Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Honored in official journal of a scientific society, scientific journal  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Singapore

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from Japanese society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc.  Country：Japan

Award type：Award from international society, conference, symposium, etc. 

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：SPRINGERNATURE  

Wearable body weight support systems can assist individuals with mobility impairments in performing daily living activities with greater ease and independence. However, existing systems have limitations in terms of balancing their strength, compact size, interaction with the ground, and driving. In this paper, we present the High-Strength and Flexible Mechanism (HSFM) designed for body weight support. The HSFM utilizes a coiling truss mechanism to perform flexible transformation between a straight and spiral shape. Its complex linkages create the mechanical constraints of the structure and enhance its stiffness. Additionally, the HSFM achieved a high extension rate, effective wire-driven mechanism, and smooth shift of the grounding point. We provide a detailed description of the HSFM, including the simplest 4-linkage mechanism, its mechanical constraints, and the wire-driven mechanism. Moreover, we conducted parametric analysis and geometric calculation on the link structure. The results justified the mechanical constraints of the HSFM and ensured the high extension rate. Further, its functionality for body weight support was evaluated with the hardware and showed sufficient results in terms of strength, smooth grounding, and wire-driven. This novel mechanism has the potential to develop a wearable body weight support robot enhancing daily living activities such as sit-to-stand transfer and walking.

DOI： 10.1186/s40648-023-00255-x

Web of Science

Scopus

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Advanced Intelligent Systems  

Soft sensing technologies provide a novel alternative for state estimation in wearables and robotic systems. They allow one to capture intrinsic state parameters in a highly conformable manner. However, due to the nonlinearities in the materials that make up a soft sensor, it is difficult to develop accurate models of these systems. Consequently, design of these soft sensors is largely user defined or based on trial and error. Since these sensors conform and take the shape of the sensing body, these issues are further exacerbated when they are installed. Herein, a framework for the automated design optimization of soft sensors using closed-loop 3D printing of a recyclable hydrogel-based sensing material is presented. The framework allows direct printing of the sensor on the sensing body using visual feedback, evaluates the sensor performance, and iteratively improves the sensor design. Following preliminary investigations into the material and morphology parameters, this is demonstrated through the optimization of a sensorized glove which can be matched to specific tasks and individual hand shapes. The glove's sensors are tuned to respond only to particular hand poses, including distinguishing between two similar tennis racket grip techniques.

DOI： 10.1002/aisy.202300152

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE/ASME Transactions on Mechatronics  

Robotic exoskeletons, which assist in stand-to-kneel and kneel-to-stand (STK-KTS) movements and static kneeling postures are in great demand in the nursing field. This movement involves continuous adjustment of the center of gravity without a sufficient support polygon, which enhances the required joint effort of the ankle and knee. This study proposes a novel passive lower limb exoskeleton to support the movement. The exoskeleton was attached to the right leg and comprised a gas spring. The design followed an assistive strategy of the expanded support polygon. During the STK-KTS, the gas spring provided extra contact with the ground, thereby expanding the support polygon to increase motion stability and propping the knee to provide torque to the leg. The effectiveness of the gas spring was analyzed using a Lagrange dynamics-based simulation. Moreover, it was confirmed that the support polygon was expanded due to the proposed exoskeleton in real-world experiments. Further, experiments with seven healthy subjects showed that the exoskeleton reduced the time-integrated myoelectric potentials of the legs during STK-KTS (13.6%) and static posture (37.9%). These results imply that the proposed exoskeleton has the potential to reduce physical loads and provide a comfortable working environment for nursing workers.

DOI： 10.1109/TMECH.2023.3294255

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：ROBOMECH Journal  

Robotic teleoperation is highly valued for its ability to remotely execute tasks that demand sophisticated human decision-making or that are intended to be carried out by human operators from a distance. However, when using the internet as a communication framework for teleoperation, high latency, and fluctuations make accurate positioning and time-dependent tasks difficult. To mitigate the negative effects of time delay, this paper proposes a teleoperation system that uses cross reality (XR) as a predictive display of the outcome of operators’ intended actions and develops a time-delay aware shared control to fulfill the intention. The system targets a liquid pouring task, wherein a white ring that indicates the intended height of the liquid surface is overlayed onto the beaker in a delayed camera image to close the visual feedback loop on the leader side. Simultaneously, the shared control automatically completes the pouring action to track the intended liquid height. The performance of the proposed system is validated based on liquid pouring experiments performed by human subjects. When compared with direct control, the absolute error rate decreased significantly for a constant round-trip time delay of 0.8 s and 1.2 s, similarly for a time-varying delay of 0.4 s and 0.8 s. Moreover, when the time-varying delay was 0.8 s, operators achieved significantly higher accuracy while maintaining comparable operation time. These results indicate that our proposed system improves operability even in the presence of time-varying delays in communication networks.

DOI： 10.1186/s40648-023-00258-8

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE Journal of Biomedical and Health Informatics  

Objective: While neuroscience research has established a link between vision and intention, studies on gaze data features for intention recognition are absent. The majority of existing gaze-based intention recognition approaches are based on deliberate long-term fixation and suffer from insufficient accuracy. In order to address the lack of features and insufficient accuracy in previous studies, the primary objective of this study is to suppress noise from human gaze data and extract useful features for recognizing grasp intention. Methods: We conduct gaze movement evaluation experiments to investigate the characteristics of gaze motion. The target-attracted gaze movement model (TAGMM) is proposed as a quantitative description of gaze movement based on the findings. A Kalman filter (KF) is used to reduce the noise in the gaze data based on TAGMM. We conduct gaze-based natural grasp intention recognition evaluation experiments to collect the subject's gaze data. Four types of features describing gaze point dispersion (f_{var}), gaze point movement (f_{gm}), head movement (f_{hm}), and distance from the gaze points to objects (f_{d_{j}}) are then proposed to recognize the subject's grasp intentions. With the proposed features, we perform intention recognition experiments, employing various classifiers, and the results are compared with different methods. Results: The statistical analysis reveals that the proposed features differ significantly across intentions, offering the possibility of employing these features to recognize grasp intentions. We demonstrated the intention recognition performance utilizing the TAGMM and the proposed features in within-subject and cross-subject experiments. The results indicate that the proposed method can recognize the intention with accuracy improvements of 44.26% (within-subject) and 30.67% (cross-subject) over the fixation-based method. The proposed method also consumes less time (34.87 ms) to recognize the intention than the fixation-based method (about 1 s). Conclusion: This work introduces a novel TAGMM for modeling gaze movement and a variety of practical features for recognizing grasp intentions. Experiments confirm the effectiveness of our approach. Significance: The proposed TAGMM is capable of modeling gaze movements and can be utilized to process gaze data, and the proposed features can reveal the user's intentions. These results contribute to the development of gaze-based human-robot interaction.

DOI： 10.1109/JBHI.2023.3238406

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot’s motion and the accuracy of its movements. In particular, the inverse kinematics (IK) problem is critical for robot-assisted minimally invasive surgery (RMIS), where satisfying the remote center of motion (RCM) constraint is essential to prevent tissue damage at the incision point. Several IK strategies have been proposed for RMIS, including classical inverse Jacobian IK and optimization-based approaches. However, these methods have limitations and perform differently depending on the kinematic configuration. To address these challenges, we propose a novel concurrent IK framework that combines the strengths of both approaches and explicitly incorporates RCM constraints and joint limits into the optimization process. In this paper, we present the design and implementation of concurrent inverse kinematics solvers, as well as experimental validation in both simulation and real-world scenarios. Concurrent IK solvers outperform single-method solvers, achieving a 100% solve rate and reducing the IK solving time by up to 85% for an endoscope positioning task and 37% for a tool pose control task. In particular, the combination of an iterative inverse Jacobian method with a hierarchical quadratic programming method showed the highest average solve rate and lowest computation time in real-world experiments. Our results demonstrate that concurrent IK solving provides a novel and effective solution to the constrained IK problem in RMIS applications.

DOI： 10.3390/s23063328

Scopus

PubMed

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

The growing need for high levels of autonomy in Autonomous Robotic Surgery Systems (ARSS) calls for innovative approaches to reduce surgeons' cognitive load, optimize hospital workflows, and ensure efficient task-level reasoning and adaptation during execution. This paper presents a novel hybrid framework that synergistically combines Task-Motion Planning and Dynamic Behavior Trees for ARSS in Minimally Invasive Surgery. Our approach is designed to address the challenges of coordinating multiple surgical tools within a small workspace, thereby making complex surgical tasks like multi-throw suturing feasible and efficient. Through an extensive evaluation in simulation across diverse initial conditions and noise scenarios, the proposed method demonstrates improved success rates, reduced execution times, and fewer regrasps compared to standalone approaches. Furthermore, it showcases robustness under increased noise conditions. By applying our framework to a complex multi-throw suturing task, we illustrate its capability to seamlessly handle comprehensive suturing tasks, including needle picking, insertion, extraction, and the handover of the needle between Patient Side Manipulators. The results suggest that our hybrid approach not only enhances ARSS autonomy but also adapts effectively to unexpected environmental changes, laying the groundwork for its potential applicability in real-world surgical robotics.

DOI： 10.1109/ACCESS.2023.3308619

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic surgical tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent a high cost, with few commercially available options, which limits general access and research on RMIS. We aim to take advantage of recent progress in biocompatible 3D printing and contribute to the development of RMIS technologies, presenting an open platform for low-cost, biocompatible, and customizable RSTs. The proposed design concept consists of a 3-DOF end-effector with a decoupled wrist mechanism, a tool interface module, and a tool drive unit. We validated our end-effector design using Finite Element Analysis (FEA) to confirm that stress generated by high grip forces is maintained below the material yield stress. Validation experiments showed that the proposed RST could provide up to 10N grip forces and up to 3N pulling forces. The proposed control framework exhibited a mean absolute positioning tracking error of approximately 0.1 rad. Finally, we also demonstrated the use of the proposed RST in two surgical training tasks: pick-and-place and stitching. The designs and software control framework are open-access and freely available for customization and fast development at https://github.com/jcolan/OpenRST.

DOI： 10.1109/ACCESS.2023.3236821

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/ACCESS.2023.3264785

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/ACCESS.2023.3271003

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>The microinjection technique is widely applied in fields such as biology, medicine, and intracytoplasmic sperm injection (ICSI). Microinjection process requires special skill and, thus, generally ICSI is conducted by embryologists. However, the shortage of embryologists has become a problem in clinics, and there is a need for an easy injection system that does not rely on embryologists. In this study, we propose a micromanipulation interface that assists to perceive cell extension for easy injection system. The proposed interface provides 2-dimensional force/tactile feedback through a fabric actuator with air pressure based on real-time visual sensing of cell deformation. The effectiveness of the proposed interface is verified through puncturing experiments on perceiving cell extension perfumed by inexperienced subjects. </p>

DOI： 10.7210/jrsj.41.322

CiNii Research

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE Access  

Remote teleoperation has shown significant advancements since the first teleoperation system was proposed by Goertz in the 1940s. In recent years, the research on shared control methodologies in which the robot assists the operators in accomplishing the desired tasks has gained extensive attention. One such important task in teleoperation is object grasping. In this paper, we propose a shared control framework to enhance the teleoperated grasping performance. The proposed framework is built upon a virtual reality device-based direct teleoperation system. In this framework, a template matching-based object point cloud compensation is introduced for multi-angle grasping pose generation. Then, the feasible grasping candidates are selected considering joint constraints-aware manipulability. Finally, the grasping assistance is achieved by trajectory blending with dynamic authority adjustment. To validate the performance of the proposed framework, we carried out experimental evaluations. The output results indicate improved grasping performance in terms of reduced task completion time, linear trajectory, and workload.

DOI： 10.1109/ACCESS.2023.3292410

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TNSRE.2023.3314503

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-022-00228-6

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

There is a growing need for robots that can be remotely controlled to perform tasks of one’s own choice. However, the SoA (Sense of Agency: the sense of recognizing that the motion of an observed object is caused by oneself) is reduced because the subject of the robot motion is identified as external due to shared control. To address this issue, we aimed to suppress the decline in SoA by presenting auditory feedback that aims to blur the distinction between self and others. We performed the tracking task in a virtual environment under four different auditory feedback conditions, with varying levels of automation to manipulate the virtual robot gripper. Experimental results showed that the proposed auditory feedback suppressed the decrease in the SoA at a medium level of automation. It is suggested that our proposed auditory feedback could blur the distinction between self and others, and that the operator attributes the subject of the motion of the manipulated object to himself.

DOI： 10.3390/s22249779

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/surgeries3040036

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： DOI 10.1109/TNSRE.2022.3213823

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/mi13101725

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s22197198

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s22166309

Scopus

Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Promising treatments for upper motor neuron disease are emerging in which motor function is restored by brain–computer interfaces and functional electrical stimulation. At present, such technologies and procedures are not applicable to lower motor neuron disease. We propose a novel therapeutic strategy for lower motor neuron disease and injury integrating neural stem cell transplantation with our new functional electrical stimulation control system. In a rat sciatic nerve transection model, we transplanted embryonic spinal neural stem cells into the distal stump of the peripheral nerve to reinnervate denervated muscle, and subsequently demonstrated that highly responsive limb movement similar to that of a healthy limb could be attained with a wirelessly powered two-channel neurostimulator that we developed. This unique technology, which can reinnervate and precisely move previously denervated muscles that were unresponsive to electrical stimulation, contributes to improving the condition of patients suffering from intractable diseases of paralysis and traumatic injury.

DOI： 10.3390/ijms23158760

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： https://doi.org/10.1186/s40648-022-00228-6

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TMRB.2022.3176100

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TMECH.2021.3068138

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE Transactions on Medical Robotics and Bionics  

Wearable robots have become a prevalent method in the field of human augmentation and medical rehabilitation. Typical wearable robots mainly include exoskeletons and prostheses. However, their functions are limited due to dedicated design. In recent years, Supernumerary Robotic Limbs (SRLs) have become a hot spot in the field of wearable robots. Different from exoskeletons and prostheses, SRLs compensate and strengthen human abilities by providing extra limbs. This advantage allows SRLs to assist users in a novel way, rather than substituting missing limbs or enhancing existing limbs. However, finding a trade-off between wearability, efficiency, and usability of those SRLs is still an issue. This paper presents the state of the art in SRLs and discusses some open questions about SRLs’ design and control for further research. This review covers the following areas: (1) Basic concepts and classifications of SRLs; (2) The literature retrieval methodology; (3) Design functions of different types of SRLs, including their positive and negative aspects; (4) Different control strategies of SRLs, including positive and negative aspects, and some improvement methods in applying SRLs; (5) The impact on human body schema while using SRLs; (6) Open challenges and suggestions for future development. This review will help researchers understand the current state of SRLs and provide comprehensive knowledge foundations for them.

DOI： 10.1109/TMRB.2021.3086016

Web of Science

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/mi12040379

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2021.3067857

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Robotics  

The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system.

DOI： 10.3390/robotics10010027

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>This study proposes a micromanipulation system that improves depth visibility through real-time 3D image presentation. A calibration method to adjust relative position and orientation between a target object and micromanipulators is implemented to the system; then the system presents reconstructed 3D images of a target and micromanipulators. The effectiveness of the proposed system is demonstrated through manipulation of an embryo. </p>

DOI： 10.7210/jrsj.39.467

CiNii Research

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)  

In this paper, we present a mechanism that can facilitate soft actuator position control, bidirectional actuation, and getting rid of tether/hose. We proposed a simplistic piston pump as a source of actuation fluid for driving fluidic soft actuators instead of the traditional compressor-based approach to establish an expeditious position control for soft actuators. We explored the conceptual design of a bi-directional soft actuator and the piston pump thoroughly and calculated design and operating parameters. Further, deriving the mathematical model for the proposed system in terms of the position of the piston inside the piston pump and the angular position of the soft actuator. Subsequently, we discuss potential applications of the proposed mechanism.

DOI： 10.1109/MHS53471.2021.9767140

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/app10249000

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-020-00169-y

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2020.1844797

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2020.1813623

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1088/1748-605X/ab8487

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

In pneumatic muscle actuators (PMAs)-driven robotic applications, there might exist unpredictable shocks which lead to the sudden change of desired trajectories and large tracking errors. This is dangerous for physical systems. In this article, we propose a novel adaptive proxy-based robust controller (APRC) for PMAs, which is effective in realizing a damped response and regulating the behaviors of the PMA via a virtual proxy. Moreover, the integration of the APRC and the nonlinear disturbance observer further handles the system uncertainties/disturbances and improves the system robustness. According to the Lyapunov theorem, the tracking states of the closed-loop PMA control system are proven to be globally uniformly ultimately bounded through two motion phases. Extensive experiments are conducted to verify the superior performance of our approach, in multiple tracking scenarios.

DOI： 10.1109/TMECH.2020.2997041

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

Endoscopic endonasal surgery (EES) is a minimally invasive technique for removal of pituitary adenomas or cysts at the skull base. This approach can reduce the invasiveness and recovery time compared to traditional open surgery techniques. However, it represents challenges to surgeons because of the constrained workspace imposed by the nasal cavity and the lack of dexterity with conventional surgical instruments. While robotic surgical systems have been previously proposed for EES, issues concerned with proper interface design still remain. In this paper, we present a cooperative, compact, and versatile bimanual human-robot interface aimed to provide intuitive and safe operation in robot-assisted EES. The proposed interface is attached to a robot arm and holds a multi-degree-of-freedom (DOF) articulated forceps. In order to design the required functionalities in EES, we consider a simplified surgical task scenario, with four basic instrument operations such as positioning, insertion, manipulation, and extraction. The proposed cooperative strategy is based on the combination of force based robot control for tool positioning, a virtual remote-center-of-motion (VRCM) during insertion/extraction tasks, and the use of a serial-link interface for precise and simultaneous control of the position and the orientation of the forceps tip. Virtual workspace constraints and motion scaling are added to provide safe and smooth control of our robotic surgical system. We evaluate the performance and usability of our system considering reachability, object manipulability, and surgical dexterity in an anatomically realistic human head phantom compared to the use of conventional surgical instruments. The results demonstrate that the proposed system can improve the precision, smoothness and safety of the forceps operation during an EES.

DOI： 10.3390/app10144809

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s20082210

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/s20071967

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/jfb11010018

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2020.2972896

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TMECH.2019.2957494

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.robot.2019.103326

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-019-0135-0

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-019-0145-y

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2019.2928770

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Nonlinear Dynamics  

This paper focuses on a transition motion between bipedal walking and running, whose characteristics have been revealed through numerous biological experiments. Although hysteresis in walk-to-run and run-to-walk transitions, the amount of which is proportional to the magnitude of acceleration/deceleration, is observed, it has not been elucidated yet. This is due to difficulty to conduct any biological experiments without the hysteresis in locomotion. From the viewpoint of nonlinear dynamics, the hysteresis is caused by dependency of the state history. Delays in perception and action for the walk–run transition can be assumed as the cause of the hysteresis. This paper therefore investigates i) whether the delays really cause the hysteresis in the walk–run transition, and ii) how they contribute to locomotion performance. To this end, in numerical simulations, we employ a controller for bipedal gait, named unified bipedal gait (UBG), which has capabilities of walking, running, and transitions between them like bipeds do. UBG is first optimized in pursue of biologically plausible controller with the same characteristics about the transition motion for reliable investigation. This optimized UBG reveals that the delays in perception and action actually cause the hysteresis with linearity of its amount and the magnitude of acceleration/deceleration. In addition, the delays play the key role of a bridge between latent representations of walking and running, thereby improving the success rate of the transition by nearly 40% from the case without the delays.

DOI： 10.1007/s11071-019-05097-0

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2019.1633402

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s406480190136z

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2019.1566090

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-018-0100-3

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-018-0115-9

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：2018 International Conference on Intelligence and Safety for Robotics, ISR 2018  

This paper proposes an electrical stimulation system to provide a lower limb motion state for paraplegic patients wearing an exoskeleton. The system consists of a glove-type exoskeleton controller and an electric stimulation device. In addition, a mechanical leg, which simulates a paraplegic's lower limb wearing an exoskeleton, was developed to conduct the preliminary experiment. The operator using his finger voluntarily controls the movement of the mechanical leg through the glove-type controller. Meanwhile, he receives electrical stimulation feedback that represents the output torque of the mechanical leg. In this manner, the system makes a connection between finger's motion and electrical stimulation. The operator could predict the feedback when he controls the mechanical leg. Finally, weight discrimination experiments were implemented to evaluate the accuracy of the electrical stimulation system. The subjects control the mechanical leg and receive electrical stimulation with different weight loading on the mechanical leg. The experimental results indicate that: 1) The dynamic of the mechanical leg is integrated into the body scheme of the subjects after training. 2) The subjects are capable of distinguishing a 17 percent change of weight loading at the minimum under the feedback of electric stimulation.

DOI： 10.1109/IISR.2018.8535936

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1115/1.4040354

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3389/fnbot2018.00043

Web of Science

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.robot.2018.02.005

Web of Science

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1088/1748-605X/aaa4c4

Web of Science

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>Recent progress in the Lab on Chip (LOC) technology has made it possible to analyze microscale objects in microfluidic devices under a microscopic environment. Vision-based microscopic analysis systems have a limitation in terms of their analysis range owing to the limited view area of the optical microscope used in photomicroscopy. Thus, expansion of the view area during microscopic observation is required. In this paper, we propose a view expansion system for photomicroscopy based on the viewpoint movement using a Galvano mirror. We develop a prototype of the proposed microscopic view expansion system that consists of a microscope, a Galvano mirror, and a vision system. Experiments are conducted to compare the view area of the proposed microscopic system and a normal microscopic system; the photographable range of the developed system is experimentally derived and evaluated. Finally, our system is demonstrated through panoramic image developing experiments for an expanded view area. </p>

DOI： 10.7210/jrsj.36.294

CiNii Research

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Frontiers in Neurorobotics  

An important function missing from current robotic systems is a human-like method for creating behavior from symbolized information. This function could be used to assess the extent to which robotic behavior is human-like because it distinguishes human motion from that of human-made machines created using currently available techniques. The purpose of this research is to clarify the mechanisms that generate automatic motor commands to achieve symbolized behavior. We design a controller with a learning method called tacit learning, which considers system-environment interactions, and a transfer method called mechanical resonance mode, which transfers the control signals into a mechanical resonance mode space (MRM-space). We conduct simulations and experiments that involve standing balance control against disturbances with a two-degree-of-freedom inverted pendulum and bipedal walking control with humanoid robots. In the simulations and experiments on standing balance control, the pendulum can become upright after a disturbance by adjusting a few signals in MRM-space with tacit learning. In the simulations and experiments on bipedal walking control, the robots realize a wide variety of walking by manually adjusting a few signals in MRM-space. The results show that transferring the signals to an appropriate control space is the key process for reducing the complexity of the signals from the environment and achieving diverse behavior.

DOI： 10.3389/fnbot.2018.00043

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.ifacol.2018.11.543

Scopus

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE-RAS International Conference on Humanoid Robots  

When a paraplegic patient walks with the aid of an exoskeleton, the patient can only follow the preset walking trajectory and cannot receive any lower limb sensory feedback. This paper firstly proposes an index finger interface that allows a paraplegic patient to control the walking trajectory through an index finger voluntarily. The proposed interface consists of two rotatable links and one ring, and the interface is installed in the front of a crutch handle. The user controls the foot position of the foot position via a ring while keeping the balance with the crutch. On this basis, this paper also proposes an electrical stimulation feedback pattern that conveys the foot position to the user to assist the walking control. The electrical stimulation device contains 20 stimulation points that correspond to the spatial position. The electrical stimulus presents the foot position by switching the stimulation frequency and the stimulation position. For safety reasons, we conducted a preliminary study of the interface and feedback model with a healthy subject and a walking robot. We validated the effectiveness of the index finger interface and the electrical stimulation pattern through three experiments:1)pseudo-Trajectory recognition under electrical stimulation feedback condition, 2) robot walking control under visual feedback condition, and 3) robot walking control under electrical stimulation feedback condition.

DOI： 10.1109/HUMANOIDS.2017.8246963

Scopus

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE International Conference on Intelligent Robots and Systems  

In this paper, we introduce a walking load control strategy with a cane-type robot for gait training. The population of elderly people is increasing in most of the developed countries, and there is a growing demand for caregivers. Assistive robots are expected as a solution to provide aid in order to reduce the burden of caregivers in gait training of elderly people. Our research group has been developing a series of cane-type walking assistive robots named Intelligent Cane on admittance control to provide safe and efficient gait training. We propose an adaptive design method of the admittance control model in order to control user's walking load for the purpose of rapid improvement of user's physical strength. In the proposed method, the cane robot automatically adjusts control parameters of an admittance control model based on a correlation between a set of admittance parameters and a user's walking energy consumption. We conducted experiments to evaluate the proposed adaptive control strategy through a convergence error between estimated walking load and target one while walking training. We confirm the advantage of using the cane robot in rehabilitation.

DOI： 10.1109/IROS.2017.8202202

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TBCAS.2017.2764118

Web of Science

Scopus

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.robot.2017.09.009

Web of Science

Scopus

DOI： https://doi.org/10.1155/2017/1610372

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017  

Our research purpose is to improve the utility of wearable robotic devices such as an extra robotic limb or finger with the help of acquiring a new body representation. One of the challenging problems of the conventional robotic prosthesis or wearable systems is their difficulty in the coordination of multiple degrees of freedom. Newly acquired body representation of the wearable robotic extremities could be helpful for a user to control the device as if they were a part of user's body. This paper introduces a posterior auricular muscle to obtain a new body representation of an extra robotic thumb. The posterior auricular muscle is one of vestigial muscle which does not have any body representation, while a daily used muscle has already had a certain body representation related with its functionality. In this paper, we conduct an experiment to test our hypothesis that a new body representation can be more easily acquired with the use of vestigial muscles than that of the muscles used in daily basis for the control of the extra robotic thumb. We compare the operability of the extra robotic thumb in reaching experiments by the use of muscles with different functionalities.

DOI： 10.1109/CBS.2017.8266101

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2017.2655625

Web of Science

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.actbio.2016.12.020

Web of Science

Scopus

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.3390/app7020170

Web of Science

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/978-3-319-32180-6_23

Web of Science

Authorship：Lead author   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.9746/sicetr.53.1

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)  

This paper proposes an wearable MRI-compatible hand exoskeleton robot that supports a subject moving his fingers voluntarily or involuntarily in high electromagnetic field. The hand robot consists of four exoskeletal fingers excluding a thumb, which is fabricated with nonmagnetic materials through 3D printing. In order to work in an MRI environment, pneumatic actuators are applied to drive the joints of the wearable robot. Potentiometers are installed in the MP and PIP joints of four fingers to measure the angles of finger’s motions. Basic performances of the robot are evaluated by flexion rang of fingers, time delay and fingertip force. In the future, the compatibility of robot in MRI environment will be confirmed through measurement experiments of a subject’s brain activity.

DOI： 10.1007/978-3-319-65289-4_23

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

© 2016, Springer Science+Business Media Dordrecht. In this paper, we propose an adaptive speed controller (ASC) for a limit-cycle-based gait classified as a three-dimensional (3-D) bipedal gait. The limit-cycle-based gait of bipedal robots is excellent for energy efficiency. However, the forward and sideward moving speeds of these robots are difficult to control since they are autonomous systems and their behavior depends upon the initial states of every step. Therefore, in this study, we design a swing leg motion to appropriately adjust the initial states of every step. First, the forward speed is controlled by injecting the momentum of the swing leg, which shifts an energy equilibrium point from the original point to the reference point where the reference forward speed is achieved. Second, the sideward speed is controlled by asymmetric touchdown positions on the right and the left legs, which separate the limit cycle into two different limit cycles for each leg, and this separation leads to the sideward motion. The proposed ASC can be easily applied to an arbitrary limit-cycle-based gait because it is independent of the dynamics of the gait model. The performance of the proposed ASC was validated in terms of the residual error, step response, and disturbance rejection capabilities in numerical simulations for two examples of walking. The proposed ASC also achieved a highly energy-efficient gait, which was consistent with the analytical results. Further, the proposed ASC could adapt a robot to various environments that contained up and down slopes or an obstacle.

DOI： 10.1007/s11071-016-2645-0

Web of Science

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.actbio.2016.03.045.

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TMECH.2015.2477996

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 50 Adaptive speed controller using swing leg motion for 3-D limit-cycle-based bipedal gait

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

© 2016 IEEE. Constructing 3D cell module with certain shape and high cell density is a very important issue for artificial tissue engineering. In this letter, we present a novel method of fabricating compact microtissue with gear-like shape by electrodepositing of Ca 2+ induced cross-linked alginate hydrogel. The fabrication procedure is demonstrated and the fabricated gear-like tissues are characterized. Briefly, an array of gear-shaped microelectrodes are first fabricated by coating a patterned photoresist layer onto fluorine-doped tin oxide (FTO) glass slide based on photolithography technique. Then, Ca-alginate gel structures embedded with RLC-18 (rat liver) cells are electrodeposited onto the microelectrodes. These 2D cell-laden gel structures are then manually detached from the microelectrodes and treated with special reagent to be transformed into 3D alginate-Poly-L-lysine (PLL) microcapsules while maintaining the gear shape. Finally, the RLC-18 cells within the microcapsules are further promoted into compact microtissues by cultivation. The size of the fabricated gear-like tissue is about 975±25 μm in outer diameter and 320±10 μm in inner diameter based on the design of microelectrodes. 3-D images of the fabricated microtissues are obtained by a confocal microscope. The experimental results indicate the proposed method can successfully fabricate movable microtissues with predefined gear shape while maintaining the viability (∼94%). We believe the fabricated movable gear-like microtissues can be further assembled and applied to tissue engineering.

DOI： 10.1109/LRA.2016.2514500

Scopus

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3390

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TNB.2015.2507064

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/transjsme.14-00634

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

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DOI： 10.1109/IROS.2014.6942650

Language：English   Publishing type：Research paper (scientific journal)  

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Language：Japanese   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English

Language：English Book type：Scholarly book

Language：English Book type：Scholarly book

Event date： 2023.11

Language：English   Presentation type：Oral presentation (general)  

Event date： 2023.11

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Event date： 2023.11

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Event date： 2023.10

Language：English   Presentation type：Oral presentation (general)  

Country：United Arab Emirates  

Event date： 2023.10

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Country：United Arab Emirates  

Event date： 2023.9

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2023.9

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Event date： 2023.9

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Event date： 2023.9

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Event date： 2023.8

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Country：Korea, Republic of  

Event date： 2023.8

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Country：China  

Event date： 2023.7

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.6 - 2023.7

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋  

Event date： 2023.4

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2023.4

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2023.3

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2023.3

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2023.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：和歌山県白浜   Country：Japan  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2022.11

Language：English   Presentation type：Oral presentation (general)  

Event date： 2022.11

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Event date： 2022.11

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Event date： 2022.11

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Event date： 2022.10

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2022.10

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Country：Japan  

DOI： 10.1109/IROS47612.2022.9982247

Event date： 2022.9

Language：English   Presentation type：Oral presentation (general)  

Event date： 2022.9

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Event date： 2022.9

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Event date： 2022.9

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Event date： 2022.6

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Venue：札幌  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌  

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Venue：札幌  

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Venue：札幌  

Event date： 2022.5

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Venue：フィラデルフィア   Country：United States  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

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Event date： 2021.12

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Event date： 2021.12

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Event date： 2021.10

Language：English   Presentation type：Oral presentation (general)  

Venue：online   Country：Japan  

DOI： 10.1109/SMC52423.2021.9658838

Event date： 2021.9

Language：English   Presentation type：Oral presentation (general)  

Event date： 2021.9

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.9

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.9

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Event date： 2021.9

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.7

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2021.7

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2021.7

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2021.7

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Event date： 2021.7

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Event date： 2021.7

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Event date： 2021.7

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Event date： 2021.7

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Event date： 2021.7

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Event date： 2021.6

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2021.5 - 2021.6

Language：English   Presentation type：Oral presentation (general)  

Venue：Xi'an   Country：China  

DOI： 10.1109/ICRA48506.2021.9560817

Event date： 2021.5 - 2021.6

Language：English   Presentation type：Oral presentation (general)  

Venue：Xi'an   Country：China  

DOI： 10.1109/ICRA48506.2021.9562106

Event date： 2021.5 - 2021.6

Language：English   Presentation type：Oral presentation (general)  

Venue：Xi'an   Country：China  

Event date： 2020.12

Language：Japanese   Presentation type：Oral presentation (general)  

Event date： 2020.12

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Event date： 2020.12

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Event date： 2020.10

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Country：United States  

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Event date： 2020.10

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Event date： 2020.10

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Event date： 2020.5 - 2020.6

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Event date： 2020.5

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Event date： 2020.5

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Event date： 2020.5

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Event date： 2019.12

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Scopus

Event date： 2019.12

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Scopus

Event date： 2019.12

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Scopus

Event date： 2019.12

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Scopus

Event date： 2019.9

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmemecj.2019.S15103P

Event date： 2019.9

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmemecj.2019.S15101

Event date： 2019.7

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/AIM.2019.8868726

Scopus

Event date： 2019.6

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmermd.2019.2A1-M01

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Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmermd.2019.2P2-R02

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Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmermd.2019.1A1-R05

Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

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Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2019.1

Language：English   Presentation type：Oral presentation (general)  

Venue：Paris, France   Country：France  

Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2018.8887007

Scopus

Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2018.8886921

Scopus

Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2018.8887041

Scopus

Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2018.8887011

Scopus

Event date： 2018.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2018.8886983

Scopus

Event date： 2018.10

Language：English   Presentation type：Oral presentation (general)  

Country：China  

DOI： 10.1109/CBS.2018.8612171

Scopus

Event date： 2018.9

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.9

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

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Country：Japan  

Event date： 2018.9

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Country：Japan  

Event date： 2018.9

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.8

Language：English   Presentation type：Oral presentation (general)  

Country：China  

DOI： 10.1109/IISR.2018.8535936

Scopus

Event date： 2018.7

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.7

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.6

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

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Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.6

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.6

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.6

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2018.6

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmermd.2018.2a2-d04

Event date： 2018.6

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

DOI： 10.23919/WAC.2018.8430300

Scopus

Event date： 2018.5

Language：English   Presentation type：Oral presentation (general)  

Country：Australia  

DOI： 10.1109/ICRA.2018.8461238

Scopus

Event date： 2018.5

Language：English   Presentation type：Oral presentation (general)  

Country：Australia  

DOI： 10.1109/ICRA.2018.8461114

Scopus

Event date： 2018.3

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmetokai.2018.67.619

Event date： 2017.12

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/HUMANOIDS.2017.8246963

Scopus

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/IROS.2017.8206134

Scopus

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/IROS.2017.8202202

Scopus

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.12

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.11

Language：English   Presentation type：Oral presentation (general)  

Country：United Kingdom  

Event date： 2017.10

Language：English   Presentation type：Oral presentation (general)  

Venue：Georgia, USA   Country：United States  

Event date： 2017.10

Language：English   Presentation type：Oral presentation (general)  

Country：Korea, Republic of  

DOI： Jeju, Korea

Event date： 2017.10

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2017.9

Language：English   Presentation type：Oral presentation (general)  

Country：Canada  

Event date： 2017.9

Language：English   Presentation type：Oral presentation (general)  

Country：Canada  

Event date： 2017.9

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.8

Language：English   Presentation type：Oral presentation (general)  

Venue：Wuhan, China   Country：China  

Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/ICRA.2017.7989422

Scopus

Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/CBS.2017.8266101

Scopus

Event date： 2017.5 - 2017.6

Language：English   Presentation type：Oral presentation (general)  

Venue：Singapore   Country：Singapore  

Event date： 2017.5 - 2017.6

Language：English   Presentation type：Oral presentation (general)  

Venue：Singapore   Country：Singapore  

Event date： 2017.5

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmermd.2017.1p1-k11

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2017.1

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

DOI： 10.1299/jsmebio.2017.29.2g32

Event date： 2017.1

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2016.7824162

Scopus

Event date： 2017.1

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2016.7824180

Scopus

Event date： 2017.1

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2016.7824181

Scopus

Event date： 2017.1

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2016.7824241

Scopus

Event date： 2017.1

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2016.7824195

Scopus

Event date： 2017.1

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1109/MHS.2016.7824182

Scopus

Event date： 2017

Language：English   Presentation type：Oral presentation (general)  

Scopus

Event date： 2017

Language：English   Presentation type：Oral presentation (general)  

DOI： 10.1007/978-3-319-65289-4_23

Scopus

Event date： 2016.12

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2016.12

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2016.11

Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya, Japan   Country：Japan  

Event date： 2016.11

Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya, Japan   Country：Japan  

Event date： 2016.11

Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya, Japan   Country：Japan  

Event date： 2016.11

Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya, Japan   Country：Japan  

Event date： 2016.11

Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya, Japan   Country：Japan  

Event date： 2016.11

Language：English   Presentation type：Oral presentation (general)  

Venue：Nagoya, Japan   Country：Japan