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We are trying to realize a humanoid which has flexibility. If humanoids have flexible structure, safety and variety of the posture will be achieved. We especially focus on the role of human's spine and muscledriven system. By having a flexible spine, a humanoid will have safety and many degrees of freedom to realize the variety of the postures. By driving joints by tension-controllable tendons, flexibility of the joints will be able to be controlled. We developed a whole-body tendon-driven flexible-spine humanoid named "Kenta". This paper describes the design and control of Kenta's, focusing on the design of the spine. The spine consists of ten joints, vertebrae and rubber disks, ribs, and forty muscles equipped with tension sensors. The design refers to the structure of human's spine. This paper also proposes kinds of control methods of the spine. One uses a geometric virtual robot model, and another is based on direct teaching. Using these methods, some wholebody motions are presented.

Continuous and accurate smartphone-based localization is a promising technology for supporting independent mobility of people with visual impairments. However, despite extensive research on indoor localization techniques, they are still not ready for deployment in large and complex environments, like shopping malls and hospitals, where navigation assistance is needed. To achieve accurate, continuous, and real-time localization with smartphones in such environments, we present a series of key techniques enhancing a probabilistic localization algorithm. The algorithm is designed for smartphones and employs inertial sensors on a mobile device and Received Signal Strength (RSS) from Bluetooth Low Energy (BLE) beacons. We evaluate the proposed system in a 21,000 m 2 shopping mall which includes three multi-story buildings and a large open underground passageway. Experiments in this space validate the effect of the proposed technologies to improve localization accuracy. Field experiments with visually impaired participants confirm the practical performance of the proposed system in realistic use cases.

Continuous, accurate, and real-time smartphone-based localization is a promising technology for supporting independent mobility of people with visual impairments. However, despite extensive research on indoor localization techniques, localization technologies are still not ready for deployment in large and complex environments such as shopping malls and hospitals, where navigation assistance is needed most. We identify six key challenges for accurate smartphone localization related to the large-scale nature of the navigation environments and the user's mobility. To address these challenges, we present a series of techniques that enhance a probabilistic localization algorithm. The algorithm utilizes mobile device inertial sensors and Received Signal Strength (RSS) from Bluetooth Low Energy (BLE) beacons. We evaluate the proposed system in a 21,000 m 2 shopping mall that includes three multi-story buildings and a large open underground passageway. Experiments conducted in this environment demonstrate the effectiveness of the proposed technologies to improve localization accuracy. Field experiments with visually impaired participants confirm the practical performance of the proposed system in realistic use cases.

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People with visual impairments often have to rely on the assistance of sighted guides in airports, which prevents them from having an independent travel experience. In order to learn about their perspectives on current airport accessibility, we conducted two focus groups that discussed their needs and experiences in-depth, as well as the potential role of assistive technologies. We found that independent navigation is a main challenge and severely impacts their overall experience. As a result, we equipped an airport with a Bluetooth Low Energy (BLE) beacon-based navigation system and performed a real-world study where users navigated routes relevant for their travel experience. We found that despite the challenging environment participants were able to complete their itinerary independently, presenting none to few navigation errors and reasonable timings. This study presents the frst systematic evaluation posing BLE technology as a strong approach to increase the independence of visually impaired people in airports. CCS CONCEPTS • Human-centered computing → Empirical studies in accessibility; Accessibility technologies.