4,8-Aryl-substituted 2,10-di-tert-butyldipyrido[1,2-c;2Ј,1Јe]-imidazolium salts were synthesized from a newly prepared dibromoprecursor by use of Suzuki-Miyaura coupling. The corresponding carbenes were generated from the imidazolium salts by deprotonation. ARTICLE Dedicated Clusteradditional π interactions to the coordinated central metal atom.

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Home Oxygen Therapy (HOT) patients always need to be supplied high concentration oxygen, and they also need to carry portable oxygen cylinders when they go out. However the oxygen cylinders seem to be heavy. So we propose and develop new type of robotic cart for carrying oxygen cylinder to support HOT patients. Our proposed robotic cart applies guide and lead style to carry oxygen cylinder by using the handle of two tight and left type interfaces which has 2 force sensors to generate the robot's moving direction and velocity. In this paper we describe the concept and principle of robotic cart operation, and then we show the effectiveness of our proposed feedback control system of force-velocity impedance control.

Robotic cart development for carrying oxygen cylinder to support HOT patients -Realization of the companion cart by force control-正 入部 正継(阪電通大) 学 ○池田 遼太(阪電通大) 学 前田 直人 学 大西 幸平 正 遠藤 玄(東工大) 田窪 敏夫(女子医大) 大平 峰子(東長野病院)

We propose a motion control interface system for a mobile robotic cart to support Home Oxygen Therapy (HOT) patients when they go out. Our goal is to realize a mobile robotic cart similar to a wheeled walker that carries oxygen devices in front of patients, because HOT patients whose physical strength has especially waned would like to use such a cart according to the results of our questionnaire given to patients. The proposed handling interface of the mobile robotic cart adopts simple mechanisms and commonly used force sensors to sense only pushing and pulling forces from the user. We also apply a two-degrees-of-freedom (2 D.O.F.) control system to control the velocity and response time of the robotic cart. The feedforward controller of the 2 D.O.F. control system, which is an impedanceadjustable element, is expected to be used not only to adjust the response time but also to compensate for interference between the forces applied by the user and the robotic cart during operation. In this study we evaluated the effectiveness of our proposed handling interface mechanisms and control system by performing several experiments on a prototype robotic cart, and then we carried out user tests on some HOT patients and received a positive evaluation of the robotic cart's performance.