Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we propose UMotion, an uncertainty-driven, online fusing-all state estimation framework for 3D human shape and pose estimation, supported by six integrated, body-worn ultra-wideband (UWB) distance sensors with IMUs. UWB sensors measure inter-node distances to infer spatial relationships, aiding in resolving pose ambiguities and body shape variations when combined with anthropometric data. Unfortunately, IMUs are prone to drift, and UWB sensors are affected by body occlusions. Consequently, we develop a tightly coupled Unscented Kalman Filter (UKF) framework that fuses uncertainties from sensor data and estimated human motion based on individual body shape. The UKF iteratively refines IMU and UWB measurements by aligning them with uncertain human motion constraints in real-time, producing optimal estimates for each. Experiments on both synthetic and real-world datasets demonstrate the effectiveness of UMotion in stabilizing sensor data and the improvement over state of the art in pose accuracy. Code is available at: https://github.com/kk9six/umotion.

Hap’n’Roll is a wearable device that leverages the concept of a scroll to present, with a single motor, tactile sensations of various sizes, shapes, and textures. Hap’n’Roll is composed of two axes, a sheet, and one motor. By changing the number of sheet wraps, the thickness within the user’s hand can be adjusted. Additionally, using holes on the sheet to secure the fingertips, it can present a wide range of sizes and shapes. Unlike typical existing handheld shape-changing devices, Hap’n’Roll is not limited to cylindrical forms. Furthermore, by moving different materials attached on the sheet to the fingertips, it can also express different textures. A user study showed that Hap’n’Roll can convey at least three sizes (small, medium, and large) and four types of shapes (a cylinder, a rectangle, a cone, and a cup), with a shape and size identification accuracy of approx. 76.1%. The identification accuracy for shape alone was approx. 98.5%. Moreover, several applications were developed to showcase the effectiveness of Hap’n’Roll’s mechanism for various haptic feedback.

Capacity limitation and communication delay in satellite communication are issues in the development of remote ship control system. This study proposes a system that receives ship’s motion data instead of images from a ship and reproduces the situation at sea in virtual reality. The results of experiments with an actual ship shows that it is possible to reproduce seamless images under small capacity and delay of communication and maneuver a ship in virtual reality.

This study proposed a method for the fine alignment of polydimethylsiloxane (PDMS) stamp used in multiple microcontact printing. The procedure of alignment method was organized into three steps; (1) the fabrication of PDMS stamp with an alignment marker, (2) the position detection of PDMS stamp with a noncontact laser displacement sensor on an automated planar x-y axes stage, and (3) the position adjustment of PDMS stamp to target position with another automated planar x-y-θ axes stage. The procedure was able to perform without contact onto the surface of PDMS stamp just before the moment of contact printing. Therefore, the surface would be safe from molecular/bacterial contamination. This study implemented the procedure into a developed system for the alignment of PDMS stamp. After adjusting the position of PDMS stamps applied with fibronectin-binding-fluorescent dyes with three different colors, contact printing was performed. As a result, the error of position between two different patterns of fibronectin was within 33 μm. This method would be useful for generating a multi-type-cellular tissue in tissue engineering and regenerative medicine.

Micro contact printing is a quite useful technique for patterning protein such as cellular adhesion molecular. Especially, the method is popular to fabricate substrates for cell patterning in tissue engineering. However, a manual printing is difficult, because the stamp made from polydimethylsiloxane (PDMS) is easily deformed, and a printed pattern is also crushed. This study focused on the stiffness of PDMS stamp and discussed a micro-contact-printing controlled stamping force for a higher quality of pattern than that of manual. Considering in availability in medical or biological laboratory, the measurement method of stamp stiffness was developed by using a general microscope. The proposed stamping method gave a high printing-quality with 2.5% error of stamping area. Stamping setup controlling stamping force was developed, and a protein was patterned on a cell-culture substrate by the setup. By using the protein-patterned substrate, two-cell-patterned co-culture was successfully performed.