Table of Contents

• Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin. 1-5 [doi]
• Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gómez Peña, Saeed Abdolshah, Sami Haddadin. 6-9 [doi]
• Evaluation of Biofidelity and a Proposal for Simplification of a Human-inspired Safety DummyA. Hirata, Y. Shimaoka, T. Okamoto, R. Watanabe, Y. Ydmada. 10-14 [doi]
• Experimental Investigation of Human Soft Tissue Behavior for Constructing Human-Robot Contact Force-Displacement Measuring SystemNader Rajaei, Tatsuo Fujikawa, Yoji Yamada. 15-19 [doi]
• Development of a Walking Dummy Reproducible Fall Sign Patterns of Wearable Walking Support DevicesHiroyasu Ikeda, Tsuyoshi Saito, Kohei Okabe. 20-23 [doi]
• Temporal characteristics of skin conductance and subjective intensity in response to unpleasant audio-visual and vibrotactile stimuliIbuki Tara, Shogo Okamoto, Yasuhiro Akiyama, Yoji Yamada. 24-27 [doi]
• Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise MotionRobin Jeanne Kirschner, Lisa Burr, Melanie Porzenheim, Henning Mayer, Saeed Abdolshah, Sami Haddadin. 28-32 [doi]
• Research and verification of a new relaxation technology based on virtual reality for human psychological security and psychosomatic recoveryLi Gu, Baiqing Sun, Lingwen Liu, Yong Li 0035, Qiuhao Zhang, Junyou Yang. 33-37 [doi]
• "My name is EMILI" - An Online Survey to Evaluate the Impact of Framing on Social Robots in Logistics**This research is supported by the Center of Excellence for Logistics and ITJana Jost, Thomas Kirks, Kevin Harkin. 38-41 [doi]
• Estimation of Dementia Severity Using SVM based on Patient's Engagement Levels in ConversationRyuji Yamazaki, Shuichi Nishio, Kazue Shigenobu, Elie Maalouly, Hiroshi Ishiguro. 42-46 [doi]
• Preparation and Property Analysis of Fe3O4/PVA Magnetic Hydrogel Base on Soft Robot MatrixA. Dianchun Bai, B. Xuemiao Zhang, C. Jiyuan Dai. 47-51 [doi]
• Active Disturbance Rejection Control Algorithm of Permanent Magnetic Suspension System **Research supported by ABC FoundationFeng Sun, Jiacun Liu, Junjie Jin, Fangchao Xu, Qiang Li, Haining Zhao, Ling Tong, Ming Zhang, Chuan Zhao, Xiaoyou Zhang. 52-54 [doi]
• Fuzzy PID Control Method of Permanent Magnetic Levitation VehicleHui Guo, Chuan Chen, Feng Sun, Fangchao Xu, Qiang Li, Junjie Jin, Ming Zhang, Ling Tong, Xiaoyou Zhang. 55-59 [doi]
• Energy-saving Control Method of Permanent Magnetic Suspension SystemXiaoyou Zhang, Feng Sen, Feng Sun, Chuan Zhao, Haining Zhao, Fangchao Xu, Qiang Li, Junjie Jin, Hui Guo, Ming Zhang. 60-65 [doi]
• Stability evaluation of subassembly considering with gravitational and frictional actionKoshi Makihara, Yasumichi Aiyama. 66-69 [doi]
• The Cervical Spine Evaluation and Rehabilitation SystemZhichen Pei, Tianchen Li, Hangping Yu, Meimei Han, João Paulo Ferreira, Tao Liu 0006. 70-73 [doi]
• Effect of 4 Weeks of Foot Stretching with an Automatic Stretching Machine: A Case ReportNaomi Yamada, Shogo Okamoto, Yukiko Fuwa, Yasuhiro Akiyama, Yoji Yamada. 74-76 [doi]
• Developing a Framework for Evaluating Robotic Care Devices in the Introduction PhaseKeiko Homma, Mika Yasuoka, Yasuko Akutsu, Yoshio Matsumoto. 77-80 [doi]
• Safety Guidance to Develop a Robotic Devices for Nursing CareYasuhiro Akiyama, Youichi Asano, Hiroyasu Ikeda, Yoshihiro Nakabo, Yuichiro Shimizu. 81-84 [doi]
• Development of Bath Auxiliary Robot for the Disabled ElderlyWeibo Wang, Ya Chen, Xiaofeng Zou, Shuoyu Wang, João Paulo Ferreira, Tao Liu 0006. 85-88 [doi]
• Q-learning-based excretion assistance robot improves the sitting conditions of usersChenhao You, Yina Wang, Junyou Yang. 89-93 [doi]
• Designing Path of Collision Avoidance for Mobile Manipulator in Worker Safety Monitoring System Using Reinforcement LearningJiwoong Lim, Jihyun Lee, Changjoo Lee, Gunwoo Kim, Younghoon Cha, Joonhyung Sim, Sungsoo Rhim. 94-97 [doi]
• Ontology Learning of New Concepts combining Textural Knowledge and Visual Analysis for Service Robot ApplicationsL. Villamar Gómez, Jun Miura. 98-100 [doi]
• Knowledge and Data-Driven Robotic Decision Scheme for Modern Wastewater Treatment PlantsXuhong Cheng, Zhiwei Guo, Yu Shen, Peng Shi. 101-105 [doi]
• Research on Classification of Intrusion Detection in Internet of Things Network Layer Based on Machine LearningJingyu Liu 0005, Dongsheng Yang, Mengjia Lian, Mingshi Li. 106-110 [doi]
• Multi-Channel sEMG Signal Gesture Recognition Based on Improved CNN-LSTM Hybrid ModelsDianchun Bai, Tie Liu, Xinghua Han, Guo Chen, Yinlai Jiang, Hiroshi Yokoi. 111-116 [doi]
• Response Probability Distribution Acquisition for Autonomous Dialogue GenerationElie Maalouly, Shuichi Nishio, Hiroshi Ishiguro. 117-121 [doi]
• Evaluation of the Effectiveness of Protective Glasses for Small UAV Propellers: a Report on preliminary experimentsHiroki Igarashi, Tomoya Noake, Sota Okoshi, Kakuya Iwata, Toshiro Houshi, Tetsuya Kimura. 122-124 [doi]
• Development of Autonomous Material Transportation Robots: Mechanical Design and Safety MeasurementsKazuo Okuhata, Shingo Ino, Yoshinobu Mizobuchi, Guang Yang, Shuoyu Wang, Hajime Okamura. 125-126 [doi]
• Evaluation Exercise in the Seminar for Standard Test Method of Ground Robot at Fukushima Robot Test FieldNoritaka Sato. 127-130 [doi]
• Development of Testing Method Considering Tasks with Remotely Controlled Robots in Fukushima Daiichi Nuclear Power StationTaichi Yamada, Hiroyuki Abe, Kuniaki Kawabata. 131-134 [doi]
• Intelligent Detection Method for Offline Dynamic Balance of Flexible Rotor**Resrach supported by National Natural Science Fund of ChinaFeng Sun, Chunguang Zhang, Fangchao Xu, Haining Zhao, Qiang Li, Ming Zhang, Hui Guo, Junjie Jin, Xiaoyou Zhang. 135-138 [doi]
• Experiences in applying a new approach to designing safe HRC applicationsJosé Saenz, Erik Schulenburg, Roland Behrens, Norbert Elkmann. 139-143 [doi]
• A Safety Joint with Passive Compliant and Manual Override Mechanisms for Medical RoboticsJia Zheng, Shuangyi Wang, James Housden, Zeng-Guang Hou, Davinder Singh, Kawal S. Rhode. 144-147 [doi]
• The effect of the radius of curvature of the base edge of the robot covered with cushion covering on contact pressure in human collisionYusuke. Morita, Yoji. Yamada. 148-152 [doi]
• Analysis of Human-Robot Physical Interaction at CollisionDoyeon Han, Moon Young Park, Junsuk Choi, Heonseop Shin, Sungsoo Rhim. 153-156 [doi]
• Calculating the Supplied Energy for Physical Human-Robot InteractionJian Liu, Yoji Yamada, Yasuhiro Akiyama. 157-160 [doi]
• Proposal of Fail-Safe Contact Motion Control and its Simulation using CRANE-X7Hiroki Kito, Yoji Yamada, Jian Liu, Yasuhiro Akiyama, Shogo Okamoto. 161-165 [doi]
• Performance Characterization of 3D MEMs Lidar with Nonlinear Scanning PatternAneesh N. Chand. 166-172 [doi]
• A Novel Safety Evaluation Approach of Transfer Interaction based on Optimal Feature-Combination for LDA Classification of Functional Near-Infrared Spectroscopy SignalsDonghui Zhao, Tianqi Zhang, Junyou Yang, Shuoyu Wang, Hiroshi Yokoi. 173-176 [doi]
• Adversarial Black-Box Attacks on Vision-based Deep Reinforcement Learning AgentsAtanas Tanev, Svetlana Pavlitskaya, Joan Sigloch, Arne Rönnau, Rüdiger Dillmann, J. Marius Zöllner. 177-181 [doi]
• Optical Sensing Evaluations of Ultra-Low Reflective PaintingsKiyoshi Fujiwara, Yasushi Sumi, Masato Kodama. 182-185 [doi]
• M-region Segmentation of Pharyngeal Swab Image Based on Improved U-Net Model**Resrach Supported by Scientific Research Fund of Education Department of Liaoning Province. (LFGD2020004)Yina Wang, Zechao Xu, Huaici Zhao, Junyou Yang, Shuoyu Wang. 186-190 [doi]
• POMDPs for Safe Visibility Reasoning in Autonomous VehiclesKyle Hollins Wray, Bernard Lange, Arec L. Jamgochian, Stefan J. Witwicki, Atsuhide Kobashi, Sachin Hagaribommanahalli, David Ilstrup. 191-195 [doi]
• 3D Mapping Based IMU Loosely Coupled Model For Autonomous RobotRuping Cen, Shimin Liu, Fangzheng Xue. 196-199 [doi]
• Effect of Size of Preceding Vehicle on Behavior of Following VehicleHanwool Woo, Hirokazu Madokoro, Atsushi Yamashita, Kazuhito Sato, Hajime Asama. 200-203 [doi]
• FSM trajectory tracking controllers of OB-AUV in the horizontal planeFangui Meng, Aimin Liu, Shuai Jing, Yi Zu. 204-208 [doi]
• Path Planning and Moving Obstacle Avoidance with Neuromorphic ComputingMotoki Sakurai, Yosuke Ueno, Masaaki Kondo. 209-215 [doi]
• Estimation of effects of recovery step length on severity of injuries caused by the trip and fallShuto Yamada, Yasuhiro Akiyama, Shogo Okamoto, Yoji Yamada. 216-219 [doi]
• Identification of healthy elderly's gait characteristics by analyzing gait parametersTakuya Mayumi, Yasuhiro Akiyama, Shogo Okamoto, Yoji Yamada. 220-223 [doi]
• Walking motions with high margin-of-stability valuesTomoyuki Iwasaki, Shogo Okamoto, Yasuhiro Akiyama, Takashi Inagaki, Yoji Yamada. 224-228 [doi]
• Research on The Dynamic Model of Human Lower Limbs Based on 3D VisionDianchun Bai, Hongyu Yi, Guo Chen, Xinghua Han, Yinlai Jiang, Hiroshi Yokoi. 229-232 [doi]
• Modeling and Stiffness Evaluation Of Tendon-Driven Robot For Collaborative Human-Robot InteractionVishal Ramadoss, Keerthi Sagar, Mohamed Sadiq Ikbal, Dimiter Zlatanov, Matteo Zoppi. 233-238 [doi]
• Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in HealthcareAnton Reindl, Nina Rudigkeit, Martin Ebers, Mario Tröbinger, Jean Elsner, Sami Haddadin. 239-243 [doi]
• Approaches towards standardization of performance evaluation of underwater infrastructure inspection robots: Establishment of standard procedures and training programsHideki Masago. 244-247 [doi]
• Study on Standard AI Performance Test Methods for Service Robots - Autonomous Mobile Service RobotsCota Nabeshima, Yoshihiro Nakabo, Tamao Okamoto. 248-251 [doi]
• A Revised Framework for Managing the Complexity of Contact Hazards in Collaborative RoboticsRoland Behrens, Norbert Elkmann. 252-258 [doi]
• Standards and Regulations for Physically Assistive Robots**Research supported by Lloyds Register Foundation, under the Assuring Antonomy International ProgrammePraminda Caleb-Solly, Christopher Harper, Sanja Dogramadzi. 259-263 [doi]
• Design for Interpretability: Meeting the Certification Challenge for Surgical RobotsMaria-Camilla Fiazza, Paolo Fiorini. 264-267 [doi]
• Counter-Misdirection in Behavior-based Multi-robot Teams **Research supported by the National Science Foundation under CNS EAGER grant #1848653Shengkang Chen, Ronald C. Arkin. 268-275 [doi]
• Leader-Following Consensus and Adaptive Control Protocol Design for Multi-Agent SystemsYuqi Liu, Zhengle Zhang, Tiedong Ma. 276-279 [doi]
• Second-Order Leader-Following Consensus of Fractional-Order Multi-Agent SystemsYuqi Liu, Zhengle Zhang, Tiedong Ma. 280-283 [doi]
• Formation control for second-order multi-agent systems by impulsive protocolYongrui Xiao, Zhengle Zhang, Tiedong Ma. 284-287 [doi]
• Adaptive neural network consensus control of multi-robot systems with output constraintsYuan Sun, Peng Shi 0001, Cheng-Chew Lim. 288-291 [doi]
• Analysis of Group Effect in Group Emergency Stopping Behavior of Autonomous Multi-Robot Systems with Uncertain Sensing Delay**This work is partially supported by Grant-in-Aid for Scientific Research (C) (18K11492), JapanTakumi Nogami, Zhidong Wang. 292-296 [doi]
• Marmarou-type Impact Tests to Investigate Criteria for Avoiding Bruises in Extremities by Human-Robot ContactTatsuo Fujikawa, Ryuji Sugiura, Rie Nishikata, Yoji Yamada, Tetsuya Nishimoto. 297-300 [doi]
• Development of a Porcine Thigh Finite Element Model for Evaluating the Soft-Tissue Injuries Caused by Blunt Impacts during Human-Robot Interactions**This research was conducted as a part of the project of 'The International Standardization on Measurement Methods of Skin Injury Tolerance for Next-generation Safety of Machinery in Human-machine Interaction' by the Ministry of Economy, Trade, and Industry of JapanYu-ki Higuchi, Tatsuo Fujikawa, Ryuji Sugiura, Tetsuya Nishimoto, Fusako Sato. 301-305 [doi]
• Novel In-vivo Microscopy Technique for Internal Bleeding Using Transparent FishTatsuo Fujikawa, Yoji Yamada. 306-309 [doi]
• Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing SetupsMazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin. 310-315 [doi]
• A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper ExtremitiesMazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin. 316-320 [doi]
• An improved one-stage detector for vehicle and pedestrian detection on campus AGV**Research supported in part by the Key Area Research and Development Program of Guangdong Province under Grant 2020B0909020001, in part by the National Natural Science Foundation of China under Grant 62003059, 61772095, in part by China Postdoctoral Science Foundation under Grant 2020M673136, in part by the Chongqing Science Fund for Outstanding Young Scholars under Grant cstc2019jcyjjqX0015, and in part by the Fundamental Research Funds for the Central Universities under Grant cqu2018CDHB1A06, Grant 2019CDCGZDH207, and Grant 2019CDYGZD010Ying Wang, Rui Li, Qi Qi, Xiaojie Su. 322-325 [doi]
• Design of Maximum Stopping Deceleration of Mobile Manipulator Considering the Protective Separation Distance without Tip-overChang Joo Lee, Jihyun Lee, Sungsoo Rhim. 326-329 [doi]
• Improved YOLOv5 Network Model and Application in Safety Helmet DetectionShilei Tan, Gonglin Lu, Ziqiang Jiang, Li Huang. 330-333 [doi]
• Vision based collision detection for a safe collaborative industrial manipulatorBruno Maric, Fran Jurican, Matko Orsag, Zdenko Kovacic. 334-337 [doi]
• Cumulative Clustering Filter for MIMO Radar Detecting Human Hand IntrusionHuazhe Wu, Eugene Kim, Yoji Yamada, Shogo Okamoto. 338-341 [doi]
• Proposal of position error compensation method that enables immediate work when replacing industrial robotsR. Yamaguchi, Yasumichi Aiyama. 342-345 [doi]
• Improving Control of a Teleoperated Robot Using an Adaptive Oscillator to Perform a Rhythmic Task for Foundry ApplicationsBaptiste Menges, A. Guenard, Patrick Henaff. 346-350 [doi]
• Human Aware Robot Motion Planning using RRT Algorithm in Industry4.0 EnvironmentAiswarya L, Abhra Roy Chowdhury. 351-358 [doi]
• Single sheet separation method from piled fabrics using roller hand mechanismK. Manabe, X. Tong, Yasumichi Aiyama. 359-362 [doi]
• From Handcrafting to a Certified and Ergonomic Collaborative Workstation: the Digital Transformation Process**This work was supported by NORTE-06-3559-FSE-000018, integrated into the invitation NORTE-59-2018-41, aiming to hire highly-qualified human resources, co-financed by the Regional Operational Programme of the North 2020, thematic area of Competitiveness and Employment, through the European Social Fund (ESF). † This work was conducted according to the guidelines of the Declaration of Helsinki, and approved by the Committee of Ethics for Research in Social and Humans Sciences of the University of Minho (approval number CEICSH 095/2019). Informed consent was obtained from all subjects involvedJoão G. Cunha, Carlos Faria, Ana Colim, João Oliveira, Luís A. Rocha, Mãrcio Silva, Sérgio Monteiro, Estela Bicho. 363-366 [doi]
• Effect of Assist Robot on Muscle Synergy during Sit-to-Stand MovementTianyi Wang, Shima Okada, An Guo, Masaaki Makikawa, Naruhiro Shiozawa. 367-368 [doi]
• Integral Sliding Mode Control for a Human Support RobotFandi Qing, Hongbin Chang, Xiaojie Su, Shuoyu Wang. 369-372 [doi]
• Study on Assistance Force of Standing Assist RobotTianjie Wang, Yina Wang, Junyou Yang, Shuoyu Wang. 373-377 [doi]
• Effect of different gait phase-based assist patterns of a wearable robot on gait motionKiichi Kondo, Yasuhiro Akiyama, Shogo Okamoto, Yoji Yamada. 378-381 [doi]
• Explainable Artificial Intelligence Requirements for Safe, Intelligent RobotsRaymond Sheh. 382-387 [doi]
• Evaluating Machine Learning Performance for Safe, Intelligent RobotsRaymond Sheh. 388-393 [doi]
• A Novel Posture Recognition Based on Time Series Supervised Learning AlgorithmBowen Duan, Donghui Zhao, Junyou Yang, Shuoyu Wang. 394-398 [doi]
• A reference model in safety design of a modular service robot based on MBSE: A case study of a stocking robot in a supermarketTakao Miyoshi, Tetsuya Kimura. 399-402 [doi]
• Path Planning Algorithm Based on the Improved RRT-Connect for Home Service Robot ArmsShuyu Li, Donghui Zhao, Yizhen Sun, Junyou Yang, Shuoyu Wang. 403-407 [doi]
• Personal Care Robot Navigation System Based on Multi-sensor FusionYizhen Sun, Junyou Yang, Donghui Zhao, Shuyu Li. 408-412 [doi]
• Multi-Welfare-Robot Cooperation Framework for Multi-Task Assignment in Healthcare Facilities Based on Multi-Agent SystemYong. Li, Xuan-Yu. Jiao, Bai-Qing. Sun, Qiu-Hao. Zhang, Jun-You. Yang. 413-416 [doi]
• Mobile Robot Navigation Based on Deep Reinforcement Learning with 2D-LiDAR Sensor using Stochastic ApproachHan Beomsoo, Ankit A. Ravankar, Takanori Emaru. 417-422 [doi]