This paper develops a vision-based displacement measurement system for remote monitoring of vibration of largesize structures such as bridges and buildings. The system consists of one or multiple video cameras and a notebook computer. With a telescopic lens, the camera placed at a stationary point away from a structure captures images of an object on the structure. The structural displacement is computed in real time through processing the captured images. A robust object search algorithm developed in this paper enables accurate measurement of the displacement by tracking existing features on the structure without requiring a conventional target panel to be installed on the structure. A sub-pixel technique is also proposed to further reduce measurement errors cost-effectively. The efficacy of the vision system in remote measurement of dynamic displacements was demonstrated through a shaking table test and a field experiment on a long-span bridge.

This paper develops a vision-based displacement measurement system for remote monitoring of vibration of largesize structures such as bridges and buildings. The system consists of one or multiple video cameras and a notebook computer. With a telescopic lens, the camera placed at a stationary point away from a structure captures images of an object on the structure. The structural displacement is computed in real time through processing the captured images. A robust object search algorithm developed in this paper enables accurate measurement of the displacement by tracking existing features on the structure without requiring a conventional target panel to be installed on the structure. A sub-pixel technique is also proposed to further reduce measurement errors cost-effectively. The efficacy of the vision system in remote measurement of dynamic displacements was demonstrated through a shaking table test and a field experiment on a long-span bridge.

We are developing a passive power assist device, “Smart Suit Lite.” Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a “motion-based assist method” in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has “Skin segments” that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.

This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear "Smart Suit Lite" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.

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