operation interface, which generates no stress in operation, considering the physical characteristics among those who feel difficulty in operating with joystick. The subject for system validation is set to be a man who has Becker's muscular dystrophy as patient.

DOI： 10.1007/978-3-540-73333-1_38

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記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I8908314

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記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I8908330

出版者・発行元：SAE International  

DOI： 10.4271/2006-01-1186

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記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7931942

出版者・発行元：Informa UK Limited  

This article presents the alternative lane keeping control strategy with direct yaw moment control (DYC) that utilizes the transverse driving torque distribution. With the sophisticated structure of today's electric vehicle, the small-size motor can be placed into each driving wheel so that the DYC input can be easily and precisely achieved by controlling the in-wheel-motors independently. The information of road position is acquired by vision system via CCD camera and on-board image processing system. As a feature of the proposed system, the lateral deviation detected by CCD camera is converted into the desired yaw rate for tracing the desired lane. Then, the yaw moment control input is theoretically determined to achieve the desired yaw rate from the viewpoint of vehicle dynamics. This article presents the theoretical analysis of lane keeping control characteristics using linear vehicle model on planar motion, and experimental study using micro-scale electric vehicle to verify the effectiveness of the proposed strategy.

DOI： 10.1080/00423110600870006

DOI： 10.9746/jcmsi.13.23_references_DOI_1vak0p94tg1lhJdAxKbc75eKG8W

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/kikaic.72.795

DOI： 10.1299/kikaic.77.114_references_DOI_Zsm8mbKnAaCxSWHkHPyQjPTlk6e

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7905332

記述言語：日本語   出版者・発行元：東京 : 日本機械学会 ; 1979-2010  

DOI： 10.1299/kikaic.71.2790

DOI： 10.1002/ecj.12049_references_DOI_GTBeCugutX8ImfcWNhFpGupslsf

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7490868

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記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7238921

記述言語：英語  

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記述言語：日本語   出版者・発行元：東京 : 日本機械学会 ; 1979-2010  

DOI： 10.1299/kikaic.70.2435

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7076774

記述言語：日本語   出版者・発行元：東京 : 日本機械学会 ; 1979-2010  

DOI： 10.1299/kikaic.70.2940

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7131872

記述言語：日本語   出版者・発行元：東京 : 日本機械学会 ; 1979-2010  

DOI： 10.1299/kikaic.70.1680

DOI： 10.1541/ieejias.130.430_references_DOI_GBTuaoN7WJCA3ZCl9M6FLlITUZ4

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7008805

記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I6830871

記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I7141188

記述言語：英語   出版者・発行元：Elsevier BV  

Nowadays, the aged society has raised many problems such as traffic accidents caused by dangerous driving. This study examines driving manipulating devices considering older driver physical characteristics. The purpose of the study is to reduce driver's workload with the aim of enhancing maneuverability. The experiments are carried out to verify the effectiveness of the proposed manipulating devices utilizing a driving simulator.

DOI： 10.1016/s0389-4304(03)00044-4

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記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I6752780

記述言語：日本語   出版者・発行元：東京 : 自動車技術会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I6266405

記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/kikaic.67.3829

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I6024127

記述言語：日本語   出版者・発行元：東京 : 日本機械学会 ; 1979-2010  

DOI： 10.1299/kikaic.66.1116

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I5362115

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記述言語：日本語   出版者・発行元：東京大学生産技術研究所  

レベル4自動運転を早期に社会実装する手段の一つとしてインフラ協調型自動運転システムが着目されている．限定的な場面での協調型自動運転は実証実験も行われてきたが，広範な地域やルートでの実装に向けて，インフラ協調型システム全体の設計評価の指針が必要である．協調型システムにおける各機能の組み合わせ方や性能の違いが，交通参画者の安全性や円滑性に与える影響が分かれば，導入すべき協調型システムを設計することができ，協調型自動運転のODDを設定することができる．本稿ではその検討方法を事例とともに紹介する．

DOI： 10.11188/seisankenkyu.77.59

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出版者・発行元：SCITEPRESS  

DOI： 10.5220/0013389400003912

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その他リンク： https://dblp.uni-trier.de/db/conf/visigrapp/visigrapp2025-1.html#KuriharaSMKNK25

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出版者・発行元：IEEE  

DOI： 10.1109/sii58957.2024.10417174

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出版者・発行元：IEEE  

DOI： 10.1109/sii58957.2024.10417710

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出版者・発行元：Springer Science and Business Media LLC  

<title>Abstract</title> There are high expectations for autonomous personal mobility vehicles (PMVs) to support the mobility of older people. Autonomous navigation systems are being developed to assist mobility in public areas with mixed pedestrian traffic, such as airports and shopping malls. For autonomous navigation of PMVs, achieving both efficiency and comfort is important. In this study, we focused on the characteristic of passenger tolerance, in which a passenger’s discomfort is relatively small concerning an approaching pedestrian. The objective was to propose an efficient and comfortable autonomous navigation method considering the characteristics of passenger tolerance. First, the passenger tolerance characteristics were clarified through data analysis of a previous study’s dataset and a newly collected dataset. Next, a path planning method considering the characteristics was proposed, and the proposed method was evaluated by numerical simulations. The evaluation results showed that the proposed method can achieve efficient and comfortable autonomous navigation, especially in crowded environments.

DOI： 10.21203/rs.3.rs-3825758/v1

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記述言語：日本語   出版者・発行元：公益財団法人 国際交通安全学会  

DOI： 10.24572/iatssreview.49.1_78

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出版者・発行元：IEEE  

DOI： 10.1109/smc53992.2023.10394392

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記述言語：日本語   出版者・発行元：公益財団法人 国際交通安全学会  

DOI： 10.24572/iatssreview.48.1_4

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0011802800003417

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0011804900003417

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0011698200003417

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-22K12284/

記述言語：日本語   出版者・発行元：東京大学生産技術研究所  

超高齢化が進んだわが国では，地方における高齢化・過疎化など，地域社会の不活性化とそれに伴う衰退が目立ってきている．この状況の一因として，地域住民の短距離個人移動の不便さが大きくなっていることが挙げられる．本発表では，そのような日常用務に適した短距離移動の手段として，電気で動く「原付ミニカー」を取り上げ，実際に数両を投入した地域での状況や効果を紹介する．併せて，このような短距離移動手段となる車両が，ITS 時代の道路交通に円滑に実装できるような理論的要件も簡単にまとめる．

DOI： 10.11188/seisankenkyu.75.105

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2023.2a1-c24

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0012474600003660

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0010849700003124

DOI： 10.20965/jrm.2024.p0918_references_DOI_17dZiGgpUbKB0MU6iPWaYsUNLzS

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記述言語：英語   出版者・発行元：Society of Automotive Engineers of Japan, INC  

In this study, the influence of traffic environment on collision risk assessed by driving behavior indices of right turns at intersections were investigated. A driving simulator (DS) experiment and a risk simulation using the data obtained in the DS experiment were performed to investigate the influence. As a result of the investigation, the influence of the traffic environment on the relationship between the driving behavior indices and collision risk was clarified. Moreover, factors related to the influence, and a solution to consider the influence in risk assessment methods were discussed.

DOI： 10.20485/jsaeijae.13.1_21

DOI： 10.20485/jsaeijae.14.1_1_references_DOI_K1AVI94Qn4wy6FclYyyaE41vZcN

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.1p1-e04

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.1p1-e05

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.1p1-e06

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.2p2-l09

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出版者・発行元：IEEE  

DOI： 10.1109/robio54168.2021.9739581

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出版者・発行元：MDPI AG  

<jats:p>In Japan, the aging population is expected to increase the number of elderly people in the future. The purpose of this study was to develop a hip lift transfer assistive system to improve the QOL of elderly living and to prevent back pain for caregivers. We extracted the impediment factor and the necessary scene for the assistance, decided on the transfer process from the wheelchair in the toilet, and considered the reduction method of the burden based on the quantitative evaluation of the caregiver’s lumbar burden and developed the device. Then we proposed the algorithm of the system by grasping the behavior and lumbar burden characteristics at the time of using the hip lift transfer assistive system by the developed device in which the proposed support algorithm of standing seating assistance operation is implemented in the actual use environment. Through the assistive movement evaluation experiment and the actual operation in the toilet, we have verified that the use of this device can reduce the caregivers’ lumbar burden below the standard value (3400 N) and have proved the effectiveness of the proposed transfer assistive system.</jats:p>

DOI： 10.3390/s21227548

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-20J10461/

出版者・発行元：ACM  

Autonomous navigation systems for powered wheelchairs are drawing attention to support older adults in moving outdoors. It is important to evaluate how the users behave and feel when they experience autonomous navigation for their development. VR-based simulators are used to evaluate user's behavior and subjective assessment in various scenarios without putting anybody at risk. However, it is difficult to reproduce realistic motion feedback in the simulator using motion platforms. Moreover, this physical feedback influences user's perception of self-motion, which affects their behavior and feeling. In this paper, we proposed a novel simulator that gives real motion feedback while simulating various scenarios by combining a virtual reality headset and a real powered wheelchair. Experiment results showed that subjective assessment of comfort during autonomous navigation differed between the proposed simulator and a simulator without motion feedback, indicating that perception of the wheelchair's behavior was enhanced by real motion feedback.

DOI： 10.1145/3473682.3480257

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出版者・発行元：IEEE  

Driving behavior modeling (DBM) is widely used in the intelligent vehicle field to prevent accidents, which predicts actions that vehicles should take to optimize safe driving behaviors. According to some statistics, accidents easily happen at un-signalized intersections. Modeling driving behavior at such places is of great importance. However, current inverse reinforcement learning-based DBM methods fail to predict proper behaviors at the un-signalized intersections in the aspects of smoothness and stopping behavior by just using a single Markov decision process (MDP). We propose a novel sequential MDPs approach to model the driving behavior at the un-signalized intersections to solve the problems. Our approach decomposes the target behavior through the un-signalized intersections into three parts and models each decomposition's driving behaviors with appropriate time durations by a stopping-time-interval distribution through dynamic programming. Experiments on real driving data show that the proposed method achieved a better result and successfully improved the smoothness and stopping awareness of the planned driving path compared to the baselines.

DOI： 10.1109/iv48863.2021.9575851

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出版者・発行元：Research Square Platform LLC  

<jats:title>Abstract</jats:title> <jats:p>During the autonomous locomotion of personal mobility vehicles (PMVs) in pedestrian space, it is necessary to avoid collisions with pedestrians walking nearby. The avoidance paths of the PMVs are affected by the behavior of the pedestrians, which may also affect passenger comfort. In this study, a local path planning method considering passenger comfort is proposed to design comfortable pedestrian avoidance strategies during autonomous locomotion of PMVs in pedestrian space. First, pedestrian behaviors that affect passenger comfort are investigated by evaluating the comfort in pedestrian avoidance scenarios with different avoidance methods and pedestrian behavior. Next, requirements for a pedestrian avoidance method considering comfort are set based on the behaviors affecting passenger comfort. Finally, a novel path planning method satisfying the requirements is proposed. It is confirmed that the proposed method can generate comfortable paths in pedestrian space, and the validity of the proposed method is examined by a subject experiment.</jats:p>

DOI： 10.21203/rs.3.rs-298102/v1

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出版者・発行元：IEEE  

Autonomous driving of a personal mobility vehicle such as a wheelchair in a walking space is crucial as a means of transportation for the elderly and the physically handicapped. To realize this, accurate pedestrian detection is indispensable. As existing 3D object detection methods are trained with a roadway dataset, they are widely used for object detection in roadways. These methods have two major drawbacks as regards the detection of objects in walking spaces. The first is that they largely depend on the different LIDAR models. To eliminate this issue, we propose a 3D object detection method, CosPointPillars, that does not take the reflection intensities of the LIDAR point cloud, which causes a sensor model dependency, as input. The second drawback is that networks trained with a roadway dataset cannot sufficiently detect pedestrians (who are major traffic participants in walking spaces) located within a short distance; this is because the roadway dataset hardly includes nearby pedestrians. To solve this issue, we generated a new walking space dataset called SimDataset, which includes nearby pedestrians as a training dataset in the simulations. An experiment on a real walking space showed that SimDataset is suitable for use in pedestrian detection.

DOI： 10.1109/icpr48806.2021.9413329

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出版者・発行元：MDPI AG  

<jats:p>Detection of traversable areas is essential to navigation of autonomous personal mobility systems in unknown pedestrian environments. However, traffic rules may recommend or require driving in specified areas, such as sidewalks, in environments where roadways and sidewalks coexist. Therefore, it is necessary for such autonomous mobility systems to estimate the areas that are mechanically traversable and recommended by traffic rules and to navigate based on this estimation. In this paper, we propose a method for weakly-supervised recommended traversable area segmentation in environments with no edges using automatically labeled images based on paths selected by humans. This approach is based on the idea that a human-selected driving path more accurately reflects both mechanical traversability and human understanding of traffic rules and visual information. In addition, we propose a data augmentation method and a loss weighting method for detecting the appropriate recommended traversable area from a single human-selected path. Evaluation of the results showed that the proposed learning methods are effective for recommended traversable area detection and found that weakly-supervised semantic segmentation using human-selected path information is useful for recommended area detection in environments with no edges.</jats:p>

DOI： 10.3390/s21020437

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0010348800890100

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2021.30.ps2-9

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.21-00090

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2021.2p1-b13

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2021.2p1-j11

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記述言語：日本語   出版者・発行元：Research Square Platform LLC  

<jats:title>Abstract</jats:title> <jats:p>To ensure the coexistence of autonomous personal mobility vehicles (PMVs) and pedestrians in a pedestrian zone, they should be able to smoothly pass across and avoid each other. Studies suggest that it is possible that PMVs and pedestrians can pass each other in a short period of time without compromising their comfort; this can be achieved through understanding how pedestrians react to the behavior of PMVs and by modifying the autonomous navigation of PMVs accordingly. Therefore, in this study, the avoidance behavior characteristics of pedestrians were investigated. Experiments were conducted to understand the influence of the selected avoiding behavior parameters and to understand the behavior characteristics of pedestrians in relation to the behavior of PMVs. Furthermore, a path planning strategy that enables smooth passing was developed based on these characteristics. The usefulness of this method was evaluated. The avoidance time and the avoiding angular velocity at the start and end of the avoidance behavior were the parameters that contributed to smooth autonomous navigation. The results show that pedestrian tolerance improves and the avoidance width decreases depending on these parameters. Furthermore, smooth autonomous navigation can be achieved using the characteristics of pedestrians’ cognition against PMVs.</jats:p>

DOI： 10.21203/rs.3.rs-1215934/v1

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出版者・発行元：IEEE  

The wheelchair is the major means of transport for elderly and physically disabled people in their daily lives. However it cannot overcome architectural barriers such as curbs and stairs. In this study, we developed an inverted-pendulum-type robotic wheelchair for climbing stairs. The wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. When climbing up stairs, the wheelchair rotates the rotary links while maintaining an inverted state of a movable body by controlling the position of the center of gravity using the seat slider. In previous research, we proposed the control method for climbing up stairs using the rotary links and seat slider, confirming a period of approximately 5 s to rotate the rotary links. In this paper, we propose a control method for going down stairs, and experimentally verify the control effectiveness and stability.

DOI： 10.1109/iros45743.2020.9341242

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出版者・発行元：IEEE  

Automated driving technology enhanced with automated mobility scooter is expected as a transport support for vulnerable elderly and disabled people. It is necessary to have a mobility strategy that can improve the safety, comfort, and acceptability of users for social implementation of automated mobility scooters. In this study, we specifically focus on the comfort of users. The hypotheses that the velocity of mobility scooters and the density of peripheral pedestrians will affect the comfort of users in automated driving and that it can be quantitatively evaluated by using their physiological responses were tested. The environment in which the mobility scooters and pedestrians move around together was reproduced using a driving simulator. The psychological and physiological responses of users during automated driving were investigated and recorded. The results showed that density of pedestrian affect the valence of users, and suggested that the possibility of quantitative evaluation of the user’s affect by using physiological measures.

DOI： 10.1109/itsc45102.2020.9294542

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出版者・発行元：MDPI AG  

<jats:p>Individuals with severe physical impairments have difficulties operating electric wheelchairs (EWs), especially in situations where fine steering abilities are required. Automatic driving partly solves the problem, although excessive reliance on automatic driving is not conducive to maintaining their residual physical functions and may cause more serious diseases in the future. The objective of this study was to develop a shared control system that can be adapted to different environments by completely utilizing the operating ability of the user while maintaining the motivation of the user to drive. The operating characteristics of individuals with severe physical impairments were first analyzed to understand their difficulties when operating EWs. Subsequently, a novel reinforcement learning-based shared control method was proposed to adjust the control weight between the user and the machine to meet the requirements of fully exploiting the operating abilities of the users while assisting them when necessary. Experimental results showed that the proposed shared control system gradually adjusted the control weights between the user and the machine, providing safe operation of the EW while ensuring full use of the control signals from the user. It was also found that the shared control results were deeply affected by the types of users.</jats:p>

DOI： 10.3390/ijerph17155502

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出版者・発行元：SCITEPRESS - Science and Technology Publications  

DOI： 10.5220/0008966201620169

DOI： 10.13140/rg.2.2.11190.24648

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2020.2a1-n04

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2020.2a1-a12

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2020.1p2-c13

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記述言語：英語   出版者・発行元：Japan Society for Simulation Technology  

Individuals with severe disabilities typically suffer from lack of muscle power and deformation of their hands. This significantly affects their ability to operate an Electric Wheelchair (EW) especially when using joystick controllers because one operation of a joystick affects both the straight and turning motions of an EW. Thus, individuals with severe disabilities typically exhibit difficulties in operating an EW, especially in the cases that require fine steering capabilities. In contrast to autonomous driving, the study proposes a novel shared control method using reinforcement learning considering utilizing users' residual physical functions. With the use of online learning, the shared controller provides proper assistance based on the driving environments and each user's input characteristics. The effectiveness and the characteristics of the novel shared controller are discussed via simulations.

DOI： 10.15748/jasse.7.300

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記述言語：日本語   出版者・発行元：公益財団法人 国際交通安全学会  

DOI： 10.24572/iatssreview.43.3_125

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出版者・発行元：The University of Iowa  

The objective of this study is to clarify the relationship between the speed anticipation characteristic with optical flow derived from self-motion and driver behavior of older drivers for future driver assessment. We focused on speed anticipation with optical flow because anticipated speed is assumed to influence behavior at unsignalized intersections with limited visibility, which is an accidentprone situation for the older drivers in Japan. To assess the characteristic, we constructed a novel test by revising a similar test. We conducted an experiment with older drivers that consisted of the novel test and an on-road driving test. The experiment results showed that the speed anticipation characteristic with optical flow had a significant effect on older drivers’ behavior at intersections and drivers who anticipated speed faster drove slower and safer.

DOI： 10.17077/drivingassessment.1708

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2019.2p1-a15

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2019.28.2016

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出版者・発行元：IEEE  

As the aging society in Japan intensifies, the demand for caregiver is also increasing, but many back pain problems have been reported which should be solved during the transferring. In order to improve the QOL of elderly people in elderly welfare facilities and prevent back pain of nursing care workers, we aimed to develop a kind of transfer assist equipment depend on the investigated elderly facilities and extracted requirements. In addition, we focused on the burden on waist and upper limbs during human assistance transfer, devised a method to reduce the burden based on quantitative evaluation and developed the equipment. On the other hand, fixation of the knee joint of the care recipient, assist equipment that can carry out raising and lowering of the seating surface according to the intention of the caregiver was developed, and the effect of reducing the burden on the waist of the transfer operation by using the transfer assist equipment was verified.

DOI： 10.1109/robio.2018.8665301

DOI： 10.3390/s21227548_references_DOI_5wzeKQXdiBOLW9PyxUIe6BlJuWk

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出版者・発行元：Elsevier BV  

Traffic accident statistics in Japan show the necessity of preventing vehicle-on-pedestrian accidents. If the risk of a vehicle colliding with pedestrians could be evaluated in advance, driver-assistance systems would be able to support drivers to avoid potential collisions. Here, features of driving behavior and methods for assessing the risk of collision were investigated for a right turn at an intersection in left-hand traffic, which is a typical vehicle-on-pedestrian accident scenario. The results showed that pedestrian-collision risk can be evaluated from how the driver slows the vehicle and where the driver looks while turning during the maneuver. Moreover, pedestrian-collision risk could be predicted based on driving behavior upon commencement of steering when making an across-traffic turn. Keywords: Risk assessment, Driving behavior, Pedestrian collision, Across-traffic turn

DOI： 10.1016/j.iatssr.2018.02.001

DOI： 10.20485/jsaeijae.13.1_21_references_DOI_9uRhgLjWvfDIGeRGGfTxM2GZk5k

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出版者・発行元：IEEE  

Driver drowsiness is one of the most causes of traffic accidents worldwide. To prevent such accidents, it is necessary to detect driver drowsiness as early as possible. In previous studies, it was confirmed that decreasing arousal levels affect physiological indices, behavioral indices, and driving performance. The goal of this study is to classify the alert states of drivers, particularly the slightly drowsy state, based on physiological indices, behavioral measures, and driving performance. First, the relationship between the arousal level of a driver, physiological signals, such as electroencephalogram and electrocardiogram signals, behavioral measures, and driving performance is investigated based on analysis of data measured by a driving simulator (DS) and driver monitoring system. Next, to classify the alert and the slightly drowsy states utilizing machine learning algorithms, a total of 32 features are extracted from the measured data over a period of 10 seconds. Four machine learning algorithms, namely logistic regression, support vector machines, the k-nearest neighbor classifier, and random forest (RF), are utilized for the classification of driver drowsiness in this study. As a result, it is confirmed that the RF method can obtain up to 81.4% accuracy when distinguishing between alert and slightly drowsy states. This result demonstrates the feasibility of driver drowsiness detection based on hybrid measures over a 10-second time period with high accuracy.

DOI： 10.1109/itsc.2018.8569493

DOI： 10.20485/jsaeijae.13.2_83_references_DOI_XDnXA3ZAzm8wgjOqKZVYqrVvjpd

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出版者・発行元：IEEE  

Persons with severe disabilities experience difficulties in operating an Electric Wheelchair (EW) due to their lack of muscle power and the deformation of their hands. Even special input devices are developed to meet their physical limits, there is no guarantee that they can operate the EW correctly as they intend. To deal with this, EW needs to add more or less intelligence. Unlike autonomous driving, shared control can not only improve the operation but also keep users’ residual physical function and improve their enthusiasm. However, it is always a difficult problem to decide the control weights between user and machine to meet the requirements that making full use of users’ operating abilities and giving assistance when necessary. In this paper, we propose a novel online learning shared central system that can adjust the central weights considering users' motivation, safety and social adaptabilities by online evaluating users’ operating ability. Simulation results show the validity of the proposed method.

DOI： 10.1109/hfr.2018.8633469

DOI： 10.15748/jasse.7.300_references_DOI_Otqd88SMwDAfWRH5dTGrA0BhUtW

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記述言語：日本語   出版者・発行元：東京 : 三井住友海上福祉財団  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I030585767

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2018.1p2-g06

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2018.27.1111

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2018.1p2-b08

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出版者・発行元：IEEE  

The aim of this study was to estimate the road surface shape in a grassy area in order to judge whether a mobility scooter can drive without accidents. For drivability evaluation, a road surface shape map is needed and it is constructed by a laser range finder (LRF). In order to make an accurate road surface shape map, it is necessary to obtain distance information of the road surface accurately. An experiment was conducted to understand characteristics when acquiring distance information in a grassy area. It was found that the distance information obtained from the LRF in a grassy area may include the information of the road surface. Therefore, we proposed a new road surface shape map expressed by the probability of being a road surface. An experiment was carried out to verify the validity of the proposed road surface shape map. It was found that the accuracy was sufficient for drivability evaluation.

DOI： 10.1109/sii.2017.8279299

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2017.26.1203

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記述言語：日本語   出版者・発行元：公益社団法人 自動車技術会  

対歩行者事故の多発場面である交差点右折場面を取り上げ，ドライバの先読みを考慮した運転行動に注目し，その行動の特徴から歩行者衝突リスク評価手法を構築する．特に，衝突対象となる歩行者は，常に可視であるとは限らないため，歩行者が出現する可能性のある非危険場面においても適用できる衝突リスク評価を目指す．

DOI： 10.11351/jsaeronbun.48.915

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028451740

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.17-00224

DOI： 10.1299/mej.23-00490_references_DOI_MRh2o4543PnH2pcdMgHOQPmWTjG

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2017.2p2-d11

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記述言語：日本語   出版者・発行元：一般社団法人 日本福祉のまちづくり学会  

DOI： 10.18975/jais.19.1_55

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028043928

記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2017.26.3003

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2017.26.3007

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2017.1p2-e10

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.16-00516

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記述言語：日本語   出版者・発行元：東京 : 全日本交通安全協会  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I027109256

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記述言語：日本語   出版者・発行元：[東京] : タカタ財団  

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I028389079

出版者・発行元：IEEE  

Indoor thermal quality affects not only a person's perception of comfort, but also their level of arousal, work performance and health. Therefore, it is important that thermal factors are controlled and that a thermal environment is designed in accordance with its purpose. In this study, we aim to design a thermal environment that improves both the arousal level and thermal comfort of the occupants. In order to confirm the possibility that changes in thermal factors can improve both the arousal level and thermal comfort, we investigated the relationships between the physiological parameters, subjective sensation, and the performance of tasks. Specifically, we directed participants to perform a mathematical task and an evaluation of subjective sensation relating to their comfort level and arousal level. Simultaneously, the physiological indices of the participants such as their skin temperature and respiration rate were measured, and tests such as electroencephalography (EEG) and electrocardiography (ECG) were conducted throughout several conditions of changes in the thermal factors. Through the results of our study, we confirm that the relationship between comfort sensation and arousal level corresponds to changes in the thermal factors, we carried out a quantitative and continuous evaluation of a person's comfort sensation and arousal level using physiological indices.

DOI： 10.1109/smc.2015.169

DOI： 10.1299/transjsme.16-00516_references_DOI_Tk1n0A1id7831EWbMcfe1aHMblh

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2015.24._1415-1_

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出版者・発行元：IEEE  

The authors describe a mechanical design and control strategy for an inverted pendulum type robotic wheelchair. The structure of the wheelchair consists of a seat slider and two rotary links between the wheels and tires on either side. In addition, the integrated control is based on a linear-quadratic regulator consisting of a gravity-center control stage and a wheel-linkage control stage for climbing stairs. The authors verified the effectiveness of the control system and the mechanical structure on a physical dynamic simulation. The authors present an overview of the kinematic structure and control strategy for climbing stairs.

DOI： 10.1109/arso.2014.7020991

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2014.23.221

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2014.23.219

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2013.22.191

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2013._2p1-r18_1

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2013.22.223

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出版者・発行元：University of Iowa  

The objective of this study is to propose indices that detect deviated states of drivers during driving considering their judgment process and using a road environment and natural driving behavior database. To this end, the authors focus on curved roads because as road curvature changes continuously drivers need to adapt their behavior to not go wide of the lane or the road. The drivers’ speed choice behavior around curve situations was focused upon, and a speed choice process was formulated. Moreover, the validity of the formulated speed choice behavior in curve situations was examined using the real vehicle and the simulator.

DOI： 10.17077/drivingassessment.1475

DOI： 10.20485/jsaeijae.10.1_106_references_DOI_LKsELEPSlz0hmm6Fz1yBq8fCggW

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記述言語：日本語   出版者・発行元：バイオメカニズム学会  

情報を視覚的に呈示することで認知症者の情報の把握を支援する機器（以下，情報呈示機器）が開発されているが，従来の評価は主観評価などに限られ，認知症者が機器の使用を学習する過程や日常生活での有効性が充分に明らかになっていなかった．本研究では，情報呈示機器の有効性を，認知症者が機器の使用に慣れ，活用できるようになるまでの過程を含めてより詳細に明かにすることを目的とし，1 日の予定を呈示する機器について，現場密着型方針による4 ヶ月間の臨床評価を行った．ユーザーの発話と行動を分析した結果，情報を把握できる割合は，導入前の50% から導入6 週間で97% まで向上し，最終的に100% に達した．人に聞かず機器を見て情報を把握できた割合も，時間経過とともに増加し，導入前の0% から最終的に57% まで向上した．なお，機器の使用を促す方策として，目立つ配色を用いることが有用であった．

DOI： 10.3951/sobim.37.58

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その他リンク： https://ndlsearch.ndl.go.jp/books/R000000004-I024277707

記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2013.22.233

DOI： 10.1299/transjsme.21-00090_references_DOI_8YRpdsHJ3VecgivzCAU1CYPtBh8

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出版者・発行元：IEEE  

In this paper, we describe the motion control for a personal mobility robot (PMR) that is a wheeled inverted pendulum vehicle. The structure of the PMR consists of a seat slider and two independent leg wheels attached on either side; this enables the driver to mount the PMR by changing the vehicle's height from the squatting position to the standing position. In addition, this structure can control the roll posture of the vehicle and thus prevent the PMR from toppling over because of a short tread. The seat slider facilitates a stable pitch posture with suitable control. We present an overview of the kinematic structure, three-dimensional dynamics model, and control method based on the linear-quadratic regulator (LQR), in order to achieve stable control of the PMR.

DOI： 10.1109/iros.2012.6385572

DOI： 10.1109/roman.2014.6926221_references_DOI_WnAajbLhT9gpJjDybK6ChuPcei7

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2012.21.257

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2012.21.237

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出版者・発行元：IEEE  

Gaze estimation is a key technology to understand a person's interests and intents, and it is becoming more popular in daily situations such as driving scenarios. Wearable gaze estimation devices are use for long periods of time, therefore non-active sources are not desirable from a safety point of view. Gaze estimation that does not rely on active source, is performed by locating iris position. To estimate the iris position accurately, most studies use ellipse fitting in which the ellipse is defined by 5 parameters(position (x,y), rotation angle, semi-major axis and semi-minor axis). We claim that, for iris position estimation, 5 parameters are redundant because they might be influenced by non-iris edges. Therefore, we propose to use 2 parameters(position) introducing a 3D eye model(the transformation between eye and camera coordinate and eyeball/iris size). Given 3D eye model, projected ellipse that represents iris shape can be specified only by position under weak-perspective approximation. We quantitatively evaluate our method on both iris position and gaze estimation. Our results show that our method outperforms other state-of-the-art's iris estimation and is competitive to commercial product that use infrared ray with respect to both accuracy and robustness.

DOI： 10.1109/iccvw.2011.6130505

DOI： 10.1109/tvcg.2015.2391857_references_DOI_DilMIWE5HuEwn3CsoHXs0HNUkDX

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出版者・発行元：Springer Berlin Heidelberg  

In an aged society, easy-to-use information devices are necessary. In order to develop information devices which elderly adults can use easily, it is important to bring out characteristics of elderly adults in using information devices based on their cognitive functions. In this study, the authors focus on a relation between memory function and exploration behavior in a hierarchical menu while learning process. An experiment is conducted with eight elderly adults and eight young adults. In this experiment, a hierarchical menu composed based on the library classification, not actual hierarchical menus, is used in order to eliminate differences of knowledge about information devices between elderly and young adults. As a result, it seems that decrease of episodic memory increases a possibility of improper selections in the hierarchical menu when doing the same operations as previous operations.

DOI： 10.1007/978-3-642-21741-8_10

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2011.20.39

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmetld.2011.20.15

DOI： 10.1299/transjsme.18-00419_references_DOI_Ou8e9v9Tgc8Zo0jDYcB7JFsce21

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