Abstract-We present the design and fabrication of centimeter scale robots, which use inchworm-like motion and bidirectional claws. Two prototypes for different locomotion goals were built utilizing these two characteristics: Type I is designed particularly for horizontal surfaces utilizing two linear actuators and compliant claws. This robot is capable of steering and straight motion by utilizing directionally anisotropic friction. Type II is a variant of Type I that is designed for locomotion on ferromagnetic ceilings or vertical planes by using permanent magnets. The Smart Composite Microstructures (SCM) technique enables versatile and multi-jointed meso-scale devices suitable for such robots.
The population of most developed countries is rapidly aging, which has created a growing demand for home care. A key issue in medicine is supporting the increasing number of elderly patients, both physically and mentally. In this study, we developed a wearable computer that contained modules for measuring electrocardiograms (ECGs) and femoral artery pulse waves using an accelerometer. This system has several benefits: (a) it can provide a database server in each patient's home; (b) its high extendibility and flexibility facilitate adaptation to a patient's needs; and (c) it allows patients to keep their own data, thus protecting the privacy of personal information. To clarify the capabilities and reliability of the system, we applied it to 8 healthy young volunteers during states of physical and mental work. This system successfully detected clear ECGs and femoral artery pulse waves to calculate important bioinformation, including heart rate, pulse wave velocity, and the power spectral density of spontaneous beat-to-beat oscillations in the R-R interval. In this study, we proposed the way to provide an assessment of the physical and mental condition of the subject using analysis of the bio-information with respect to the physical and mental workloads. The present study provides useful knowledge for the development of a wearable computer designed to monitor the physical and mental conditions of older persons and patients.
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