Yoshikazu Mori

Bio: Yoshikazu Mori is an academic researcher from Ibaraki University. The author has contributed to research in topics: Wheelchair & Mobile robot. The author has an hindex of 8, co-authored 55 publications receiving 274 citations. Previous affiliations of Yoshikazu Mori include Tokyo Metropolitan University.

Development of straight style transfer equipment for lower limbs disabled

Abstract: We developed straight style transfer equipment for a person with disabled legs. It realizes travel in a standing position even on uneven ground, standing-up motion from a chair, and ascending stairs. This equipment comprises three modules: a pair of elastic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We show the conceptual design of the equipment and the motion of each module. Cooperative operations using three modules are discussed through simulations. We verified travel in a standing position, including rotation, through experiments using prototypes of elastic crutches and mobile platforms.

Development of a Wheelchair with a Lifting Function

Abstract: A wheelchair with a lifting function is designed to assist a caregiver when transferring a wheelchair user not only indoors but also outdoors. The target user is typically a severely disabled person with disabled upper and lower limbs and therefore needs the physical support when using a toilet or transferring from a bed to a wheelchair and so forth. Both the wheelchair and the lift are driven by their respective motors. The user can approach above the toilet stool or the bed from the rear because the large driving wheels are located in front of the body, and the seat can be folded. This wheelchair is allowed to travel on public roads because of the mechanism of folding the frame for lifting. This paper presents the concept design and the experimental results of a full-sized prototype wheelchair with the lifting function, which confirms the design effectiveness.

Mechanism, Control and Design Methodology of the Nonholonomic Quasi-Omnidirectional Vehicle “ODV9”:

Abstract: The purpose of this paper is to discuss the design of ODV9, a nonholonomic quasi-omnidirectional vehicle to be used as a general platform for mobile robots. Omnidirectional mobility is a desirable property for such a platform because indoor mobile robots are often requested to move in a narrow space. ODV9 has four wheel modules, and each module incorporates one motor, one steering brake, and one conventional wheel equipped with a rubber tire. The use of caster wheels means that ODV9 can be operated with just two motors. Compared with other omnidirectional vehicles, the advantages of ODV9 are not limited to the simplicity of its mechanism. Benefiting from being able to use pneumatic tires, ODV9 is capable of moving on somewhat bumpy road surfaces. The disadvantage of ODV9 is inferiority in its maneuverability. The quasi-omnidirectionality means that an arbitrary x, y and yaw motion cannot be achieved. The disadvantage is, however, compensated by proper use of many possible running modes according to the si...

Development of a Wheelchair with a Lifting Function

Abstract: A wheelchair with a lifting function is designed to assist a caregiver when transferring a wheelchair user not only indoors but also outdoors. The target user is typically a severely disabled person with disabled upper and lower limbs and therefore needs the physical support when using a toilet or transferring from a bed to a wheelchair and so forth. Both the wheelchair and the lift are driven by their respective motors. The user can approach above the toilet stool or the bed from the rear because the large driving wheels are located in front of the body, and the seat can be folded. This wheelchair is allowed to travel on public roads because of the mechanism of folding the frame for lifting. This paper presents the concept design and the experimental results of a full-sized prototype wheelchair with the lifting function, which confirms the design effectiveness.

How to… home page

Abstract: Home PURPOSE OF THE CENTER: To develop the center to address state-of-the-art research, create innovating educational programs, and support technology transfers using commercially viable results to assist the Army Research Laboratory to develop the next generation Future Combat System in the telecommunications sector that assures prevention of perceived threats, and Non Line of Sight/Beyond Line of Sight lethal support.

Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art

Abstract: In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While there are still many challenges associated with exoskeleton development that have yet to be perfected, the advances in the field have been enormous. In this paper, we review the history and discuss the state-of-the-art of lower limb exoskeletons and active orthoses. We provide a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature, and end with a discussion of the major advances that have been made and hurdles yet to be overcome.

Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)

Abstract: Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.

On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)

Abstract: The first energetically autonomous lower extremity exoskeleton capable of carrying a payload has been demonstrated at U.C. Berkeley. This paper summarizes the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX). The anthropomorphically-based BLEEX has seven degrees of freedom per leg, four of which are powered by linear hydraulic actuators. The selection of the degrees of freedom and their ranges of motion are described. Additionally, the significant design aspects of the major BLEEX components are covered.