Updated on 2024/07/24

写真a

 
HASEGAWA, Yasuhisa
 
Organization
Institutes of Innovation for Future Society Professor
Graduate School
Graduate School of Engineering
Title
Professor
Contact information
メールアドレス

Degree 2

  1. Dr.Eng. ( Nagoya University ) 

  2. Master of Engineering

Research Interests 1

  1. Robotics, Assistive Robot, Surgical Robotics

Research Areas 3

  1. Others / Others  / Engineering@Machine Engineering@Intelligent Mechanics and Machine System

  2. Others / Others  / Engineering@Machine Engineering@Mechanics and Control Engineering

  3. Others / Others  / Engineering@Electric and Electronic Engineering@Control Engineering

Current Research Project and SDGs 1

  1. ロボット技術を用いた生活・作業支援

Education 2

  1. Nagoya University   Graduate School, Division of Engineering

    - 1996

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    Country: Japan

  2. Nagoya University   Faculty of Engineering

    - 1994

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    Country: Japan

Professional Memberships 7

  1. 日本機械学会

  2. 日本ロボット学会

  3. 計測自動制御学会   理事

  4. IEEE Robotics and Automation Society   Administrative Committee

  5. 日本知能情報ファジィ学会

  6. 日本義肢装具学会

  7. 自動車技術会

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Committee Memberships 16

  1. 公益財団法人 永守財団   研究助成選考委員  

    2023.10 - 2024.9   

  2. 公益財団法人 永守財団   研究助成選考委員  

    2022.10 - 2023.9   

  3. 一般社団法人 日本機械学会   日本機械学会賞委員会 委員  

    2022.10 - 2023.3   

  4. 国立研究開発法人 新エネルギー・産業技術総合開発機構   NEDO技術委員  

    2022.7 - 2024.3   

  5. 社会福祉法人名古屋市総合リハビリテーション事業団   リハビリテーション研究基金運営審査委員  

    2022.2 - 2024.1   

  6. 公益財団法人 永守財団   研究助成選考委員  

    2021.10 - 2022.10   

  7. 一般社団法人 日本機械学会   日本機械学会ロボティクス・メカトロニクス部門 部門長  

    2021.4 - 2022.3   

  8. 公益社団法人 自動制御学会   国際担当理事  

    2021.3 - 2023.2   

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    Committee type:Academic society

  9. 第98期 日本機械学会 ロボティクス・メカトロニクス部門   副部門長 【表彰委員長】  

    2020.4 - 2021.3   

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    Committee type:Academic society

  10. IEEE ARSO2021   General Chair  

    2019   

  11. IEEE/RSJ IROS Steering Committee   Secretary  

    2019   

  12. IEEE TechRxiv   Moderator  

    2019   

  13. IEEE Thesaurus   Editorial board  

    2019   

  14. IEEE/RSJ IROS Conference Paper Review Board   Editor  

    2018 - 2021   

  15. IEEE RAS Administrative Committee   Administrative Committee Member  

    2017 - 2022   

  16. ROBOMECH Journal   Dupty Editor-in-Chief  

    2014   

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Awards 35

  1. MHS2023 Best paper award

    2023.11   MHS2023   "Human Preferences and Robot Constraints Aware Shared Control for Smooth Follower Motion Execution"

    Qibin Chen, Yaonan Zhu, Kay Hansel, Tadayoshi Aoyama, and Yasuhisa Hasegawa

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

  2. MHS2023 Best paper award

    2023.11   MHS2023   "Shoulder-Wearable Fabric Actuator for Directional Sensations"

    Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, and Yasuhisa Hasegawa

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

  3. IEEE RO-MAN 2023 Best paper award

    2023.8   IEEE RO-MAN 2023   Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp

    Jayant Unde, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

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    Award type:Award from international society, conference, symposium, etc.  Country:Korea, Republic of

  4. 功績賞

    2023.6   日本機械学会 ロボティクス・メカトロニクス部門   人の上肢/下肢の運動支援,遠隔操作,医療支援ロボット

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

    長谷川泰久先生は,人の上肢/下肢の運動支援,遠隔操作,医療支援ロボットなど,人の活動を支援するロボットに関する多大な研究業績によるロボメカ部門の学術発展への貢献,長年にわたるロボメカ部門運営への貢献が高く評価されています. 日本機械学会では,2021年にロボティクス・メカトロニクス部門長を務められるなど,学会,部門運営に大きく貢献されています.

  5. 部門欧文誌表彰

    2023.6   日本機械学会 ロボティクス・メカトロニクス部門  

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

    ROBOMECH Journal に掲載された優秀な論文の著者全員.

  6. SI2022 優秀講演賞

    2022.12   計測自動制御学会   敗合センシングによる環 境黒裁と画像処理を用いた水知環境に おけるエレベータ自動未降システム

    山口信太郎、畑野勝、朱曜南、青山忠義、長谷川 泰久

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

  7. MHS2022 Best paper award

    2022.11   MHS2022   Sensorless grip force estimation of a cable-driven robotic surgical tool based on Gaussian Process Regression

    Jacinto Colan and Yasuhisa Hasegawa

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

  8. MHS2022 Best paper award

    2022.11   MHS2022   Control Method of Fabric Actuator Suit for Gaze Guidance in Immersive Spaces

    Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Koki Nakagawa, Yusuke Sakai, Masaru Takeuchi, and Yasuhisa Hasegawa

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

  9. SI2021 優秀講演賞

    2021.12   計測自動制御学会   LSTM を用いた視野拡張顕微鏡システムにおける呈示画像の自動拡大率調整

    原 巧也、青山 忠義、竹内 大、長谷川 泰久

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

  10. SI2021 優秀講演賞

    2021.12   計測自動制御学会   培養筋圧縮によるバイオアクチュエータの単位断面積あたりの収縮力向上

    野村 匠永、竹内 大、Kim Eunhye、福田 敏男、長谷川 泰久

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

  11. 優秀研究・技術賞

    2021.9   日本ロボット学会   実時間3次元画像呈示により奥行き方向の視認性を向上させるマイクロマニピュレーションシステム

    藤城 俊希, 青山 忠義, 杷野 一輝, 高須 正規, 竹内 大, 長谷川 泰久

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

  12. SSUP研究成果発表会 最優秀研究賞

    2021.3   ソニーセミコンダクタソリューションズ株式会社   無線給電多チャンネル神経刺激デバイスによる機能的運動の再建

    宮本 太一,竹内 大,青山 忠義,長谷川泰久(名古屋大学)

  13. SI2020 優秀講演賞

    2020.12   計測自動制御学会   支持基底面を拡張する立ち膝姿勢および移行動作支援機器の試作・効果検証

    杉浦宗次朗, 長谷川泰久, 板寺駿輝, 青山忠義

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

  14. SI2020 優秀講演賞

    2020.12   計測自動制御学会   スキャフォールドゲル削減による高細胞密度の培養筋の作製

    野村 匠永、竹内 大、Kim Eunhye、長谷川 泰久、福田 敏男

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

  15. 2020年度 HSRユーザ会 優秀研究賞

    2020.11   トヨタ自動車㈱  

    遠隔操作及び移動支援を通じた知的パートナーシップの構築

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    Country:Japan

  16. 日本機械学会 ロボティクスオートメーション部門 学術業績賞

    2020.5   日本機械学会  

    長谷川 泰久

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

  17. 2019 Honorable Mention from the IEEE Robotics and Automation Letters

    2020.5   IEEE Robotics and Automation Letters   Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance

    Shunki Itadera, Emmanuel Dean-Leon, Jun Nakanishi, Yasuhisa Hasegawa, Gordon Cheng

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

  18. Best Paper Award in 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019)

    2019.7   Advanced Intelligent Mechatronics   Microscopic Tracking System for Simultaneous Expansive Observations of Multiple Micro-Targets Based on ViewExpansive Microscope

    Tadayoshi Aoyama, Sarau Takeno, Masaru Takeuchi, Yasuhisa Hasegawa, Idaku Ishii

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

  19. 日本機械学会 フェロー

    2019.2   日本機械学会  

    長谷川 泰久

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

  20. MHS2018 Best paper award

    2018.12   MHS2018   Cooperative Movement in Grasping and Development of Grasping-training Robot

    Shotaro Okajima, Fady S Alnajjar, Shingo Shimoda, Yasuhisa Hasegawa

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

  21. 優秀ポスタープレゼンテーション賞

    2018.3   第3回HSRユーザー会  

    板寺 駿輝、中西 淳、長谷川 泰久

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

  22. MHS2017 Best paper award

    2017.12   MHS2017   Somatosensory Feedback Improves Operability of Extra Robotic Thumb Controlled by Vestigial Muscles

    Hiroshi Shikida, Noel Segura Meraz, Yasuhisa Hasegawa

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

  23. SI2017優秀講演賞

    2017.12   第18回計測自動制御学会システムインテグレーション部門講演会   生活支援ロボットによる移動動作補助を目的とした状態遷移推定

    板寺 駿輝, 小林 泰介, 中西 淳, 青山 忠義, 長谷川 泰久

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

  24. MHS2017 Best paper award

    2017.12   MHS2017   In Vivo Test of Inductively Powered Neurostimulator

    Takahiro Miyamoto, Masaru Takeuchi, Tomonori Nakano, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

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

  25. Best Paper Award in Service Robotics

    2017.6   IEEE Robotics and Automation Society(ICRA2017)   High-Precision Microinjection of Microbeads into C. Elegans Trapped in a Suction Microchannel

    Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda, Qiang, Huang

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    Award type:International academic award (Japan or overseas)  Country:Singapore

  26. SI2016優秀講演賞

    2016.12   第17回計測自動制御学会システムインテグレーション部門講演会   多自由度鉗子の直感的操作可能なユーザインタフェースの設計・試作

    佐藤 雄一朗,Jacinto E. Colan Zaita,中西 淳,長谷川 泰久

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

  27. 貢献表彰 

    2016.12   計測自動制御学会システムインテグレーション部門   SI2015プログラム委員長

    長谷川 泰久

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

  28. ICAM2015 Honorable Mention

    2015.12   The 6th International Conference on Advanced Mechatronics (ICAM2015)   Running Assistive Exoskeleton with a Slide Mechanism

    Naoki Kubota, Yasuhisa Hasegawa

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

  29. SI2015優秀講演賞

    2015.12   第16回計測自動制御学会システムインテグレーション部門講演会   フォトリソグラフィを用いたポリイミドベースのマウス末梢神経刺激用マイクロ電極の作製

    佐野 正人,中島 正博,竹内 大,長谷川 泰久,栗本 秀,中野 智則,新開 宏明,平田 仁

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

  30. MHS Best Paper Award

    2015.11   MHS   Improvement of Operability of Extra Robotic Thumb Using Tactile Feedback by Electrical Stimulation

    Masafumi Sobajima, Yuichiro Sato, Wang Xufeng, Yasuhisa Hasegawa

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

  31. 永守賞

    2015.8   日本電産株式会社  

    長谷川 泰久

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    Country:Japan

  32. Best Paper Award Finalist

    2014.12   IEEE/SICE International Symposium on System Integration (SII 2014)   Pseudo-somatosensory Feedback about Joint's Angle using Electrode Array

    Yasuhisa Hasegawa, Kohei Ozawa

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

  33. Best Paper Award Finalist

    2014.7   IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM 2014)   Exoskeletal Meal Assistance System (EMAS III) for Progressive Muscle Dystrophy Patient

    Yasuhisa HASEGAWA, Tomoaki KIKAI, Kiyoshi EGUCHI, Satoshi SHIMADA

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

  34. Best Paper Award

    2013.7   IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM 2013)   Wearable Lower-Limb Assistive Device for Physical Load Reduction of Caregiver on Transferring Support

    Yasuhisa Hasegawa and Masataka Muramatsu

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

  35. IECON-2000 Conference Paper Award

    2000   IECON2000   Position and Elasticity Control for Biomimetic Robot Finger

    K. Kawanishi, H. Hashizumi, Y. Oki, Y. Nakano. T. Fukuda, G. Vachkov, F. Arai and Y. Hasegawa

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

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Papers 155

  1. Variable step sizes for iterative Jacobian-based inverse kinematics of robotic manipulators Reviewed

    JACINTO COLAN, ANA DAVILA, AND YASUHISA HASEGAWA

    IEEE Access   Vol. 4 ( 2016 ) page: 87909 - 87922   2024.6

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

    DOI: 10.1109/ACCESS.2024.3418206

  2. Enhancing the LLM-Based Robot Manipulation Through Human-Robot Collaboration Reviewed International journal

    Haokun Liu, Kenji Kato, Atsushi Tsukahara, Kondo Izumi Kondo Izumi, Tadayoshi Aoyama, Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters   Vol. 9 ( 8 ) page: 6904 - 6911   2024.6

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

  3. Comparison of fine-tuning strategies for transfer learning in medical image classification Reviewed

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    Image and Vision Computing   Vol. 146   page: 105012   2024.6

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Image and Vision Computing  

    In the context of medical imaging and machine learning, one of the most pressing challenges is the effective adaptation of pre-trained models to specialized medical contexts. Despite the availability of advanced pre-trained models, their direct application to the highly specialized and diverse field of medical imaging often falls short due to the unique characteristics of medical data. This study provides a comprehensive analysis on the performance of various fine-tuning methods applied to pre-trained models across a spectrum of medical imaging domains, including X-ray, MRI, Histology, Dermoscopy, and Endoscopic surgery. We evaluated eight fine-tuning strategies, including standard techniques such as fine-tuning all layers or fine-tuning only the classifier layers, alongside methods such as gradually unfreezing layers, regularization based fine-tuning and adaptive learning rates. We selected three well-established CNN architectures (ResNet-50, DenseNet-121, and VGG-19) to cover a range of learning and feature extraction scenarios. Although our results indicate that the efficacy of these fine-tuning methods significantly varies depending on both the architecture and the medical imaging type, strategies such as combining Linear Probing with Full Fine-tuning resulted in notable improvements in over 50% of the evaluated cases, demonstrating general effectiveness across medical domains. Moreover, Auto-RGN, which dynamically adjusts learning rates, led to performance enhancements of up to 11% for specific modalities. Additionally, the DenseNet architecture showed more pronounced benefits from alternative fine-tuning approaches compared to traditional full fine-tuning. This work not only provides valuable insights for optimizing pre-trained models in medical image analysis but also suggests the potential for future research into more advanced architectures and fine-tuning methods.

    DOI: 10.1016/j.imavis.2024.105012

    Scopus

  4. Real-time inverse kinematics for robotic manipulation under remote center-of-motion constraint using memetic evolution Reviewed International journal

    Journal of Computational Design and Engineering   Vol. 11 ( 3 ) page: 248-264   2024.5

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

  5. Multimodal semi-supervised learning for online recognition of multi-granularity surgical workflows Reviewed International journal

    Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    International Journal of Computer Assisted Radiology and Surgery   Vol. 19 ( 6 ) page: 1075 - 1083   2024.4

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

    DOI: 10.1007/s11548-024-03101-6

  6. Latent regression based model predictive control for tissue triangulation Reviewed

    Songtao Liu, Jacinto Colan, Yaonan Zhu, Taisuke Kobayashi, Kazunari Misawa, Masaru Takeuchi, Yasuhisa Hasegawa

    Advanced Robotics   Vol. 38 ( 5 ) page: 283 - 306   2024.3

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

    DOI: 10.1080/01691864.2024.2324303

  7. Real-Time Spatiotemporal Assistance for Micromanipulation Using Imitation Learning Reviewed International journal

    Ryoya Mori, Tadayoshi Aoyama, Taisuke Kobayashi, Kazuya Sakamoto, Masaru Takeuchi, Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters   Vol. 9 ( 4 ) page: 3506 - 3513   2024.2

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

  8. Real-time motion force-feedback system with predictive-vision for improving motor accuracy Reviewed International journal

    Ryo Matsui, Tadayoshi Aoyama, Kenji Kato, Yasuhisa Hasegawa

    Scientific Reports   Vol. 14 ( 1 ) page: 2168   2024.1

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

    DOI: https://doi.org/10.1038/s41598-024-52811-z

  9. Intuitive Cell Manipulation Microscope System with Haptic Device for Intracytoplasmic Sperm Injection Simplification Reviewed

    Kazuya Sakamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

    Sensors   Vol. 24 ( 2 ) page: 711   2024.1

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

    DOI: https://doi.org/10.3390/s24020711

    DOI: https://doi.org/10.3390/s24020711

    Other Link: https://www.mdpi.com/1424-8220/24/2/711

  10. Assistive System for Microinjection by Presenting Cell Deformation as Surface Tactile Sensation Reviewed

    Sumiwa Saito, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

    IEEE Access   Vol. 12   page: 3874 - 3880   2024.1

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

    DOI: 10.1109/ACCESS.2023.3349169

    DOI: 10.1109/ACCESS.2023.3349169

    Scopus

    Other Link: https://ieeexplore.ieee.org/abstract/document/10379610

  11. Variable Grounding Flexible Limb Tracking Center of Gravity for Sit-to-Stand Transfer Assistance Reviewed International journal

    Sojiro Sugiura, Jayant Unde, Yaonan Zhu, Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters   Vol. 9 ( 1 ) page: 175 - 182   2024.1

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

    DOI: 10.1109/LRA.2023.3328449

    Scopus

  12. Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery Reviewed

    Khusniddin Fozilov, Jacinto Colan, Ana Davila, Kazunari Misawa, Jie Qiu, Yuichiro Hayashi, Kensaku Mori, Yasuhisa Hasegawa

    Sensors   Vol. 23 ( 24 ) page: 9865   2023.12

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    Authorship:Last author   Language:English  

    DOI: https://doi.org/10.3390/s23249865

    DOI: https://doi.org/10.3390/s23249865

    Other Link: https://www.mdpi.com/1424-8220/23/24/9865

  13. High-strength and flexible mechanism for body weight support Reviewed

    Sojiro Sugiura, Jayant Unde, Yaonan Zhu, Yasuhisa Hasegawa

    ROBOMECH JOURNAL   Vol. 10 ( 1 ) page: 1 - 12   2023.12

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    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

  14. Closed-Loop Optimization of Soft Sensor Morphology Using 3D Printing of Electrically Conductive Hydrogel Reviewed International coauthorship

    Sugiura S., Hardman D., George Thuruthel T., Hasegawa Y., Iida F.

    Advanced Intelligent Systems   Vol. 5 ( 10 )   2023.10

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    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

  15. Passive Lower Limb Exoskeleton for Kneeling and Postural Transition Assistance With Expanded Support Polygon Reviewed

    Sojiro Sugiura, Yaonan Zhu, Jian Huang, Yasuhisa Hasegawa

    IEEE/ASME Transactions on Mechatronics     page: 1 - 12   2023.7

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    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

  16. Intention-reflected predictive display for operability improvement of time-delayed teleoperation system Reviewed

    Yaonan Zhu, Keisuke Fusano, Tadayoshi Aoyama, Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 10 ( 17 ) page: 1 - 11   2023.7

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    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

  17. Natural Grasp Intention Recognition Based on Gaze in Human-Robot Interaction Reviewed International coauthorship International journal

    Yang B., Huang J., Chen X., Li X., Hasegawa Y.

    IEEE Journal of Biomedical and Health Informatics   Vol. 27 ( 4 ) page: 2059 - 2070   2023.4

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    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

  18. A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots Reviewed

    Jacinto Colan, Ana Davila, Khusniddin Fozilov, Yasuhisa Hasegawa

    Sensors   Vol. 23 ( 6 ) page: 3328   2023.3

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    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

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    PubMed

  19. OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools Reviewed

    Jacinto Colan, Ana Davila, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

    IEEE Access   Vol. 11   page: 6092 - 6105   2023

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    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

  20. Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees Reviewed International journal

    Khusniddin Fozilov, Jacinto Colan, Kosuke Sekiyama, Yasuhisa Hasegawa

    IEEE Access   Vol. 11   page: 91206 - 91224   2023

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    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

  21. Micromanipulation System Capable of Simultaneously Presenting High-Resolution and Large Field-of-View Images in Real-Time Reviewed

    Tadayoshi Aoyama, Sarau Takeno, Kenta Yokoe, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

    IEEE Access   Vol. 11   page: 34274 - 34285   2023

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    DOI: 10.1109/ACCESS.2023.3264785

    Scopus

  22. Improvement in the Manipulability of Remote Touch Screens Based on Peri-Personal Space Transfer Reviewed International journal

    Kento Yamamoto, Yaonan Zhu, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

    IEEE Access   Vol. 11   page: 43962 - 43974   2023

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    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

  23. Micro-manipulation Interface that Presents Surface Force Tactile Sensation According to the Cell Deformation Reviewed

    Saito Sumiwa, Aoyama Tadayoshi, Funabora Yuki, Takeuchi Masaru, Hasegawa Yasuhisa

    Journal of the Robotics Society of Japan   Vol. 41 ( 3 ) page: 322 - 325   2023

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    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

  24. A Shared Control Framework for Enhanced Grasping Performance in Teleoperation Reviewed International journal

    Zhu Y., Jiang B., Chen Q., Aoyama T., Hasegawa Y.

    IEEE Access   Vol. 11   page: 69204 - 69215   2023

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    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

  25. Gaze and Environmental Context-Guided Deep Neural Network and Sequential Decision Fusion for Grasp Intention Recognition Reviewed International coauthorship International journal

    Bo Yang, Xinxing Chen, Xiling Xiao, Pei Yan, Yasuhisa Hasegawa, Jian Huang

    IEEE Transactions on Neural Systems and Rehabilitation Engineering   Vol. 31   page: 3687 - 3698   2023

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    DOI: 10.1109/TNSRE.2023.3314503

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  26. Auditory Feedback for Enhanced Sense of Agency in Shared Control Reviewed

    Tomoya Morita, Yaonan Zhu, Tadayoshi Aoyama, Masaru Takeuchi, Kento Yamamoto, Yasuhisa Hasegawa

    Sensors   Vol. 22 ( 24 ) page: 9779   2022.12

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  27. An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation Reviewed International journal

    Kenta Yokoe, Tadayoshi Aoyama, Toshiki Fujishiro, Masaru Takeuchi, Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 9 ( 1 ) page: 16   2022.12

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

    DOI: 10.1186/s40648-022-00228-6

    Scopus

  28. Auditory Feedback for Enhanced Sense of Agency in Shared Control Reviewed International journal

    Tomoya Morita, Yaonan Zhu, Tadayoshi Aoyama, Masaru Takeuchi, Kento Yamamoto, Yasuhisa Hasegawa

    Sensors   Vol. 22 ( 24 ) page: 9779 - 9779   2022.12

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    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

  29. A Review on Tactile Displays for Conventional Laparoscopic Surgery Reviewed

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    Surgeries (Switzerland)   Vol. 3 ( 4 ) page: 334 - 346   2022.11

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    DOI: 10.3390/surgeries3040036

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  30. Intelligent Gait Analysis and Evaluation System Based on Cane Robot Reviewed International coauthorship

    Qingyang Yan, Jian Huang, Dongrui Wu, Zhaohui Yang, Yujie Wang, Yasuhisa Hasegawa, Toshio Fukuda

    IEEE Transactions on Neural Systems and Rehabilitation Engineering   Vol. 30   page: 2916 - 2926   2022.10

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    DOI: DOI 10.1109/TNSRE.2022.3213823

  31. Development of High-Cell-Density Tissue Method for Compressed Modular Bioactuator Reviewed International coauthorship

    Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Qiang Huang, Yasuhisa Hasegawa, Toshio Fukuda

    Micromachines   Vol. 13 ( 10 ) page: 1725   2022.10

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    DOI: 10.3390/mi13101725

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  32. A Wirelessly Powered 4-Channel Neurostimulator for Reconstructing Walking Trajectory Reviewed

    Masaru Takeuchi, Katsuhiro Tokutake, Keita Watanabe, Naoyuki Ito, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

    Sensors   Vol. 22 ( 19 ) page: 7198   2022.9

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    DOI: 10.3390/s22197198

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  33. Visual Sensing System to Investigate Self-Propelled Motion and Internal Color of Multiple Aqueous Droplets Reviewed

    Tadayoshi Aoyama, Shoki Yamada, Nobuhiko J Suematsu, Masaru Takeuchi, Yasuhisa Hasegawa

    Sensors   Vol. 22 ( 16 ) page: 6309   2022.8

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    DOI: 10.3390/s22166309

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  34. A Therapeutic Strategy for Lower Motor Neuron Disease and Injury Integrating Neural Stem Cell Transplantation and Functional Electrical Stimulation in a Rat Model Reviewed International journal

    Katsuhiro Tokutake, Masaru Takeuchi, Shigeru Kurimoto, Sota Saeki, Yuta Asami, Keiko Onaka, Masaomi Saeki, Tadayoshi Aoyama, Yasuhisa Hasegawa, Hitoshi Hirata

    International Journal of Molecular Sciences   Vol. 23 ( 15 ) page: 8760 - 8760   2022.8

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    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

  35. An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation Reviewed

    Kenta Yokoe, Tadayoshi Aoyama, Toshiki Fujishiro, Masaru Takeuchi & Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 9 ( 1 ) page: 16   2022.6

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

  36. Intuitive Remote Robotic Nasal Sampling by Orientation Control with Variable RCM in Limited Space Reviewed International journal

    Masaru Takeuchi, Yuma Hironaka, Tadayoshi Aoyama, Yasuhisa Hasegawa

    IEEE Transactions on Medical Robotics and Bionics   Vol. 4 ( 3 ) page: 646 - 655   2022.5

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    DOI: 10.1109/TMRB.2022.3176100

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  37. Human-Following Control of Cane-Type Walking-Aid Robot Within Fixed Relative Posture Reviewed International coauthorship International journal

    Qingyang Yan, Jian Huang, Zhaohui Yang, Yasuhisa Hasegawa, Toshio Fukuda

    IEEE/ASME Transactions on Mechatronics   Vol. 27 ( 1 ) page: 537 - 548   2022.2

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    DOI: 10.1109/TMECH.2021.3068138

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  38. Supernumerary Robotic Limbs: A Review and Future Outlook Reviewed International coauthorship

    Yang B., Huang J., Chen X., Xiong C., Hasegawa Y.

    IEEE Transactions on Medical Robotics and Bionics   Vol. 3 ( 3 ) page: 623 - 639   2021.8

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    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

  39. Development of cultured muscles with tendon structures for modular bio-actuators Reviewed International coauthorship

    Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Qiang Huang, Yasuhisa Hasegawa, Toshio Fukuda

    Micromachines   Vol. 12 ( 4 ) page: 379   2021.4

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    DOI: 10.3390/mi12040379

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  40. Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment Reviewed

    Toshiki Fujishiro, Tadayoshi Aoyama, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters   Vol. 6 ( 2 ) page: 4025 - 4031   2021.4

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    DOI: 10.1109/LRA.2021.3067857

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  41. Optimization-based constrained trajectory generation for robot-assisted stitching in endonasal surgery Reviewed

    Colan J., Nakanishi J., Aoyama T., Hasegawa Y.

    Robotics   Vol. 10 ( 1 ) page: 1 - 24   2021.2

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    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

  42. Micromanipulation System That Improves Depth Visibility via Real-time 3D Image Presentation Reviewed

    Fujishiro Toshiki, Aoyama Tadayoshi, Hano Kazuki, Takasu Masaki, Takeuchi Masaru, Hasegawa Yasuhisa

    Journal of the Robotics Society of Japan   Vol. 39 ( 5 ) page: 467 - 470   2021

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    <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

  43. Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism Reviewed International journal

    Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

    2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021     2021

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    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

  44. Multilayered artificial dura-mater models for a minimally invasive brain surgery simulator Reviewed

    Masaru Takeuchi, Shusaku Hayakawa, Akihiko Ichikawa, Akiyuki Hasegawa, Yasuhisa Hasegawa, Toshio Fukuda

      Vol. 10 ( 24 ) page: 1 - 14   2020.12

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    DOI: 10.3390/app10249000

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  45. Gait modification for improving walking stability of exoskeleton assisted paraplegic patient Reviewed

    Mengze Li and Tadayoshi Aoyama and Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 7 ( 1 ) page: 1 - 12   2020.12

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    DOI: 10.1186/s40648-020-00169-y

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  46. Towards physical interaction-based sequential mobility assistance using latent generative model of movement state Reviewed

    Shunki Itadera, Taisuke Kobayashi, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa

      Vol. 35 ( 1 ) page: 64 - 79   2020.11

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

    DOI: 10.1080/01691864.2020.1844797

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  47. Towards the development of an intuitive teleoperation system for human support robot using a VR device Reviewed

    Jun Nakanishi, Shunki Itadera, Tadayoshi Aoyama, Yasuhisa Hasegawa

    Advanced Robotics   Vol. 34 ( 19 ) page: 1239 - 1253   2020.10

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

    DOI: 10.1080/01691864.2020.1813623

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  48. Magnetic self-assembly of toroidal hepatic microstructures for micro-tissue fabrication Reviewed

    Masaru Takeuchi, Masaki Iriguchi, Mamoru Hattori, Eunhye Kim, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

    Biomedical Materials   Vol. 15 ( 5 )   2020.9

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

    DOI: 10.1088/1748-605X/ab8487

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  49. Adaptive Proxy-Based Robust Control Integrated with Nonlinear Disturbance Observer for Pneumatic Muscle Actuators Reviewed International coauthorship International journal

    Yu Cao, Jian Huang, Cai Hua Xiong, Dongrui Wu, Mengshi Zhang, Zhijun Li, Yasuhisa Hasegawa

    IEEE/ASME Transactions on Mechatronics   Vol. 25 ( 4 ) page: 1756 - 1764   2020.8

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    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

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  50. A cooperative human-robot interface for constrained manipulation in robot-assisted endonasal surgery Reviewed International journal

    Jacinto Colan, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa

    Applied Sciences (Switzerland)   Vol. 10 ( 14 ) page: 4809   2020.7

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    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

  51. Visual feedback control of a rat ankle angle using a wirelessly powered two-channel neurostimulator Reviewed

    Masaru Takeuchi and Keita Watanabe and Kanta Ishihara and Taichi Miyamoto and Katsuhiro Tokutake and Sota Saeki and Tadayoshi Aoyama and Yasuhisa Hasegawa and Shigeru Kurimoto and Hitoshi Hirata

    Sensors (Switzerland)   Vol. 20 ( 8 ) page: 2210   2020.4

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    DOI: 10.3390/s20082210

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  52. Head-mounted display-based microscopic imaging system with customizable field size and viewpoint Reviewed

    Tadayoshi Aoyama and Sarau Takeno and Masaru Takeuchi and Yasuhisa Hasegawa

    Sensors (Switzerland)   Vol. 20 ( 7 ) page: 1967   2020.4

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

    DOI: 10.3390/s20071967

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  53. On-chip fabrication of cell-attached microstructures using photo-cross-linkable biodegradable hydrogel Reviewed International coauthorship

    Masaru Takeuchi, Taro Kozuka, Eunhye Kim, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

    Journal of Functional Biomaterials   Vol. 11 ( 1 ) page: 18   2020.3

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

    DOI: 10.3390/jfb11010018

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  54. Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation Reviewed

    Yaonan Zhu and Tadayoshi Aoyama and Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters   Vol. 5 ( 2 ) page: 2981 - 2986   2020.2

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

    DOI: 10.1109/LRA.2020.2972896

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  55. Construction of Hepatic-Lobule-Like 3-D Vascular Network in Cellular Structure by Manipulating Magnetic Fibers Reviewed

    Eunhye Kim and Masaru Takeuchi and Akiyuki Hasegawa and Akihiko Ichikawa and Yasuhisa Hasegawa and Qiang Huang and Toshio Fukuda

    IEEE/ASME Transactions on Mechatronics   Vol. 25 ( 1 ) page: 477 - 486   2020.2

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

    DOI: 10.1109/TMECH.2019.2957494

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  56. Admittance control based robotic clinical gait training with physiological cost evaluation Reviewed

    Shunki Itadera and Jun Nakanishi and Yasuhisa Hasegawa and Toshio Fukuda and Masanori Tanimoto and Izumi Kondo

    Robotics and Autonomous Systems   Vol. 123   page: 103326   2020.1

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

    DOI: 10.1016/j.robot.2019.103326

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  57. Development of sense of self-location based on somatosensory feedback from finger tips for extra robotic thumb control Reviewed

    Yaonan Zhu, Takayuki Ito, Tadayoshi Aoyama, Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 6 ( 1 )   2019.12

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

    DOI: 10.1186/s40648-019-0135-0

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  58. A clinical pilot study on posture stabilization via light contact with cane-type companion robot Reviewed

    Shunki Itadera and Tadayoshi Aoyama and Yasuhisa Hasegawa and Keita Aimoto and Kenji Kato and Izumi Kondo

    ROBOMECH Journal   Vol. 6 ( 1 ) page: 17   2019.12

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

    DOI: 10.1186/s40648-019-0145-y

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  59. Predictive Optimization of Assitive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assitance Reviewed International coauthorship

    Shunki Itadera, Emmanuel Dean-Leon, Jun Nakanishi, Yasuhisa Hasegawa, Gordon Cheng

    IEEE Robotics and Automation Letters   Vol. 4 ( 4 ) page: 3609 - 3616   2019.10

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

    DOI: 10.1109/LRA.2019.2928770

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  60. Delays in perception and action for improving walk–run transition stability in bipedal gait Reviewed

    Kobayashi T., Aoyama T., Sekiyama K., Hasegawa Y., Fukuda T.

    Nonlinear Dynamics   Vol. 97 ( 2 ) page: 1685 - 1698   2019.7

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    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

  61. Theoretical approach for designing the rehabilitation robot controller Reviewed International coauthorship

    Shotaro Okajima, Fady S Alnajjar, Álvaro Costa, Guillermo Asin-Prieto, Jose L Pons, Juan C Moreno, Yasuhisa Hasegawa, Shingo Shimoda

    Advanced Robotics   Vol. 33 ( 14 ) page: 674 - 686   2019.7

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    DOI: 10.1080/01691864.2019.1633402

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  62. Medial part thickness of wearable device affecting running motion Reviewed

    Naoki Kubota and Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 6 ( 1 )   2019.7

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    DOI: 10.1186/s406480190136z

  63. Operational learning with sensory feedback for controlling a robotic thumb using the posterior auricular muscle Reviewed

    Tadayoshi Aoyama, Hiroshi Shikida, Rubens Schatz, Yasuhisa Hasegawa

    Advanced Robotics   Vol. 33 ( 5 ) page: 243 - 253   2019.3

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

    DOI: 10.1080/01691864.2019.1566090

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  64. Modification of body schema by use of extra robotic thumb Reviewed

    Noel Segura Meraz, Masafumi Sobajima, Tadayoshi Aoyama, Yasuhisa Hasegawa

    ROBOMECH Journal   Vol. 5 ( 1 )   2018.12

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

    DOI: 10.1186/s40648-018-0100-3

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  65. Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait Reviewed

    Kobayashi T.

    ROBOMECH Journal   Vol. 5 ( 1 )   2018.12

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

    DOI: 10.1186/s40648-018-0115-9

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  66. Electric Stimulation based Weight Discrimination for Paraplegic Wearing Exoskeleton Reviewed International journal

    Li M., Wang X., Aoyama T., Hasegawa Y.

    2018 International Conference on Intelligence and Safety for Robotics, ISR 2018     page: 261 - 266   2018.11

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    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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  67. Precise foot positioning of walking robot for paraplegic patient wearing exoskeleton by using electrical stimulation feedback Reviewed

    Li M.

    Journal of Mechanisms and Robotics   Vol. 10 ( 4 )   2018.8

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    DOI: 10.1115/1.4040354

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  68. Generation of Human-Like Movement from Symbolized Information Reviewed International coauthorship

    Okajima Shotaro, Tournier Maxime, Ainajjar Fady S., Hayashibe Mitsuhiro, Hasegawa Yasuhisa, Shimoda Shingo

    FRONTIERS IN NEUROROBOTICS   Vol. 12   2018.7

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    DOI: 10.3389/fnbot2018.00043

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  69. Nanorobotic Manipulation of Thin-film Graphite Sheet for 3D Cubic Structures Reviewed International coauthorship

    Takafumi Fujiwara, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda, Huang Qiang,

    Nanomedicine and Nanoscience Research 2018   ( 2 ) page: pp.1-9   2018.7

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  70. Unified bipedal gait for autonomous transition between walking and running in pursuit of energy minimization Reviewed

    Kobayashi Taisuke, Sekiyama Kosuke, Hasegawa Yasuhisa, Aoyama Tadayoshi, Fukuda Toshio

    ROBOTICS AND AUTONOMOUS SYSTEMS   Vol. 103   page: 27 - 41   2018.5

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    DOI: 10.1016/j.robot.2018.02.005

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  71. In vitro mimicking the morphology of hepatic lobule tissue based on Ca-alginate cell sheets Reviewed International coauthorship

    Liu Zeyang, Lu Minmin, Takeuchi Masaru, Yue Tao, Hasegawa Yasuhisa, Huang Qiang, Fukuda Toshio

    BIOMEDICAL MATERIALS   Vol. 13 ( 3 )   2018.2

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    DOI: 10.1088/1748-605X/aaa4c4

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  72. View Expansion System for Microscope Photography using the Observing Point Movement by Galvano Mirror Reviewed

    Aoyama Tadayoshi, Kaneishi Mamoru, Takaki Takeshi, Ishii Idaku, Hasegawa Yasuhisa

    Journal of the Robotics Society of Japan   Vol. 36 ( 4 ) page: 294 - 301   2018

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    <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

  73. Generation of human-like movement from symbolized information Reviewed International coauthorship

    Okajima S., Tournier M., Alnajjar F.S., Hayashibe M., Hasegawa Y., Shimoda S.

    Frontiers in Neurorobotics   Vol. 12   2018

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    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

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  74. Flower Stick Manipulation Based on the High-speed Visual Feedback Control of a Dual Robotic Arm Reviewed

    Aoyama T.

    IFAC-PapersOnLine   Vol. 51 ( 22 ) page: 209 - 213   2018

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    DOI: 10.1016/j.ifacol.2018.11.543

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  75. Electrical stimulation feedback for gait control of walking simulator Reviewed International journal

    Li M., Yuan Z., Aoyama T., Hasegawa Y.

    IEEE-RAS International Conference on Humanoid Robots     page: 797 - 802   2017.12

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    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

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  76. Adaptive walking load control for training physical strength using cane-type robot Reviewed International journal

    Itadera S., Hasegawa Y., Fukuda T., Tanimoto M., Kondo I.

    IEEE International Conference on Intelligent Robots and Systems   Vol. 2017-September   page: 521 - 526   2017.12

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    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

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  77. Tapered Microfluidic for Continuous Micro-Object Separation Based on Hydrodynamic Principle Reviewed

    Ahmad Ida Laila, Ahmad Mohd Ridzuan, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa

    IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS   Vol. 11 ( 6 ) page: 1413 - 1421   2017.12

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    DOI: 10.1109/TBCAS.2017.2764118

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  78. Electric stimulation and cooperative control for paraplegic patient wearing an exoskeleton Reviewed International coauthorship

    Li Mengze, Yuan Zhaofan, Wang Xufeng, Hasegawa Yasuhisa

    ROBOTICS AND AUTONOMOUS SYSTEMS   Vol. 98   page: 204 - 212   2017.12

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    DOI: 10.1016/j.robot.2017.09.009

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  79. Robotics in Biomedical and Healthcare Engineering Reviewed International coauthorship

    Chengzhi Hu, Qing Shi, Lianqing Liu, Uche Wejinya, Yasuhisa Hasegawa, Yajing Shen

    Journal of healthcare engineering   Vol. 2017   2017.8

  80. Acquisition of new body representation about extra robotic thumb by use of vestigial muscles Reviewed International journal

    Shikida H., Noel S.M., Hasegawa Y.

    2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017   Vol. 2018-January   page: 211 - 214   2017.7

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    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

  81. Effects of forced movements on learning: Findings from a choice reaction time task in rats Reviewed

    Hidekazu Kaneko, Hiroto Sano, Yasuhisa Hasegawa, Hiroshi Tamura, Shinya S. Suzuki

    Learning & Behavior   Vol. 45 ( 2 ) page: 191-204   2017.6

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  82. A novel integrated dual microneedle-microfluidic impedance flow cytometry for cells detection in suspensions Reviewed

    Muhammad Asraf Mansor, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Mohd Ridzuan Ahmad

    International Journal of Electrical and Computer Engineering   Vol. 7 ( 3 ) page: 1513   2017.6

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  83. Multi-Layered Channel Patterning by Local Heating of Hydrogels Reviewed

    Takeuchi Masaru, Oya Tomoyuki, Ichikawa Akihiko, Hasegawa Akiyuki, Nakajima Masahiro, Hasegawa Yasuhisa, Fukuda Toshio

    IEEE ROBOTICS AND AUTOMATION LETTERS   Vol. 2 ( 2 ) page: 958 - 963   2017.4

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    DOI: 10.1109/LRA.2017.2655625

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  84. Three-dimensional hepatic lobule-like tissue constructs using cell-microcapsule technology Reviewed International coauthorship

    Liu Zeyang, Takeuchi Masaru, Nakajima Masahiro, Hu Chengzhi, Hasegawa Yasuhisa, Huang Qiang, Fukuda Toshio

    ACTA BIOMATERIALIA   Vol. 50   page: 178 - 187   2017.3

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    DOI: 10.1016/j.actbio.2016.12.020

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  85. Electrical Impedance Spectroscopy for Detection of Cells in Suspensions Using Microfluidic Device with Integrated Microneedles Reviewed International coauthorship

    Mansor Muhammad Asraf, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa, Ahmad Mohd Ridzuan

    APPLIED SCIENCES-BASEL   Vol. 7 ( 2 )   2017

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

    DOI: 10.3390/app7020170

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  86. Microfluidics for Mass Measurement of Miniature Object Like Single Cell and Single MicroParticle Reviewed

    Rahman Md. Habibur, Ahmad Mohd Ridzuan, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa, Fukuda Toshio

    ADVANCED MECHATRONICS AND MEMS DEVICES II     page: 523-545   2017

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

    DOI: 10.1007/978-3-319-32180-6_23

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  87. Preface to Special Issue on System Integration with Broader Perspectives : Exploring Frameworks for System Design to Offer Effective Solutions for Issues with Highly Sophisticated Systems Reviewed

    HASEGAWA Yasuhisa, ARAI Fumihito, SEKIYAMA Kosuke, NAKAJIMA Masahiro, KAWABATA Kuniaki

    Transactions of the Society of Instrument and Control Engineers   Vol. 53 ( 1 ) page: 1 - 1   2017

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    DOI: 10.9746/sicetr.53.1

  88. Design of an wearable MRI-compatible hand exoskeleton robot Reviewed

    Liu K., Hasegawa Y., Saotome K., Sainkai Y.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   Vol. 10462 LNAI   page: 242 - 250   2017

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    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

  89. Adaptive speed controller using swing leg motion for 3-D limit-cycle-based bipedal gait Reviewed International journal

    Taisuke Kobayashi, Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda

    Nonlinear Dynamics   Vol. 84 ( 4 ) page: 2285 - 2304   2016.6

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    © 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

  90. Shape-controlled high cell-density microcapsules by electrodeposition Reviewed

    Z. Liu, M. Takeuchi, M. Nakajima, Y. Hasegawa, Q. Huang, T. Fukuda

    Acta biomaterialia   Vol. 37   page: 93-100   2016.6

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    DOI: 10.1016/j.actbio.2016.03.045.

  91. Fall Detection and Prevention Control Using Walking-Aid Cane Robot Reviewed

    P. Di, Y. Hasegawa, S. Nakagawa, K. Sekiyama, T. Fukuda, J. Huang

    IEEE/ASME Transactions on Mechatronics   Vol. 21 ( 2 ) page: 625-637   2016.4

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

    DOI: 10.1109/TMECH.2015.2477996

  92. Adaptive speed controller using swing leg motion for 3-D limit-cycle-based bipedal gait Reviewed

    T. Kobayashi, T. Aoyama, Y. Hasegawa, K. Sekiyama, T. Fukuda

    Nonlinear Dynamics   Vol. 84 ( 4 ) page: 2285-2304   2016.2

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

  93. Muscle activity during gait-like motion provided by MRI compatible lower-extremity motion simulator Reviewed

    Takahiro Ikeda, Akira Matsushita, Kousaku Saotome, Yasuhisa Hasegawa, Akira Matsumura, Yoshiyuki Sankai

    Advanced Robotics   Vol. 30 ( 7 ) page: 459-475   2016.2

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  94. Batch Fabrication of Microscale Gear-Like Tissue by Alginate-Poly-L-lysine (PLL) Microcapsules System Reviewed

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    IEEE Robotics and Automation Letters   Vol. 1 ( 1 ) page: 206-212   2016.1

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  95. Batch Fabrication of Microscale Gear-Like Tissue by Alginate-Poly-L-lysine (PLL) Microcapsules System Reviewed

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    IEEE Robotics and Automation Letters   Vol. 1 ( 1 ) page: 206 - 212   2016.1

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    © 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

  96. A Microfluidic Device for Hydrodynamic Trapping and Manipulation Platform of a Single Biological Cell Reviewed

    Amelia Ahmad Khalili, Mohd Ridzuan Ahmad, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Razauden Mohamed Zulkifli

    Applied Sciences   Vol. 6 ( 2 ) page: 1-17   2016

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    DOI: 10.3390

  97. Selection of two arm-swing strategies for bipedal walking to enhance both stability and efficiency Reviewed

    Taisuke Kobayashi, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, Toshio Fukuda

    Advanced Robotics   Vol. 30 ( 6 ) page: 386-401   2016

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  98. Single Cell Mass Measurement Using Drag Force Inside Lab-on-Chip Microfluidics System Reviewed

    Md. Habibur Rahman, Mohd Ridzuan Ahmad, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda

    IEEE Transactions on NanoBioscience   Vol. 14 ( 8 ) page: 927-934   2015.12

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    DOI: 10.1109/TNB.2015.2507064

  99. SALを用いた腕振り戦略による2足歩行の安定化及び効率向上 Reviewed

    小林泰介, 関山浩介, 青山忠義, 長谷川泰久, 福田敏男

    日本機械学会論文集(C編)     2015.7

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    DOI: 10.1299/transjsme.14-00634

  100. Tandem stance avoidance using adaptive and asymmetric admittance control for fall prevention Reviewed

    Shotaro Nakagawa, Yasuhisa Hasegawa, Toshio Fukuda, Izumi Kondo, Masahiro Tanimoto, Pei Di, Jian Huang, Qiang Huang

    IEEE Transactions on Neural Systems and Rehabilitation Engineering   Vol. 24 ( 5 ) page: 542-550   2015.5

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  101. MRI適合性を有する下肢動作提示システムLoMS Reviewed

    池田貴公、松下明、五月女康作、長谷川泰久、松村明、山海嘉之

    日本ロボット学会誌    Vol. 33 ( 2 ) page: 115-123   2015.3

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  102. Restoration of Gait for Spinal Cord Injury Patients using HAL with Intention Estimator for Preferable Swing Speed Reviewed

    Atsushi Tsukahara, Yasushisa Hasegawa, Kiyoshi Eguchi, and Yoshiyuki Sankai

    IEEE Transactions on Neural System and Rehabilitation Engineering   Vol. 23 ( 2 ) page: 308-318   2015

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  103. Energetically Efficient Ladder Descent Motion With Internal Stress and Body Motion Optimized for a Multilocomotion Robot Reviewed

    Zhiguo Lu, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, Taisuke Kobayashi, Toshio Fukuda

    IEEE Transactions on Industrial Electronics   Vol. 62 ( 8 ) page: 4972-4984   2015

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  104. 1A1-Q04 Presentation Interface of Hip Joint Angle Using an Small Electrode Array

    HASEGAWA Yasuhisa, OZAWA Kohei, OHARA Takayoshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1A1-Q04_1 - _1A1-Q04_4   2015

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

    This paper proposes a presentation interface of hip joint angle for paraplegic patient using a small electrode array. Current powered exoskeletons help the patient's walk on the basis of biopotential signal. However, the exoskeletons have two problems. First, patient's intentions related to a walk are not synchronized with the assistive leg motions completely. Second, paraplegic patients with the exoskeleton cannot perceive legs' information such as joint angles and floor contact because the patients have lost afferent signal flows. We proposed a finger-mounted walk controller for the first problem before. However, the controller is not based on human nerve system. In addition, we proposed feedback device for conveying hip joints angle by electric stimulation for the second problem before. However, the patients have to cover their all fingers with electrodes for using the device. To control legs on the basis of human nerve system and to miniaturize presentation parts, we propose a presentation interface of hip joint angle for paraplegic patient using a small electrode array.

    DOI: 10.1299/jsmermd.2015._1a1-q04_1

    CiNii Research

  105. 2P1-C02 Mowing Boundary Detection Algorithm Based on Texture Recognition for Automatic Lawn Mower

    FUKUKAWA Tomoya, SEKIYAMA Kosuke, HASEGAWA Yasuhisa, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _2P1-C02_1 - _2P1-C02_3   2015

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    This paper proposes the vision-based mowing boundary detection algorithm for an automatic lawn mower. The proposed algorithm utilizes the idea of a bank of filters, which consists of 36 Gabor filters, to capture the change of the features before and after mowing the lawn. The x^2 statistic is calculated as the feature value from the filter responses. The input image of lawn environment with two fields before and after mowing the lawn is classified into two classes by utilizing the x^2 statistic. The boundary between two classes is determined by RANSAC.

    DOI: 10.1299/jsmermd.2015._2p1-c02_1

    CiNii Research

  106. 2A2-J06 Japanese Syllabary Identification Using Myoeletric Potential of Neck Muscles

    HASEGAWA Yasuhisa, SUZUKI Kentaro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _2A2-J06_1 - _2A2-J06_3   2015

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

    The purpose of this paper is to achieve Japanese syllabary identification for a tissue-related articulation person who has an abnormality in the shape of mouth and the tongue. The device assists his/her communication with other persons without utterance since they cannot utter well. The device that a support vector machine is incorporated in reads the intended Japanese syllabary based on myoeletric potential using an array electrode attached on the anterior surface of neck. As a first step, an experiment is conducted in order to identify Japanese syllabary (46 kinds) and rest state. As a result, the average of identification accuracy is 96.6% and even worst accuracy of the specific sound is more than 80%.

    DOI: 10.1299/jsmermd.2015._2a2-j06_1

    CiNii Research

  107. 1P2-B09 PDAC-based 3D Bipedal Walking by using Swing-Leg Motion

    Kobayashi Taisuke, Aoyama Tadayoshi, Hasegawa Yasuhisa, Sekiyama Kosuke, Fukuda Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P2-B09_1 - _1P2-B09_4   2015

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

    Passive dynamic autonomous control (PDAC) for bipedal walking has excellent efficiency. PDAC, however, can control walking direction only in the previous research, and not be used for 3-D walking currently. We then propose a 3-D walking method of PDAC by using a walking speed controller based on a swing-leg motion. The reference walking speed to reach the goal is achieved by adjusting the touchdown position and speed of the swing leg. As a result, the 3-D walking is achieved with the high energy efficiency, although the footstep is hardly controllable.

    DOI: 10.1299/jsmermd.2015._1p2-b09_1

    CiNii Research

  108. 1P2-B05 High-Speed Running Control for Humanoid Robot : Fundamental Verification of Bipedal Running

    OTA Tomoro, OHARA Kenichi, ICHIKAWA Akihiko, KOBAYASHI Taisuke, HASEGAWA Yasuhisa, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P2-B05_1 - _1P2-B05_2   2015

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

    Recently, a lot of researches for bipedal locomotion have been conducted. The high-speed running, which means that a Froude number is more than 1 so the robot can conduct only it, has not been achieved until now. In this research, we develop a humanoid robot that achieves the high-speed running, named rapid running robot (R3). The development and control of this robot need an accurate model to analyze the robot's locomotion. We then model R^3 after a real robot, which has already achieved the running, in a dynamic simulator V-REP.

    DOI: 10.1299/jsmermd.2015._1p2-b05_1

    CiNii Research

  109. 1P1-P03 Aqueous Observation using SEM-CT inside Environmental-SEM

    NAKAJIMA Masahiro, SHIMAZAKI Kouya, TAKEUCHI Masaru, HISAMOTO Naoki, HASEGAWA Yasuhisa, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P1-P03_1 - _1P1-P03_2   2015

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    This paper presents the aqueous observation of three-dimensional information using scanning electron microscope- computed tomography (SEM-CT) inside an environmental-SEM (E-SEM). It is required to control the sample temperature for an aqueous condition inside the E-SEM. In this paper, a cooling system was installed into the SEM-CT system. The aqueous observation was confirmed by the E-SEM and SEM-CT observations.

    DOI: 10.1299/jsmermd.2015._1p1-p03_1

    CiNii Research

  110. 1P1-O10 Evaluation for C. elegans survival ratio after micro-injection

    AYAMURA Yuki, NAKAJIMA Masahiro, TAKEUCHI Masaru, HISAMOTO Naoki, PASTUHOV Strahil, HASEGAWA Yasuhisa, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P1-O10_1 - _1P1-O10_2   2015

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    We evaluated a survival rate of micro-injection into Caenorhabditis elegans, (C. elegans) after 24 hours with a fluorescent micro-gel bead. The fluorescent micro-gel beads were fabricated by a salting-out method. One of the micro-gel bead was picked up at the micropipette injection tool by suction forces. The microbead was injected into C. elegans by a microinjector using a piezo actuator based on micromanipulation. After microinjection of the fluorescent microbead, the microbead was confirmed in the C. elegans using a fluorescent and a confocal microscopes. From experimental results, the viabilities were achieved in 71 % (12/17) and 62% (8/13) at 10 μm and 20 μm different injection depths.

    DOI: 10.1299/jsmermd.2015._1p1-o10_1

    CiNii Research

  111. 1P1-O03 Microchannel Fabrication using alginate hydrogel fiber molding

    TAKEUCHI Masaru, NAKAJIMA Masahiro, FUKUDA Toshio, HASEGAWA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P1-O03_1 - _1P1-O03_2   2015

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

    We constructed three dimensional (3D) microchannel networks inside gelatin-based hydrogel towards 3D in vitro cell structures. The 3D assembly of cells in vitro is one of the important techniques to reveal cell growth, differentiation and hystogenesis for applications in tissue engineering, drug screening, and cell characterization. To achieve functional 3D cell structures, vascular networks are important to supply oxygen and nutrients to cells, and remove waste product from cells. An alginate hydrogel fibers were employed to construct the microchannel networks like blood vessels. The patterned hydrogel fiber can be melted using standard saline citrate (SSC) buffer and the melted area can be used as vascular networks. The flow inside the melted alginate hydrogel fibers were visualized using fluorescent microbeads. The results validate that the proposed method can be used to make arbitrary patterns of vascular networks inside cell structures and contribute to achieve in vitro 3D cell structures.

    DOI: 10.1299/jsmermd.2015._1p1-o03_1

    CiNii Research

  112. 1P1-N03 On-chip fabrication of microstructures using the biodegradable material

    SAKAKIBARA Ryota, Takeuchi Masaru, ICHIKAWA Akihiko, Ohara Kenichi, Nakajima Masahiro, Nakajima Yasuhisa, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P1-N03_1 - _1P1-N03_2   2015

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    In this paper, we conducted the fabrication of cell embedded structures using biodegradable photocrosslinkable material gelatin methacrylate (GelMA). The mouse fibroblast NIH3T3 cells were mixed in uncured GelMA solution. The cell embedded microcstructures were fabricated by exposing ultra violet (UV) light under a microscope. The cell culture was conducted to check their growth inside the microstructures. The cell viability was checked using live/dead cell staining. The observation of cell structures under a confocal microscope was conducted to check the three dimensional shape of the structure. The experimental results validate that the cells can grow inside the GelMA structures and the fabricated structures can be used to construct in vitro 3D cell structures for tissue engineering applications.

    DOI: 10.1299/jsmermd.2015._1p1-n03_1

    CiNii Research

  113. 1P1-N02 Cell patterning in the biocompatible gel by the local heating

    OYA Tomoyuki, TAKEUCHI Masaru, ICHIKAWA Akihiko, OHARA Kenichi, NAKAJIMA Masahiro, HASEGAWA Yasuhisa, FUKUDA Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1P1-N02_1 - _1P1-N02_3   2015

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

    We propose a new method to construct microchannels inside cell structures. Recently, three-dimensional cell structures have been actively developed such as cell sheets stacking or inkjet bio-printing method. However, those methods have some disadvantages such as stacking rate or non-biodegradable materials. In this paper, local melting of cell embedded hydrogel is employed to make microchannels inside cell structures. The fabricated microchannels can be used as vascular-like networks to supply nutrition and oxygen to cells. Temperature distribution inside the hydrogel was simulated using 1D unsteady heat conduction equation. A microchannel was experimentally fabricated using an electrode on a glass substrate. The results indicate that the proposed method can be used to making vascular-like networks inside cell structures to construct in vitro 3D cell systems.

    DOI: 10.1299/jsmermd.2015._1p1-n02_1

    CiNii Research

  114. 1A1-X06 Fabrication of graphene cube by nanomanipulation

    Fujiwara Takafumi, Nakajima Masahiro, Ichikawa Akihiko, Ohara Kenichi, Hasegawa Yasuhisa, Fukuda Toshio

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2015 ( 0 ) page: _1A1-X06_1 - _1A1-X06_2   2015

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

    This paper presents a fabrication of graphene cubic structure by a nanomanipulation in a FESEM (Field Emission Scanning Electron Microscope). We developed two nanomanipulators with three degrees of freedoms to handle two end-effectors. A cube net was designed and fabricated using a multi graphene by a FIB (Focused Ion Beam) etching. For bending the one side of the cubic net graphene, a tungsten probe was used after reforming by FIB etching to adjust the cube net design. The multi graphene was bent to form a cubic 3D structure in study. Additionally, the bending forces of multi graphene were measured using a silicon cantilever based on the nanomanipulation.

    DOI: 10.1299/jsmermd.2015._1a1-x06_1

    CiNii Research

  115. Tongue Motion Detection based on SVM from Surface Myoelectricity for Alternative Interface System Reviewed

    Junji Takahashi, Satoru Suezawa, Yasuhisa Hasegawa, and Yoshiyuki Sankai

    Transaction on control and mechanical systems   Vol. 3 ( 2 ) page: 114-121   2014.8

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  116. Three dimensional spheroids assembly using thermoresponsive gel probe Reviewed

    Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa

    Biofabrication     2014

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    DOI: 10.1109/IROS.2014.6942650

  117. Cross-sectional Imaging of <i>C</i>. <i>elegans</i> by SEM-CT using Environmental SEM for Nanomanipulation

    Nakajima, M; Takeuchi, M; Hisamoto, N; Fukuda, T; Hasegawa, Y; Huang, Q

    2014 IEEE 14TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO)     page: 41 - 44   2014

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    Web of Science

  118. Motion Transfer Control From Walking to Brachiation Through Vertical Ladder Climbing for a Multi-Locomotion Robot Reviewed

    Lu, Z., Aoyama, T., Sekiyama, K., Hasegawa, Y., Fukuda, T.

    IEEE/ASME Transactions on Mechatronics   Vol. PP ( 99 ) page: 1-13   2013.12

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  119. Exoskeletal Meal Assistance System (EMASII) for Patients with Progressive Muscular Disease Reviewed

    Yasuhisa Hasegawa, Saori Oura, and Junji Takahashi

    Advanced Robotics   Vol. 27 ( 18 ) page: 1385-1398   2013.10

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  120. 外骨格による把持力支援時に母指感覚が及ぼす指先力精度への影響 Reviewed

    長谷川泰久, 有山哲理, 上林清孝, 武藤淳一

    日本ロボット学会誌   Vol. 31 ( 4 ) page: 381-389   2013.5

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  121. The Discriminant Criteria Detecting Operational Intention from Myoelectricity for Alternative Interface System Reviewed

    Junji Takahashi, Noel Segura Meraz, Yasuhisa Hasegawa, and Yoshiyuki Sankai

    Transaction on control and mechanical systems   Vol. 2 ( 1 ) page: 13-19   2013

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  122. Facilitation of learning and rehabilitation in rats by inducing response-like movement Reviewed

    Hiroto Sano, Hidekazu Kaneko, Yasuhisa Hasegawa, Hiroshi Tamura, Shinya S. Suzuki

    Advanced Biomedical Engineering   Vol. 2 ( - ) page: 72-79   2013

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  123. SVMを用いた前頸部生体電位信号に基づく舌運動の検出 Reviewed

    長谷川泰久, 末澤賢, 高橋淳二, 藤澤俊宏

    日本機械学会論文集(C編)   Vol. 78 ( 796 ) page: 3970-3978   2012.12

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  124. アクティブエアマットによる支援機器の親和性の改善 Reviewed

    長谷川泰久, 田山宗徳, 齊藤壮文, 長谷川誉晃, 山海嘉之

    日本ロボット学会誌   Vol. 30 ( 8 ) page: 759-766   2012.10

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  125. PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment Reviewed

    Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, and Toshio Fukuda

    Journal of Robotics and Mechatronics   Vol. 24 ( 1 ) page: 37-46   2012

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  126. Transition Motion from Ladder Climbing to Brachiation with Optimal Load-Allocation Control Reviewed

    Zhiguo Lu, Tadayoshi Aoyama, Kosuke Sekiyama,Yasuhisa Hasegawa and Toshio Fukuda

    Advanced Robotics   Vol. 26 ( 8-9 ) page: 1075-1098   2012

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  127. 不整地走行車両に適合した走行メカニズム Reviewed

    星野春夫,石川敦雄,福田敏男,長谷川泰久

    日本機械学会論文集(C編)   Vol. 69 ( 677 ) page: 126-131   2003

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  128. 大域道路情報及び局所通信による交通車両の動的経路分散手法 Reviewed

    長谷川泰久,竹藤和弘,池本有助,福田敏男

    日本機械学会論文集(C編)   Vol. 69 ( 677 ) page: 97-103   2003

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

  129. 学習型予測制御に関する研究(ガスヒートポンプの制御特性の改善) Reviewed

    長谷川泰久,中野琢朗,福田敏男,Gancho VACHKOV,小森隆史,松本圭司,下島康嗣

    日本機械学会論文集(C編)   Vol. 68 ( 666 ) page: 432-438   2002

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  130. Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators' Forces Fuzzy Compensation Reviewed

    Z. Zyada, Y. Hasegawa, and T. Fukuda

    Journal of Advanced Computational Intelligence   Vol. 6 ( 3 ) page: 100-108   2002

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

  131. Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Actuators' Fuzzy Modeling Reviewed

    Zakarya Zyada, Yasuhisa Hasegawa, Gancho Vachkov, and Toshio Fukuda

    Journal of Robotics and Mechatronics   Vol. 14 ( 4 ) page: 408-419   2002

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

  132. 配管腐食診断システムの研究(超音波探傷法による平面情報を用いた腐食種類,規模の推定) Reviewed

    福田敏男,油井拓紀,酒本晋太郎.阿部靖則,長谷川泰久,小林太,新井史人

    日本機械学会論文集(C編)   Vol. 68 ( 666 ) page: 391-397   2002

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

  133. NNとEPによる六脚歩行ロボットの行動生成 Reviewed

    倉重健太郎,長谷川泰久,福田敏男,星野春夫

    日本ファジィ学会   Vol. 13 ( 2 ) page: 199-207   2001.4

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

  134. 遺伝的アルゴリズム・学習オートマトンを用いた自在搬送システムのハイブリッド搬送制御 Reviewed

    福田敏男,高川功,関山浩介,長谷川泰久,柴田晋,山本洋信

    日本ロボット学会誌   Vol. 19 ( 5 ) page: 593-602   2001

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

  135. GPを用いた階層型知識表現によるロボットの行動生成 Reviewed

    倉重健太郎、長谷川泰久、福田敏男、星野春夫

    日本ファジィ学会誌   Vol. 13 ( 6 ) page: 633-642   2001

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

  136. ブラキエーション型移動ロボットの研究 -第7報,階層型行動制御における行動学習 Reviewed

    長谷川泰久,伊藤芳邦,福田敏男

    日本機械学会論文集(C編)   Vol. 67 ( 662 ) page: 3204-3211   2001

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

  137. 寸法の異なる把持物体に対する適応持ち替え戦略 Reviewed

    長谷川泰久,松野順也,福田敏男

    日本機械学会論文集(C編)   Vol. 67 ( 662 ) page: 3212-3218   2001

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  138. 進化プログラムを用いた多指ロボットハンドの操り動作の生成 Reviewed

    長谷川泰久 間瀬健一郎 福田敏男

    日本機械学会論文集(C編)   Vol. 66 ( 650 ) page: 3373-3379   2000.10

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  139. 階層型進化アルゴリズムを用いた2足歩行ロボットに歩行動作獲得 Reviewed

    長谷川泰久 荒川丈昌 福田敏男

    日本機械学会論文集(C編)   Vol. 66 ( 645 ) page: 1605-1612   2000.5

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  140. Sensory Evaluation System Based on KANSEI Self-Tuning Spline Fuzzy Inference(Acuisition of KANSEI for Persimmon) Reviewed

    Toshio Fukuda, Tomoya Chikazawa, Yasuhisa Hasegawa, Futoshi Kobayashi, Koji Shimojima and Yuji Yamaguchi

    International Journal of Fuzzy Systems   Vol. 2 ( 1 ) page: 2000   2000.3

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

  141. 学習オートマトンを用いた自在搬送システムの分散制御 Reviewed

    福田敏男 長谷部義明 関山浩介 長谷川泰久 柴田晋 山本洋信

    日本機械学会論文集(C編)   Vol. 66 ( 646 ) page: c   2000

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  142. 環境情報に基づく作業スキルの抽出に関する研究 Reviewed

    福田敏男 ウィラユット・スィツラワーニット 植山剛 長谷川泰久

    日本機械学会論文集(C編)   Vol. 66 ( 645 ) page: 1597-1604   2000

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  143. Trajectory generation for the biped locomotion robot Reviewed

    Yasuhisa Hasegawa, Takemasa Arakawa and Toshio Fukuda

    Mechatronics   Vol. 10 ( 1-2 ) page: 67-89   2000

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  144. Robotic System based on Computational Intelligence -Evolutionary Generation of Regrasping Motion- Reviewed

    Toshio Fukuda, and Yasuhisa Hasegawa

    Journal of Advanced Computational Intelligence   Vol. 4 ( 6 ) page: 437-442   2000

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  145. Behavior-Based Control for 13-link Brachiation Robot Reviewed

    Yasuhisa Hasegawa, Yoshikuni Ito and Toshio Fukuda

    Automatisierungstechnik   Vol. 48   page: 305-310   2000

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  146. Behavior generation for Mobile Robot Coordinating Simple Behavior Reviewed

    Yasuhisa HASEGAWA and Toshio FUKUDA

    Journal of Advanced Computational Intelligence   Vol. 3 ( 3 ) page: 186-192   1999

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  147. Self-Scaling Reinforcement Learning for Fuzzy Logic Controller Reviewed

    Yasuhisa HASEGAWA Toshio FUKUDA Koji SHIMOJIMA

    IEEE Transactions on Industrial Electronics   Vol. 46 ( 6 ) page: 1123-1131   1999

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  148. Learning Method for Multi-Controller of Robot Behavior Reviewed

    Toshio FUKUDA and Yasuhisa HASEGAWA

    JSME International Journal   Vol. 41 ( 2 ) page: 260-268   1998

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  149. 複数コントローラの学習方法 Reviewed

    福田敏男 長谷川泰久

    日本機械学会論文集(C編)   Vol. 63 ( 610 ) page: 2043-2051   1997

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  150. Variable Scaling Reinforcement Learning Method for Generating Fuzzy Controller Reviewed

    Transactions of the Japan Society of Mechanical Engineers   Vol. 62 ( 601 ) page: 187   1996

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  151. Structure Organization of Hierarchical Fuzzy Model using Genetic Algorithm Reviewed

    C

    Journal of Japan Society for Fuzzy Theory and Systems   Vol. 7 ( 5 ) page: 988   1995

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  152. Structure Organization of Hierarchical Fuzzy Model using Genetic Algorithm Reviewed

    Toshio FUKUDA Yasuhisa HASEGAWA Koji SHIMOJIMA

    Journal of Robotics and Mechatronics   Vol. 7 ( 1 ) page: 29-35   1995

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  153. Force Control by RBF Fuzzy Neuro With Unsupervised Learning Reviewed

    Transactions of the Japan Society of Mechanical Engineers   Vol. 61 ( 588 ) page: C   1995

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  154. Self-tuning Fuzzy Modeling with Adaptive Membership Function, Rules, and Hierarchical Structure based on Genetic Algorithm Reviewed

    Toshio FUKUDA Koji SHIMOJIMA Yasuhisa HASEGAWA

    Journal of Fuzzy Sets and Systems   Vol. 71   page: 295-309   1995

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  155. 遺伝アルゴリズムを用いた階層型ファジィモデルの自動生成法 Reviewed

    石上秀之 長谷川泰久 福田敏男 柴田崇徳

    日本機械学会論文集(C編)   Vol. 60 ( 573 ) page: -   1994

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Books 9

  1. ロボット工学ハンドブック 第3版

    ( Role: Joint editor)

    コロナ社  2023.3 

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    Language:Japanese

  2. The Encyclopedia of Medical Robotics (Chapter 12: 3D SYSTEM CELL ENGINEERING USING MICRO–NANOROBOTICS)

    Toshio Fukuda, Masaru Nakajima, Masaru Takeuchi, Yasuhisa Hasegawa, Tao Yue, Chengzhi Hu, Mohd Ridzuan Ahmad and Yajing Shen

    2018.10 

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    Responsible for pages:255-273  

    DOI: https://doi.org/10.1142/9789813232280_0012

  3. Micro- and nanotechnology for living machines

    Fukuda T., Nakajima M., Takeuchi M., Hasegawa Y.( Role: Sole author)

    Living Machines: A Handbook of Research in Biomimetic and Biohybrid Systems  2018.1  ( ISBN:9780199674923

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    Language:Japanese

    The chapter Micro- and nanotechnology for living machines describes research on new biohybrid technologies, engineered at the micro- and nano-scales, that combine some of the benefits of mechanical and electronic systems with those of biological systems. The chapter begins by reviewing some of the challenges of building devices at very small physical scales and discusses how new fabrication methodologies could impact on different classes of industrial, daily life, and biomedical products. We next explain how progress is being achieved through advances in micro- and nanomechatronics, particularly in the field of nanorobotic manipulation. Finally, we summarize recent progress towards building biohybrid living machines that combine nanomaterials with biological cells and outline the design of a micro- and nanorobotic manipulation system for cell assembly called the nanolaboratory.

    DOI: 10.1093/oso/9780199674923.003.0052

    Scopus

  4. Locomotion mode transition control of a multi-locomotion robot International journal

    Fukuda T., Sekiyama K., Aoyama T., Hasegawa Y., Huang Q.( Role: Joint author)

    A Treatise on Good Robots  2017.9  ( ISBN:9781412852852

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    Language:Japanese

    DOI: 10.4324/9781351296441

    Scopus

  5. Cybernics: Fusion of human, machine and information systems

    Yoshiyuki Sankai, Kenji Suzuki, Yasuhisa Hasegawa( Role: Joint author)

    Springer Verlag, Japan  2014  ( ISBN:978-4431541585

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    Language:English

  6. Multi-Locomotion Robotic Systems

    ( Role: Joint author)

    2012.2  ( ISBN:978-3-642-30134-6

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    Language:English

  7. Anti-personnel Landmine Detection for Humanitarian Demining

    Yasuhisa Hasegawa( Role: Joint author)

    Springer Verlag  2009 

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    Language:English Book type:Scholarly book

  8. HUMANITARIAN DEMINING -INNOVATIVE SOLUTIONS AND THE CHALLENGES OF TECHNOLOGY

    Yasuhisa Hasegawa( Role: Joint author)

    I-Tech Education and Publishing  2008 

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    Language:English Book type:Scholarly book

  9. Handbook of Fuzzy Computation (Chapter Brachiation robot control)

    Enrique H Ruspini, Piero P Bonissone, Witold Pedrycz, Toshio Fukuda, Yasuhisa Hasegawa(Chapter Brachiation robot control )

    CRC Press  1998 

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MISC 6

  1. 遠隔操作における接触式触覚インタフェースの応用

    朱 曜南, 長谷川 泰久

    ロボット / 日本ロボット工業会 編   ( 272 ) page: 45 - 47   2023.5

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    Language:Japanese   Publisher:日本ロボット工業会  

    CiNii Books

  2. スマートアーム ーユーザインタフェース

    長谷川泰久;Jacinto E. Colan Zaita;魚住大輔;青山忠義;中西淳

    システム制御情報学会誌   Vol. 63 ( 10 ) page: 424 - 430   2019.10

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    Authorship:Lead author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

  3. 転倒予防の試み -バランス訓練ロボット、杖ロボットー

    近藤 和泉;高野 映子;加藤 健治;尾崎 健一;加賀谷 斉;平野 哲;才藤 栄一, 長谷川 泰久, 福田 敏男

    Loco cure = ロコキュア : 運動器領域の医学情報誌   Vol. 4 ( 3 ) page: 246 - 251   2018.8

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

  4. 杖型歩行補助ロボット

    Geriatric Medicine 老年医学   Vol. 55 ( 3 ) page: 269 - 272   2017.3

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  5. 人機能の補完 -高齢者・身障者の運動機能支援-

    長谷川泰久

    情報処理   Vol. 58 ( 1 ) page: 44 - 47   2016.12

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

  6. 3A1-Q01 Finger-mounted walk controller of powered exoskeleton for paraplegic patient's walk(Wearable Robotics)

    HASEGAWA Yasuhisa, NAKAYAMA Keisuke

      Vol. 2014   page: "3A1 - Q01(1)"-"3A1-Q01(4)"   2014.5

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This paper proposes a finger-mounted user interface device and a cooperative control algorithm for complete paraplegic patient to walk with a powered exoskeleton. Current walk support systems actually help the patient walking. However, they have limitations to adjust its walk as a patient intends, such as stride, foot height, and so on. In our research, a pair of finger interface devices is developed for a patient to convey his/her intention to the walk support system. As the first step, a walking robot was developed to simulate the patient body and the walk support system. A 10-meter walking experiment was conducted to evaluate feasibility of the interface device and a control algorithm to start leg-swing. We confirmed that the timing of the leg-swing was adjusted as the user intended through the interface and that the 10-meter walk was finished in four minutes.

    CiNii Books

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Presentations 353

  1. Elbow Angle Guidance System Based on Surface Haptic Sensations Elicited by Lightweight Wearable Fabric Actuator International conference

    Yokoe, Kenta, Aoyama, Tadayoshi, Funabora, Yuki, Takeuchi, Masaru, Hasegawa, Yasuhisa

    2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)  2024.7.18 

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    Event date: 2024.7

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Boston   Country:United States  

  2. 高齢者に対する生活支援ロボット開発 Invited

    長谷川 泰久

    第66回 日本老年医学会学術集会  2024.6.13  一般社団法人 日本老年医学会

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    Event date: 2024.6

    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Venue:愛知県名古屋市   Country:Japan  

  3. 顕微授精における視線誘導に向けたSegmentation Semanticのあいまい性を反映した画像提示

    萩原颯人、青山忠義、林雄一郎、森健策、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2024  2024.5.31 

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    Event date: 2024.5 - 2024.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:宇都宮  

  4. マーカーレストラッキングによる歩行周期検出とそれに同期した麻痺脚への神経刺激生成技術

    岡田佳子、竹内大、徳武克浩、平田仁、青山忠義、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2024  2024.5.31 

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    Event date: 2024.5 - 2024.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:宇都宮  

  5. ロボット手術におけるマルチモーダル自己教師あり表現学習に基づくジェスチャー及びスキル認識

    山田祐太郎, Jacinto Colan, Ana Davila, 長谷川泰久

    ロボティクス・メカトロニクス 講演会 2024  2024.5.31 

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    Event date: 2024.5 - 2024.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:宇都宮  

  6. ロボット身体化による遠隔作業の可能性 Invited

    長谷川 泰久

    FUJI記念講演会 産と学の協創によるイノベーションの未来  2024.5.24  株式会社FUJI

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    Event date: 2024.5

    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Venue:愛知県名古屋市   Country:Japan  

  7. Real-Time 3D Image-Presentation Micro-Manipulation System with Force Feedback International conference

    Kazuya Sakamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

    2024 IEEE/SICE International Symposium on System Integration (SII)  2024.1.11  IEEE/SICE

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    Event date: 2024.1

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Halong   Country:Viet Nam  

  8. Table Tennis Swing Coaching System Using Human Motion Prediction and a Fabric Actuator Suit International conference

    Ryo Matsui, Tadayoshi Aoyama, Kenji Kato, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

    2024 IEEE/SICE International Symposium on System Integration (SII)  2024.1.11  IEEE/SICE

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    Event date: 2024.1

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Halong   Country:Viet Nam  

  9. Gradient-Based Fine-Tuning Strategy for Improved Transfer Learning on Surgical Images International conference

    Ana Davila, Jacinto Colan, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  10. 1st Trial of Hyper Redundant Exoskeletal Manipulator with High Expandability International conference

    Yuki Wakayama, Jayant Unde and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  11. Deformable Object Manipulation Using Human Demonstration Enhanced Deep Deterministic Policy Gradient International conference

    Zihao Dong, Jian Huang, Haoyuan Wang, Bo Yang, Dongrui Wu, Yaonan Zhu and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.21 

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    Event date: 2023.11

    Language:English   Presentation type:Poster presentation  

  12. A Neurostimulator for Controlling Muscle Contraction Force through Wireless Bidirectional Communication International conference

    Masaru Takeuchi, Takashi Niimi, Katsuhiro Tokutake, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.21 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  13. Oocyte Rotation Assistance System Using AI Trained on the Micromanipulations of a Skilled Operator International conference

    Ryoya Mori, Tadayoshi Aoyama, Taisuke Kobayashi, Kazuya Sakamoto, Masaru Takeuchi, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.21 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  14. Immersive micromanipulation interface for suction/discharge sensation to facilitate cell movement and grasping International conference

    Sumiwa Saito, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  15. Shoulder-Wearable Fabric Actuator for Directional Sensations International conference

    Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  16. Human Preferences and Robot Constraints Aware Shared Control for Smooth Follower Motion Execution International conference

    Qibin Chen, Yaonan Zhu, Kay Hansel, Tadayoshi Aoyama, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  17. LLM-Based Human-Robot Collaboration Framework for Manipulation Tasks International conference

    Haokun Liu, Yaonan Zhu, Kenji Kato, Izumi Kondo, Tadayoshi Aoyama, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  18. Enhancing Gradient-Based Inverse Kinematics with Dynamic Step Sizes International conference

    Jacinto Colan, Ana Davila, and Yasuhisa Hasegawa

    MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science  2023.11.20 

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    Event date: 2023.11

    Language:English   Presentation type:Oral presentation (general)  

  19. Real-time monitoring system for C2C12 bio-actuator contraction International conference

    Xuankai Gao, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, Yasuhisa Hasegawa

    The 6th International Conference on Manipulation, Automation and Robotics at Small Scales(MARSS 2023)  2023.10.11  IEEE-RAS and IEEE-NTC

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    Event date: 2023.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:United Arab Emirates  

  20. Reconstruction of gait motion synchronized with voluntary movement using a 4-channel neurostimulator International conference

    Masaru Takeuchi, N. Ito, K. Tokutake, T. Aoyama, S. Kurimoto, H. Hirata, Y. Hasegawa

    The 6th International Conference on Manipulation, Automation and Robotics at Small Scales(MARSS 2023)  2023.10.11  IEEE-RAS and IEEE-NTC

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    Event date: 2023.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:United Arab Emirates  

  21. 屈曲自由度を有する巻取り型トラス構造の提案

    門脇 優悟、長谷川 泰久

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9.11  日本ロボット学会

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    Event date: 2023.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  22. Development of Novel Linear Actuator using Articulated Lead Screw Mechanism

    Jayant Unde(Nagoya University) Tadayoshi Aoyama(Nagoya University) Yasuhisa Hasegawa

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9.11  日本ロボット学会

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    Event date: 2023.9

    Language:English   Presentation type:Oral presentation (general)  

  23. 遠隔操作における広視野角映像提示による奥 行き認識精度の向上

    畑野 勝(名大) 朱 曜南(名大) 青山 忠義(名大) 長谷川 泰久(名大)

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9.11  日本ロボット学会

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    Event date: 2023.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  24. 布状アクチュエータを用いた肩部への方向提示

    横江 健太(名大) 青山 忠義(名大) 舟洞 佑記(名大) 竹内 大(名大) 長谷川 泰久(名大)

    第41回日本ロボット学会学術講演会(RSJ2023)  2023.9.11  日本ロボット学会

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    Event date: 2023.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  25. Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp International conference

    Jayant Unde, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

    The 32nd IEEE International Conference on Robot and Human Interactive Communication,(IEEE RO-MAN 2023)  2023.8.29  IEEE

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    Event date: 2023.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Korea, Republic of  

  26. Manipulability maximization in constrained inverse kinematics of surgical robots International conference

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 IEEE International Conference on Mechatronics and Automation (ICMA)  2023.8.7  IEEE

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    Event date: 2023.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  27. Relative-Posture-Fixed Model Predictive Human-Following Control with Visibility Constraints in Obstacle Environments International coauthorship International conference

    Yikun Zhang, Jian Huang, Jinqi Yu, Yaonan Zhu, Yasuhisa Hasegawa

    2023 International Conference on Advanced Robotics and Mechatronics (ICARM)  2023.7.10  IEEE

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    Event date: 2023.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  28. 医師からの信頼性向上のための確率分布出力に基づいた追加学習

    杉田圭祐、Jacinto E. Colan Zaita、青山忠義、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.29 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  29. 複数カメラによる日常生活における三次元位置計測

    王天放、朱曜南、青山忠義、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.29 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  30. 三次元閉リンク機構による高伸縮多自由度ロボットアームの研究

    若山侑生、竹内大、青山忠義、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.30 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  31. アンサンブル学習により操作軌道推定の信頼性を可視化した細胞操作支援システム

    坂本和哉、青山忠義、小林泰介、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.30 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  32. 未来視を基盤とした人工筋駆動による卓球のスイング指導システムの開発

    松井諒、青山忠義、加藤健治、舟洞佑記、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.29 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  33. 混合ガウスモデルに基づく理想軌道へ誘導可能な微細操作支援システム

    森涼哉、青山忠義、小林泰介、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.29 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  34. 面状力触覚提示によりVR空間内での吸引感覚を想起させる微細操作インタフェース

    齋藤澄和、青山忠義、舟洞佑記、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2023  2023.6.30 

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    Event date: 2023.6 - 2023.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋  

  35. 人間拡張技術を用いたさらなる遠隔作業の可能性 Invited

    長谷川 泰久

    「現場」の遠隔化技術と人間拡張技術の応用可能性  2023.4.21  株式会社JIZAIE

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    Event date: 2023.4

    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Venue:東京都千代田区   Country:Japan  

  36. Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming International conference

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 8th International Conference on Control and Robotics Engineering (ICCRE)  2023.4.21 

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    Event date: 2023.4

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  37. Task Segmentation Based on Transition State Clustering for Surgical Robot Assistance International conference

    Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 8th International Conference on Control and Robotics Engineering (ICCRE)  2023.4.21 

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    Event date: 2023.4

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  38. Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation International conference

    Yaonan Zhu, Shukrullo Nazirjonov, Bingheng Jiang, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa, Boris Belousov, Kay Hansel, Jan Peters

    2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)  2023.3.24 

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    Event date: 2023.3

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  39. Peripheral Nerve Block and Stimulation for Controlling Rat Ankle Joint Angle using Visual Feedback System International conference

    Masaru Takeuchi, Katsuhiro Tokutake, Taichi Miyamoto, Naoki Ito, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

    2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)  2023.3.24 

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    Event date: 2023.3

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  40. 没入空間における体幹誘導のための面状力触覚提示

    横江健太 、青山忠義、舟洞佑記、坂井佑輔、竹内大 、長谷川泰久

    第28回ロボティクスシンポジア  2023.3.15 

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    Event date: 2023.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:和歌山県白浜   Country:Japan  

  41. 複合センシングによる環境認識と画像処理を用いた未知環境におけるエレベータ自動乗降システム

    山口 信太郎、畑野 勝、朱 曜南、青山 忠義、長谷川 泰久

    第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022)  2022.12.16 

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    Event date: 2022.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  42. 熟練者の操作軌道を模倣学習した AI による細胞の回転操作支援システム

    坂本 和哉、青山 忠義、岐阜大学 杷野 一輝、高須 正規、名古屋大学 竹内 大、長谷川 泰久

    第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022)  2022.12.14 

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    Event date: 2022.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  43. Tactile Sensor Based Visual Force Estimation for Force Feedback in Teleoperation International conference

    Yaonan Zhu, Shukrullo Nazirjonov, Bingheng Jiang, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa

    MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science  2022.11.29 

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    Event date: 2022.11

    Language:English   Presentation type:Oral presentation (general)  

  44. Sensorless grip force estimation of a cable-driven robotic surgical tool based on Gaussian Process Regression International conference

    Jacinto Colan and Yasuhisa Hasegawa

    MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science  2022.11.29 

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    Event date: 2022.11

    Language:English   Presentation type:Oral presentation (general)  

  45. Wirelessly Powered Neurostimulator with Arbitrary AC Waveforms for High-Frequency Alternating Current Block to a Peripheral Nerve International conference

    Naoki Ito, Masaru Takeuchi, Katsuhiro Tokutake, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, and Yasuhisa Hasegawa

    MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science  2022.11.29 

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    Event date: 2022.11

    Language:English   Presentation type:Oral presentation (general)  

  46. Control Method of Fabric Actuator Suit for Gaze Guidance in Immersive Spaces International conference

    Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Koki Nakagawa, Yusuke Sakai, Masaru Takeuchi and Yasuhisa Hasegawa

    MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science  2022.11.29 

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    Event date: 2022.11

    Language:English   Presentation type:Oral presentation (general)  

  47. A Hybrid Tendon Structure Using Cell Density Gradient in Cultured Muscle International conference

    Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, and Yasuhisa Hasegawa

    MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science  2022.11.29 

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    Event date: 2022.11

    Language:English   Presentation type:Oral presentation (general)  

  48. Intension Reading based Task Outcome Prediction for Operability Improvement of Time-Delayed Teleoperation System International conference

    Keisuke Fusano, Yaonan Zhu, Jacinto Enrique Colan Zaita, Tadayoshi Aoyama and Yasuhisa Hasegawa

    MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science  2022.11.29 

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    Event date: 2022.11

    Language:English   Presentation type:Oral presentation (general)  

  49. Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack International coauthorship International conference

    Yu Cao, Jian Huang, Xiaolong Li, Mengshi Zhang, Caihua Xiong, Samer Mohammed, Yaonan Zhu, Yasuhisa Hasegawa

    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  2022.10.24 

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    Event date: 2022.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  50. Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation International conference

    Yaonan Zhu, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa

    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  2022.10.24 

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    Event date: 2022.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1109/IROS47612.2022.9982247

  51. Mixed-Reality-Based Immersive Micromanipulation System for Teleoperation and Collaborative Operation International conference

    Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

    2022 SICE Annual Conference (SICE2022)   2022.9.9 

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    Event date: 2022.9

    Language:English   Presentation type:Oral presentation (general)  

  52. Two-Finger Tendon Driven Gripper for Safe pHRI

    Jayant Unde and Yasuhisa Hasegawa

    2022.9.5 

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    Event date: 2022.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  53. 細胞の変形度を想起させる面状力触覚提示が可能な微細操作インタフェース

    齋藤 澄和、青山 忠義、舟洞 佑記、竹内 大、長谷川 泰久

    第40回日本ロボット学会学術講演会(RSJ2022)  日本ロボット学会

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    Event date: 2022.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  54. 無線双方向通信による筋収縮力制御を目的とした電気刺激装置

    新美 喬士、竹内 大、徳武 克浩、青山 忠義、栗本 秀、平田 仁、長谷川 泰久

    第40回日本ロボット学会学術講演会(RSJ2022)  2022.9.8  日本ロボット学会

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    Event date: 2022.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  55. 培養筋肉における細胞密度勾配による腱組織再現手法の研究

    野村 匠永、竹内 大、Eunhye Kim、福田 敏男、長谷川 泰久

    第40回日本ロボット学会学術講演会(RSJ2022)  2022.9.8  日本ロボット学会

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    Event date: 2022.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  56. オンライン会議アプリケーションZoom を用いたロボット遠隔操作システム

    畑野勝、朱曜南、青山忠義、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2022  2022.6.2 

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    Event date: 2022.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌  

  57. 環境認識に基づく協調制御を用いた時間遅れのある遠隔操作システムの操作性向上

    房野敬介、朱曜南、Jacinto Colan 、青山忠義、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2022  2022.6.3 

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    Event date: 2022.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌  

  58. 伸縮・屈曲可能な中空多自由度ロボットアームの機構と制御

    位田拓未、若山侑生、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2022  2022.6.3 

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    Event date: 2022.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌  

  59. 高速画像計測による動的な力覚動作教示を通したヒトの運動学習に関する調査

    松井諒、青山忠義、加藤健治、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2022  2022.6.3 

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    Event date: 2022.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌  

  60. 視野拡張顕微鏡とグリップ機能付き力覚提示デバイスを用いたマイクロマニピュレーションシステム

    坂本和哉、青山忠義、竹内大、長谷川泰久

    ロボティクス・メカトロニクス 講演会 2022  2022.6.3 

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    Event date: 2022.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌  

  61. Fabrication of PEDOT: PSS based Soft Sensor for Feedback Control of Modular Bio-actuator International conference

    Eunhye Kim, Masaru Takeuchi, Takuto Nomura, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

    2022 IEEE International Conference on Robotics and Automation (ICRA)  2022.5.25  IEEE

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    Event date: 2022.5

    Language:English   Presentation type:Oral presentation (general)  

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

  62. 布状アクチュエータスーツにより生成される身体感覚を用いた没入型環境下における視線誘導

    横江 健太、青山 忠義、舟洞 佑記、中川 滉貴、坂井 佑輔、竹内 大、 長谷川 泰久

    第22回計測自動制御学会システムインテグレーション部門講演会 (SI2021)  2021.12.17 

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    Event date: 2021.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  63. 培養筋圧縮によるバイオアクチュエータの単位断面積あたりの収縮力向上

    野村 匠永、竹内 大、Kim Eunhye、福田 敏男、長谷川 泰久

    第22回計測自動制御学会システムインテグレーション部門講演会 (SI2021)  2021.12.16 

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    Event date: 2021.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  64. LSTM を用いた視野拡張顕微鏡システムにおける呈示画像の自動拡大率調整

    原 巧也、青山 忠義、竹内 大、長谷川 泰久

    第22回計測自動制御学会システムインテグレーション部門講演会 (SI2021)  2021.12.16 

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    Event date: 2021.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  65. Development of Cultured Muscles with High Cell Density by Centrifugal Force in Three-dimensional Cell Culture International conference

    Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, Yasuhisa Hasegawa

    MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science  2021.12.8 

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    Event date: 2021.12

    Language:English   Presentation type:Oral presentation (general)  

  66. Bidirectional Tether Less Soft Actuator with Expeditious Position Control International conference

    Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

    MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science  2021.12.7 

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    Event date: 2021.12

    Language:English   Presentation type:Oral presentation (general)  

  67. Accuracy Evaluation of Microinjection Using Real-time 3D Image Presentation System International conference

    Toshiki Fujishiro, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

    MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science  2021.12.8 

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    Event date: 2021.12

    Language:English   Presentation type:Oral presentation (general)  

  68. Electrical Stimulation of Nerves Synchronized with Voluntary Movements towards Gait Reconstruction International conference

    Naoyuki Ito, Masaru Takeuchi, Katsuhiro Tokutake, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

    MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science  2021.12.8 

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    Event date: 2021.12

    Language:English   Presentation type:Oral presentation (general)  

  69. Towards Self-Autonomy Evaluation Using Behavior Trees International conference

    Khusniddin Fozilov, Kosuke Sekiyama, Yasuhisa Hasegawa

    2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)   2021.10.18  IEEE

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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

  70. Towards Decentralized Multi-Robot Cooperation based on Integrated Task and Motion Planning in Low Entropy Environments

    Khusniddin Fozilov, Yasuhisa Hasegawa, Kosuke Sekiyama

    2021.9.10 

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    Event date: 2021.9

    Language:English   Presentation type:Oral presentation (general)  

  71. 健足の随意運動に同期した患足の神経への電気刺激による歩行再建

    伊藤 直行, 竹内 大, 徳武 克浩, 青山 忠義, 佐伯 聡太, 栗本 秀, 平田 仁, 長谷川 泰久

    第39回日本ロボット学会学術講演会(RSJ2021)  2021.9.11  日本ロボット学会

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    Event date: 2021.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  72. フォロワー手先速度に着目した自己主体感を保つ操作介入手法の考察

    森田 智也, 長谷川 泰久

    第39回日本ロボット学会学術講演会(RSJ2021)  2021.9.10  日本ロボット学会

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    Event date: 2021.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  73. 力覚フィードバックを伴う実時間3次元画像呈示微細操作システム

    藤城 俊希, 青山 忠義, 杷野 一輝, 高須 正規, 竹内 大, 長谷川 泰久

    第39回日本ロボット学会学術講演会(RSJ2021)  2021.9.10  日本ロボット学会

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    Event date: 2021.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  74. 立体培養における遠心力による高細胞密度培養筋の作製

    野村 匠永, 竹内 大, Eunhye Kim, 福田 敏男, 長谷川 泰久

    第39回日本ロボット学会学術講演会(RSJ2021)  2021.9.9  日本ロボット学会

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    Event date: 2021.9

    Language:Japanese   Presentation type:Oral presentation (general)  

  75. Time Delay Improvement for High-Speed Non-Prehensile Manipulation Based on High-Speed Visual Sensing International conference

    Tadayoshi Aoyama, Yuto Asai, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  76. First Report of Effect of Shared Control on Sense of Agency During Robotic Teleoperation International conference

    Tomoya Morita, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  77. Teleoperation System That Transcends Inherent Athletic Ability of Human Using Vision-Based Prediction International conference

    Tadayoshi Aoyama, Yuto Asai, Kenji Kato, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  78. Visual Sensing System to Investigate Self-Propelled Motion of Aqueous Droplets Using View-Expansive Microscope International conference

    Tadayoshi Aoyama, Shoki Yamada, Nobuhiko Suematsu, Masaru Takeuchi, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  79. Development of Multiple Connectable Bio-Actuator by Tendon Structures International conference

    Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  80. A Multipolar Cuff Electrode for Alleviating Muscle Fatigue by Selective Stimulation of a Peripheral Nerve International conference

    Masaru Takeuchi, Kanta Ishihara, Katsuhiro Tokutake, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  81. A 4-Channel Neurostimulator for Knee and Ankle Joints Control Using a Visual Feedback and Feedforward Control System International conference

    Masaru Takeuchi, Keita Watanabe, Katsuhiro Tokutake, Sota Saeki, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  82. High-Speed and High-Accuracy Immersive Micro Manipulation System Using 3D Imaging Microscope and Glove-Type Operation Interfaces International conference

    Kenta Yokoe, Tadayoshi Aoyama, Toshiki Fujishiro, Masaru Takeuchi, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  83. A Teleoperated Robotic System with a Movable RCM Constraint for Nasopharyngeal Specimen Collection International conference

    Yuma Hironaka, Masaru Takeuchi, Tadayoshi Aoyama, Yasuhisa Hasegawa

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  84. Improving the Operability of a Virtual In-Vehicle User Interface through the Embodiment of a Hand Model International conference

    Kento Yamamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa, Hiroaki Iwashita(Tokai Rika CO.LTD,), Tomomi Shimizu(Tokai Rika CO.LTD,)

    The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021)  2021.7.9  IEEE

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    Event date: 2021.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  85. 実時間3次元画像呈示顕微鏡とグローブ型操作インタフェースを用いた没入型マイクロマニピュレーションシステム

    横江 健太, 青山 忠義, 藤城 俊希, 竹内 大, 長谷川 泰久

    ロボティクス・メカトロニクス 講演会 2021  2021.6.7 

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    Event date: 2021.6

    Language:Japanese   Presentation type:Oral presentation (general)  

  86. Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle International conference

    Eunhye Kim, Masaru Takeuchi, Ryosuke Ohira, Takuto Nomura, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

    2021 IEEE International Conference on Robotics and Automation (ICRA)  2021.6  IEEE

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    Event date: 2021.5 - 2021.6

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Xi'an   Country:China  

    DOI: 10.1109/ICRA48506.2021.9560817

  87. View-Expansive Microscope System with Real-Time High-Resolution Imaging for Simplified Microinjection Experiments International conference

    Tadayoshi Aoyama, Sarau Takeno, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

    2021 IEEE International Conference on Robotics and Automation (ICRA)  2021.6  IEEE

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    Event date: 2021.5 - 2021.6

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Xi'an   Country:China  

    DOI: 10.1109/ICRA48506.2021.9562106

  88. Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment International conference

    Toshiki Fujishiro, Tadayoshi Aoyama, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

    2021 IEEE International Conference on Robotics and Automation (ICRA)  2021.6  IEEE

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    Event date: 2021.5 - 2021.6

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Xi'an   Country:China  

  89. スキャフォールドゲル削減による高細胞密度の培養筋の作製

    名古屋大学 野村 匠永、竹内 大、名城大学 Kim Eunhye、名古屋大学 長谷川 泰久、名城大学 福田 敏男

    第21回計測自動制御学会システムインテグレーション部門講演会 (SI2020)  2020.12.16 

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    Event date: 2020.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  90. 微細操作における2次元の広域画像と3次元の局所画像を同時呈示する微細操作システム

    名古屋大学 中岡 優樹、青山 忠義、藤城 俊希、竹内 大、長谷川 泰久

    第21回計測自動制御学会システムインテグレーション部門講演会 (SI2020)  2020.12.16 

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    Event date: 2020.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  91. 自己駆動液滴の自律運動解析に向けた広範囲・高解像度画像解析システム

    名古屋大学 山田 翔輝、青山 忠義、明治大学 末松 信彦、名古屋大学 竹内 大、長谷川 泰久

    第21回計測自動制御学会システムインテグレーション部門講演会 (SI2020)  2020.12.16 

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    Event date: 2020.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  92. 支持基底面を拡張する立ち膝姿勢および移行動作支援機器の試作・効果検証

    名古屋大学 杉浦 宗次朗、長谷川 泰久、板寺 駿輝、青山 忠義

    第21回計測自動制御学会システムインテグレーション部門講演会 (SI2020)  2020.12.16 

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    Event date: 2020.12

    Language:Japanese   Presentation type:Oral presentation (general)  

  93. Construction of Multiple Hepatic Lobule Like 3D Vascular Networks by Manipulating Magnetic Tweezers Toward Tissue Engineering International coauthorship International conference

    Eunhye Kim, Masaru Takeuchi, Taro Kozuka, Takuto Nomura, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

    International Conference on Intelligent Robots and Systems(IROS2020)  2020.10.24 

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    Event date: 2020.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  94. 遠隔マニピュレーションにおける自律衝突回避時の触覚オノマトペ提示

    SHUNKI ITADERA, MAIKA ANDO, TADAYOSHI AOYAMA, JUN NAKANISHI, YASUHISA HASEGAWA

    第38回日本ロボット学会学術講演会  2020.10.9 

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    Event date: 2020.10

    Language:Japanese   Presentation type:Oral presentation (general)  

  95. ワイヤレス給電FESデバイスによる足関節の底 背屈運動制御

    渡邊 敬太(名古屋大学) 竹内 大(名古屋大学) 石原 寛大(名古屋大学) 宮本 太一(名古屋大学) 青山 忠義(名古屋大学) 長谷川 泰久(名古屋大学) 徳武 克浩(名古屋大学) 佐伯 聡太(名古屋大学) 栗本 秀(名古屋大学) 平田 仁(名古屋大学)

    第38回日本ロボット学会学術講演会  2020.10.9 

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    Event date: 2020.10

    Language:Japanese   Presentation type:Oral presentation (general)  

  96. 実時間3次元画像呈示により奥行き方向の視 認性を向上させるマイクロマニピュレーションシ ステム

    藤城 俊希(名古屋大) 青山 忠義(名古屋大/JSTさきがけ) 杷野 一輝(岐阜大) 高須 正規(岐阜大) 竹内 大(名古屋大) 長谷川 泰久(名古屋大)

    第38回日本ロボット学会学術講演会  2020.10.9 

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    Event date: 2020.10

    Language:Japanese   Presentation type:Oral presentation (general)  

  97. Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation International conference

    Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

    ICRA 2020- International Conference on Robotics and Automation  2020.5.31 

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    Event date: 2020.5 - 2020.6

    Language:English   Presentation type:Oral presentation (general)  

  98. 細胞操作における奥行き方向の視認性向上に向けた操作対象の実時間3次元画像呈示インターフェース

    藤城 俊希, 青山 忠義, 竹野 更宇, 竹内 大, 長谷川 泰久

    ロボティクス・メカトロニクス講演会2020  2020.5.27 

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    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

  99. 鉗子軸把持を基本とした示指による直感的鉗子先端姿勢操作インターフェースの提案

    魚住大輔, 長谷川泰久, 青山忠義, 中西淳

    ロボティクス・メカトロニクス講演会2020  2020.5.27 

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    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

  100. 自由な視点選択を伴う広範囲・高解像度撮影が可能な倒立顕微鏡を用いた微細操作システム

    青山 忠義, 竹野 更宇, 竹内 大, 長谷川 泰久, 杷野 一輝, 高須 正規

    ロボティクス・メカトロニクス講演会2020  2020.5.27 

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    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

  101. 遠隔操作における一般物体認識及びビジュアルフィードバック制御による把持アプローチ支援

    藤中 翼, 板寺 駿輝, 青山 忠義, 中西 淳, 長谷川 泰久

    ロボティクス・メカトロニクス講演会2020  2020.5.27 

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    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

  102. Three-dimensional View-expansive Microscope Based on Focal Point Adjustment and Viewpoint Movement

    Shoki Yamada, Tadayoshi Aoyama, Sarau Takeno, Masaru Takeuchi, Yasuhisa Hasegawa

    MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2019.12

    Language:English   Presentation type:Oral presentation (general)  

    Scopus

  103. Usability Study on Hands-on User Interface for Neurosurgical Articulated Forceps: Joystick and Serial Link based Design

    Daisuke Uozumi, Jacinto E. Colan Zaita, Jun Nakanishi,Tadayoshi Aoyama and Yasuhisa Hasegawa

    MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2019.12

    Language:English   Presentation type:Oral presentation (general)  

    Scopus

  104. View-expansive Microscope with Focus Adjustment using Galvanometer Mirror and Electrically Tunable Lens

    Sarau Takeno, Tadayoshi Aoyama, Masaru Takeuchi and Yasuhisa Hasegawa

    MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2019.12

    Language:English   Presentation type:Oral presentation (general)  

    Scopus

  105. Flower Stick Rotation Manipulation Scheme not Requiring High-speed Robotic Motion

    Yuto Asai, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

    MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2019.12

    Language:English   Presentation type:Oral presentation (general)  

    Scopus

  106. 常時ライトタッチ可能とする自律同伴型杖ロボットの旋回動作時における同伴性能向上

    山本佳和, 板寺駿輝, 青山忠義, 長谷川泰久, 相本啓太, 加藤健治, 近藤和泉

    日本機械学会 年次大会 2019 

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    Event date: 2019.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmemecj.2019.S15103P

  107. 身体拡張拇指の操作によって得られるロボット身体化

    長谷川泰久, 朱曜南, 青山忠義, 式田寛, 伊藤喬恕

    日本機械学会 年次大会 2019 

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    Event date: 2019.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmemecj.2019.S15101

  108. Microscopic tracking system for simultaneous expansive observations of multiple micro-targets based on view-expansive microscope

    Aoyama T.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 

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    Event date: 2019.7

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/AIM.2019.8868726

    Scopus

  109. View Expansion Microscope based on Viewpoint Movement using a Galvano Mirror and Focus Adjustment using an Electrically Tunable Lens

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmermd.2019.2A1-M01

  110. 鉗子直接操作機構と鉗子先端屈曲の同時操作を可能とする手の動きを活用した操作インターフェースの開発

    魚住大輔, 大原圭祐, 青山忠義, 中西淳, 長谷川泰久

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmermd.2019.2P2-R02

  111. テレオペレーションにおける拘東状態の身体性変化

    朱曜南, 青山忠義, 長谷川泰久

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmermd.2019.1A1-R05

  112. 脚に付与された体積による走行への影響

    久保田直樹, 長谷川泰久,

    第24回ロボティクスシンポジア 

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    Event date: 2019.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  113. 高速視線移動により複数の運動性微生物の追跡とそれらの周囲環境の撮影を同時実現する顕微鏡システム

    青山忠義, 竹野更宇, 竹内大, 長谷川泰久, 石井抱

    第24回ロボティクスシンポジア 

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    Event date: 2019.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  114. HMD表示可能な視野拡張型顕微鏡システムの観察可能範囲の評価

    竹野更宇, 青山忠義, 竹内大, 長谷川泰久, 石井抱

    第24回ロボティクスシンポジア 

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    Event date: 2019.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  115. Impedance Control Based Assistive Mobility Aid through Online Classification of User's State International conference

    216 Shunki Itadera, Taisuke Kobayashi, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa,

    2019 IEEE/SICE International Symposium on System Integration (SII 2019) 

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    Event date: 2019.1

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Paris, France   Country:France  

  116. Cooperative movement in grasping and development of grasping-Training robot

    Shotaro Okajima, Fady S Alnajjar, Yasuhisa Hasegawa, Shingo Shimoda

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2018.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2018.8887007

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  117. Experimental evaluation of haptic visualization interface for robot teleoperation using onomatopoeia in a haptic recognition task

    Maika Ando, Jotaro Chiba, Shunki Itadera, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa,

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2018.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2018.8886983

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  118. Development of a Precision-grip based Interface for 4-DoF Articulated Forceps

    Keisuke Ohara, Jacinto E. Colan Zaita, Daisuke Uozumi, Tadayoshi Aoyama, Jun Nakanishi, Yasuhisa Hasegawa,

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2018.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2018.8886921

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  119. Microscopic image presentation apparatus for micro manipulation based on the view expansion microscope system

    Sarau Takeno, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa, Idaku Ishii,

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2018.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2018.8887011

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  120. Peripheral nerve stimulation device enabling adjustment of stimulation voltage

    Takahiro Miyamoto, Masaru Takeuchi, Tadayoshi Aoyama, Yasuhisa Hasegawa, Tomonori Nakano, Shigeru Kurimoto, Hitoshi Hirata,

    MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science 

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    Event date: 2018.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2018.8887041

    Scopus

  121. Evaluating Shifted Body Representation and Modified Body Schema Using Extra Robotic Thumb International conference

    Zhu Y.

    2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

    DOI: 10.1109/CBS.2018.8612171

    Scopus

  122. 刺激電圧を調整可能とする末梢神経刺激デバイス

    宮本恭寛, 竹内大, 青山忠義, 長谷川泰久, 中野智則, 栗本秀, 平田仁

    第36回日本ロボット学会学術講演会(RSJ 2018) 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  123. 母指対立運動のモデル化と自然な把持動作支援機器の開発

    岡島正太郎, 長谷川泰久, 下田真吾

    第36回日本ロボット学会学術講演会(RSJ 2018) 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  124. 人工拇指使用後の身体表現転移及び身体図式変化の評価

    朱曜南, 式田寛, 青山忠義, 長谷川泰久

    第36回日本ロボット学会学術講演会(RSJ 2018) 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  125. マイクロ対象の直感的操作に向けた視野拡張型顕微鏡のHMD表示システム

    竹野更宇, 青山忠義, 竹内大, 長谷川泰久, 石井抱

    第36回日本ロボット学会学術講演会(RSJ 2018) 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  126. 多自由度能動鉗子操作用ピンチ操作型インターフェースの試作

    大原圭祐, Jacinto E. Colan, 魚住大輔, 青山忠義, 中西淳, 長谷川泰久

    第36回日本ロボット学会学術講演会(RSJ 2018) 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  127. Electric Stimulation based Weight Discrimination for Paraplegic Wearing Exoskeleton International conference

    Mengze Li, Xufeng Wang, Tadayoshi Aoyama, Yasuhisa Hasegawa,

    2018 International Conference on Intelligence and Safety for Robotics, ISR 2018 

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    Event date: 2018.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

    DOI: 10.1109/IISR.2018.8535936

    Scopus

  128. Mirror-based microscopic tracking system for expansive micro-observation International conference

    Tadayoshi Aoyama, Sarau Takeno, Masaru Takeuchi, Jun Nakanishi, Yasuhisa Hasegawa,

    International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS2018) 

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    Event date: 2018.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  129. Cell culture on biodegradable microstructures using on-chip fabrication of photocrosslinkable hydrogel International conference

    Masaru Takeuchi, T Kozuka, E Kim, Akihiko Ichikawa, Toshio Fukuda, Yasuhisa Hasegawa,

    International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS2018) 

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    Event date: 2018.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  130. Simultaneous Observation of Microorganism and its Surroundings Using View Expanded Tracking Microscope

    TAKENO Sarau, AOYAMA Tadayoshi, TAKEUCHI Masaru, NAKANISHI Jun, HASEGAWA Yasuhisa

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  131. Development of Training Device for Hand Grasping Including Wrist Joint and Thumb's Movements

    Okajima Shotaro, Shimoda Shingo, Hasegawa Yasuhisa

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  132. Design and Evaluation of a Gravity Compensation Mechanism for a Hands-on User Interface for Articulated Forceps

    UOZUMI Daisuke, NAKANISHI Jun, AOYAMA Tadayoshi, HASEGAWA Yasuhisa

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  133. Operational Learning of a Robotic Thumb Using Posterior Auricular Muscle for Internal Model Acquisition of Robotic Limb

    SHIKIDA Hiroshi, AOYAMA Tadayoshi, HASEGAWA Yasuhisa

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  134. Providing a Sense of Haptic Presence in Robot Teleoperation Using Onomatopoeia

    CHIBA Jotaro, ITADERA Shunki, NAKANISHI Jun, AOYAMA Tadayoshi, HASEGAWA Yasuhisa

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  135. Light Touch Contact based Postural Sway Reduction using a Cane-type Assistive Robot:Evaluation of Light Touch Contact Effect during Treadmill Walk

    ITADERA Shunki, KONDO Izumi, KITAGAWA Youzou, Aoyama Tadayoshi, NAKANISHI Jun, HASEGAWA Yasuhisa, FUKUDA Toshio, AIMOTO Keita, KATO Kenji, TANIMOTO Masanori

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmermd.2018.2a2-d04

  136. Development of Wearable Robotic System for Finger Movement Assistance International conference

    Kun Liu, Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosaku Saotome, Yoshiyuki Sankai

    World Automation Congress Proceedings (WAC2018) 

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    Event date: 2018.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

    DOI: 10.23919/WAC.2018.8430300

    Scopus

  137. High-Speed Well-Focused Image-Capturing System for Moving Micro-Objects Based on Histograms of the Luminance International conference

    Tadayoshi Aoyama, Motoaki Hanabishi, Takeshi Takaki, Idaku Ishii, Yasuhisa Hasegawa,

    Proceedings - IEEE International Conference on Robotics and Automation(ICRA2018) 

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    Event date: 2018.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Australia  

    DOI: 10.1109/ICRA.2018.8461238

    Scopus

  138. Grasp-training robot to activate neural control loop for reflex and experimental verification International conference

    Shotaro Okajima, Fady Alnajjar, Hiroshi Yamasaki, Matti Itkonen, Alvaro Costa, Yasuhisa Hasegawa, Shingo Shimoda,

    Proceedings - IEEE International Conference on Robotics and Automation(ICRA2018) 

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    Event date: 2018.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Australia  

    DOI: 10.1109/ICRA.2018.8461114

    Scopus

  139. Wireless power supply device that realizes muscle contraction by peripheral nerve stimulation

    MIYAMOTO Takahiro, TAKEUCHI Masaru, AOYAMA Tadayoshi, HASEGAWA Yasuhisa, NAKANO Tomonori, KURIMOTO Shigeru, HIRATA Hitoshi

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    Event date: 2018.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmetokai.2018.67.619

  140. 生活支援ロボットによる移動動作補助を目的とした状態遷移推定

    板寺駿輝, 小林泰介, 中西淳, 青山忠義, 長谷川泰久

    第18回 計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  141. Electrical stimulation feedback for gait control of walking simulator

    Li M.

    IEEE-RAS International Conference on Humanoid Robots 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/HUMANOIDS.2017.8246963

    Scopus

  142. On-chip fabrication of movable toroidal cell structures using photo-crosslinkable biodegradable hydrogel

    Takeuchi M.

    IEEE International Conference on Intelligent Robots and Systems 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/IROS.2017.8206134

    Scopus

  143. Adaptive walking load control for training physical strength using cane-type robot

    Itadera S.

    IEEE International Conference on Intelligent Robots and Systems 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/IROS.2017.8202202

    Scopus

  144. In Vivo Test of Inductively Powered Neurostimulator International conference

    Takahiro Miyamoto, Masaru Takeuchi, Tomonori Nakano, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  145. Magnetic self-assembly of Toroidal Microstructures by Shaking International conference

    Masaru Takeuchi, Mamoru Hattori, Akihiko Ichikawa, Toshio Fukuda, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  146. In Vitro Mimic of Hepatic Lobule Tissue using Ca-alginate Cell-containing Hydrogel Modules International conference

    Zeyang Liu, Minmin Lu, Masaru Takeuchi, Tao Yue, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  147. Somatosensory Feedback from Fingers Accelerates Body Representation Update International conference

    Takayuki Ito, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  148. Auricularis Muscles based Control Interface for Robotic Extra Thumb International conference

    Noel Segura Meraz, Yasuhisa Hasegawa, Hiroshi Shikida

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  149. Real-time Microscopic Video Shooting using View Expanded Microscope System International conference

    Tadayoshi Aoyama, Mamoru Kaneishi, Takeshi Takaki, Idaku Ishii, Sarau Takeno, Masaru Takeuchi, Jun Nakanishi, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  150. Electrical Stimulation for Compensation of Impaired Lower Limb Sensation International conference

    Mengze Li, Tadayoshi Aoyama, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  151. Development of a Novel Wearble MRI-Compatible Finger Assistive Robot International conference

    Kun Liu, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  152. Somatosensory Feedback Improves Operability of Extra Robotic Thumb Controlled by Vestigial Muscles International conference

    Hiroshi Shikida, Noel Segura Meraz, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  153. A Concept of a User Interface Capable of Intuitive Operation of 4-DoF Articulated Forceps International conference

    Jacinto Enrique Colan Zaita, Jun Nakanishi, Keisuke Ohara, Tadayoshi Aoyama, Yasuhisa Hasegawa,

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  154. Electrical Stimulation Feedback for Gait Control of Walking Simulator International conference

    Li Mengze, Yuan Zhaofan, Aoyama Tadayoshi, Hasegawa Yasuhisa

    2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS) 

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    Event date: 2017.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:United Kingdom  

  155. Bio-Fabrication of Ca-Alginate Cell Sheets with the Electrodeposition Method for Hepatic Lobule Tissue Reconstracts International conference

    Zeyang Liu, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang,

    The 21st International Conference on Miniaturized Systems for Chemistry and Life Sciences (MicroTAS 2017) 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Georgia, USA   Country:United States  

  156. Electrode selection metric for signal demixing in overdetermined sEMG detection International conference

    Noel Segura Meraz, Yasuhisa Hasegawa,

    The International Conference on Control, Automation, and Systems (ICCAS 2017) 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Korea, Republic of  

    DOI: Jeju, Korea

  157. Acquisition of New Body Representation about Extra Robotic Thumb by Use of Vestigial Muscles International conference

    Shikida Hiroshi, Noel Segra-Meraz, Hasegawa Yasuhisa

    2017 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS2017) 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  158. Adaptive Walking Load Control for Training Physical Strength Using Cane-type Robot International conference

    Itadera Shunki, Hasegawa Yasuhisa, Fukuda Toshio, Tanimoto Masanori, Kondo Izumi

    2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 

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    Event date: 2017.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  159. On-chip Fabrication of Movable Toroidal Cell Structures using Photo-crosslinkable Biodegradable Hydrogel International conference

    Takeuchi Masaru, Nakamura Yuki, Ichikawa Akihiko, Hasegawa Akiyuki, Hasegawa Yasuhisa, Fukuda Toshio

    2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 

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    Event date: 2017.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  160. IMUセンサによる歩行状態推定に基づく歩行者同伴制御

    板寺駿輝, 北川陽三,長谷川泰久,福田敏男,谷本正智,近藤和泉

    第33回ライフサポート学会大会(LIFE 2017) 

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    Event date: 2017.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  161. Design of an Wearable MRI-Compatible Hand Exoskeleton Robot International conference

    Kun Liu, Yasuhisa Hasegawa, Kousaku Saotome, Yosiyuki Sainkai,

    The 10th International Conference on Intelligent Robotics and Applications (ICIRA2017) 

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    Event date: 2017.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Wuhan, China   Country:China  

  162. Fabrication of Multilayered Hepatic Lobule Tissues Using Ca-Alginate Hydrogel Platforms International conference

    Liu Zeyang, Lu Minmin, Nakajima Masahiro, Takeuchi Masaru, Hasegawa Yasuhisa, Fukuda Toshio, Huang Qiang

    2017 IEEE 17TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO) 

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    Event date: 2017.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  163. Higher Precision Rotational Manipulation of C. elegans by Microchannel International conference

    Nakajima Masahiro, Igarashi Yu, Takeuchi Masaru, Hisamoto Nagoki, Hasegawa Yasuhisa, Fukuda Toshio

    2017 IEEE 17TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO) 

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    Event date: 2017.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  164. Reversible Actuation of Folded Multilayered Graphene by Electrostatic Forces for Nano-gripper Application International conference

    Fujiwara Takafumi, Nakajima Masahiro, Ichikawa Akihiko, Hasegawa Yasuhisa, Fukuda Toshio

    2017 IEEE 17TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO) 

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    Event date: 2017.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  165. High-precision microinjection of microbeads into C. elegans trapped in a suction microchannel

    Nakajima M.

    Proceedings - IEEE International Conference on Robotics and Automation 

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    Event date: 2017.7

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/ICRA.2017.7989422

    Scopus

  166. Acquisition of new body representation about extra robotic thumb by use of vestigial muscles

    Shikida H.

    2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 

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    Event date: 2017.7

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/CBS.2017.8266101

    Scopus

  167. High-Precision Microinjection of Microbeads into C. Elegans Trapped in a Suction Microchannel International conference

    Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda, Qiang, Huang,

    International Conference on Robotics and Automation (ICRA 2017) 

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    Event date: 2017.5 - 2017.6

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Singapore   Country:Singapore  

  168. Multi-Layered Channel Patterning by Local Heating of Hydrogels International conference

    Masaru Takeuchi, Tomoyuki Oya, Akihiko Ichikawa, Akiyuki Hasegawa, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda,

    International Conference on Robotics and Automation (ICRA 2017) 

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    Event date: 2017.5 - 2017.6

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Singapore   Country:Singapore  

  169. A Preliminary Study on Cooperative Force Control based Guidance for Accurate Pre-insertion Positioning of Surgical Instruments

    E. COLAN ZAITA Jacinto, SATO Yuichiro, NAKANISHI Jun, HASEGAWA Yasuhisa

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    Event date: 2017.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  170. Fabrication of Multi-layered Cell Structure using Local Heating of Hydrogel

    OYA Tomoyuki, TAKEUCHI Masaru, HASEGAWA Akiyuki, ICHIKAWA Akihiko, NAKAJIMA Masahiro, HASEGAWA Yasuhisa, FUKUDA Toshio

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    Event date: 2017.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  171. Development of MRI Compatible Tapping Assistive Robot

    LIU Kun, HASEGAWA Yasuhisa, SEGURA MERAZ Noel, LI Mengzi

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    Event date: 2017.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmermd.2017.1p1-k11

  172. 位置覚フィードバックの違いによる身体拡張義肢の位置認識精度の評価

    伊藤喬恕, 長谷川泰久

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  173. 末梢神経刺激用の皮下埋め込み無線給電デバイス

    宮本恭寛, 佐野正人, 長谷川泰久, 中島正博, 竹内大, 平田仁, 中野智則

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  174. リハビリテーションにおけるロボットの人への適応および支援手法

    岡島正太郎, 下田真吾, 長谷川泰久

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  175. 杖ロボットによる歩行負荷の適応的制御アルゴリズム

    板寺駿輝, 長谷川泰久, 福田敏男, 谷本正智, 近藤和泉

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  176. 環境制御型電顕内 CT 装置による骨芽細胞を培養したコラーゲン足場の観察

    中島正博, 永尾圭, 竹内大, 八幡早紀, 古澤和也, 長谷川泰久, 福田 敏男

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  177. マイクロチャネル内でのゲルビーズを利用した線虫の 高精度回転マニピュレーション

    五十嵐悠, 中島正博, 竹内大, 久本直毅, 長谷川泰久, 福田敏男

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  178. 接触感覚を有する能動鉗子直接操作インタフェースの操作性評価

    佐藤雄一朗, 中西淳, 長谷川泰久

    ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017) 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  179. Retaining structure of micro electrode for rodent models

    SANO Masato, NAKAJIMA Masahiro, TAKEUCHI Masaru, HASEGAWA Yasuhisa, NAKANO Tomonori, KURIMOTO Shigeru, HIRATA Hitoshi

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    Event date: 2017.1

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

    DOI: 10.1299/jsmebio.2017.29.2g32

  180. Assembly of hepatic lobule-like microtissue with repetitive single-step contact manipulation

    Liu Z.

    2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2016.7824162

    Scopus

  181. Hand space change after use of extra robotic thumb

    Shikida H.

    2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2016.7824195

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  182. Electric stimulation feedback system for lower limb exoskeleton - Evaluation of reaction time to abnormal situation of lower-limb

    Wang X.

    2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2016.7824182

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  183. Coordinated movement algorithm for accompanying cane robot

    Itadera S.

    2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2016.7824241

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  184. Conceptual design of a versatile robot for minimally invasive transnasal microsurgery

    Marinho M.

    2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2016.7824180

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  185. Cell sheets fabrication with mimicking morphology of liver lobule tissue by electrodeposition

    Lu M.

    2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/MHS.2016.7824181

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  186. Bio-fabrication of Ca-alginate cell sheets with the electrodeposition method for hepatic lobule tissue reconstructs

    Liu Z.

    21st International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2017 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

    Scopus

  187. Design of an wearable MRI-compatible hand exoskeleton robot

    Liu K.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1007/978-3-319-65289-4_23

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  188. 多自由度鉗子の直感的操作可能なユーザインタフェースの設計・試作

    佐藤 雄一朗,Jacinto E. Colan Zaita,中西 淳,長谷川 泰久

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016) 

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    Event date: 2016.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  189. 装置と脚のずれを防止する走行支援装置の研究開発

    久保田 直樹,長谷川 泰久

    第17回計測自動制御学会システムインテグレーション部門講演会(SI2016) 

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    Event date: 2016.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  190. Coordinated Movement Algorithm for Accompanying Cane Robot International conference

    Shunki Itadera, Takahiro Watanabe, Yasuhisa Hasegawa, Toshio Fukuda, Masanori Tanimoto, Izumi Kondo

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 

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    Event date: 2016.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan   Country:Japan  

  191. Hand Space Change After Use of Extra Robotic Thumb International conference

    Hiroshi Shikida, Yasuhisa Hasegawa

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 

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    Event date: 2016.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan   Country:Japan  

  192. Electric Stimulation Feedback System for Lower Limb Exoskeleton - Evaluation of Reaction Time toAbnormal Situation of Lower-limb- International conference

    Xufeng Wang, Mengze Li, Yasuhisa Hasegawa

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 

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    Event date: 2016.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan   Country:Japan  

  193. Cell Sheets Fabrication with Mimicking Morphology of Liver Lobule Tissue by Electrodeposition International conference

    Minmin Lu, Zeyang Liu, Masahiro Nakajima, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 

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    Event date: 2016.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan   Country:Japan  

  194. Assembly of Hepatic Lobule-like Microtissue with Repetitive Single-Step Contact Manipulation International conference

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 

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    Event date: 2016.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan   Country:Japan  

  195. Modeling of the High-speed Running Humanoid Robot International conference

    Tomoro Ota, Kenichi Ohara, Akihiko Ichikawa, Taisuke Kobayashi, Yasuhisa Hasegawa, Toshio Fukuda

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 

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    Event date: 2016.11

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan   Country:Japan  

  196. Self-Assembly of Toroidal Magnetic Microstructures towards in Vitro Cell Structures International conference

    M. Takeuchi, M. Hattori, A. Ichikawa, K. Ohara, M. Nakajima, T. Fukuda, Y. Hasegawa, Q. Huang

    The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Daejeon, Korea   Country:Korea, Republic of  

  197. Quasi-Passive Dynamic Autonomous Control to Enhance Horizontal and Turning Gait Speed Control International conference

    T. Kobayashi, K. Sekiyama, Y. Hasegawa, T. Aoyama, T. Fukuda

    The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Daejeon, Korea   Country:Korea, Republic of  

  198. Microencapsulation of culture of hepatic lobule model using shape-controlled alginate-poly-l-lysine (PLL) microcapsules with the electrodeposition method International conference

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang,

    The 20 International Conference on Miniaturized Systems for Chemistry and Life Sciences (MicroTAS 2016) 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Dublin, Ireland,   Country:Ireland  

  199. Acquisition of adaptive behavior of robot through bow-tie structure International conference

    Okajima Shotaro, Hasegawa Yasuhisa

    2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016 

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    Event date: 2016.9

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/DEVLRN.2016.7846810

    Scopus

  200. Electric Stimulation and Gait Control for Assisting Paraplegic Walk

    Zhaofan Yuan(Nagoya Univ.), Mengze Li(Nagoya Univ.), Yasuhisa Hasegawa(Nagoya Univ.)

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    Event date: 2016.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  201. 仮想牽引点との相互作用による安定した加減速を利用したリミットサイクル歩容の自律的3次元的移動

    小林 泰介(名大),関山 浩介(名大),長谷川 泰久(名大),青山 忠義(広島大),福田 敏男(名城大)

    第34回日本ロボット学会学術講演会(RSJ 2016) 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  202. 人の同期現象を含めた外骨格ロボットの動作シミュレーション

    岡島 正太郎(名大/理研),下田 真吾(理研),長谷川 泰久(名大)

    第34回日本ロボット学会学術講演会(RSJ 2016) 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  203. 吸引型マイクロチャネルによる線虫への高精度マイクロインジェクション

    中島 正博(名大),綾村 友貴(名大),竹内 大(名大),久本 直毅(名大),長谷川 泰久(名大),福田 敏男(名城大学)

    第34回日本ロボット学会学術講演会(RSJ 2016) 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  204. 重心動揺抑制により安全・安心な歩行訓練を支援する同伴型杖ロボット

    板寺 駿輝(名大),渡邊 貴弘(名大),長谷川 泰久(名大),福田 敏男(名城大),谷本 正智(国立長寿研),近藤 和泉(国立長寿研)

    第34回日本ロボット学会学術講演会(RSJ 2016) 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  205. 身体拡張義肢による身体図式変化の評価

    式田 寛,長谷川 泰久(名大)

    第32回ライフサポート学会大会,第16回日本生活支援工学会大会,日本機械学会 福祉工学シンポジウム2016 (LIFE 2016) 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  206. Self-assembly of magnetized microstructures for in vitro cell systems International conference

    M. Hattori, A Ichikawa, K .Ohara, T. Fukuda, M. Takeuchi, M. Nakajima, Y. Hasgawa, Q. Huang

    2016 IEEE International Conference on Mechatronics and Automation (ICMA2016) 

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    Event date: 2016.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Harbin, China   Country:China  

  207. Wearable assistive device for physical load reduction of caregiver-adaptive to caregiver's motion during transferring support International conference

    Y. Hasegawa, T. Hoshino, A. Tsukahara

    World Automation Congress (WAC 2016) 

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    Event date: 2016.7 - 2016.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Puerto Rico   Country:Puerto Rico  

  208. PDAC 規範リミットサイクル歩容における移動速度制御を用いた目標地点への自律的3次元移動

    小林泰介,関山浩介,長谷川泰久(名大),青山忠義(広島大),福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Venue:横浜   Country:Japan  

  209. ツールフィーデイングシステムによるナノマニピュレーションの効率化

    永尾圭,中島正博,竹内大,長谷川泰久(名大),福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  210. 生物規範型情報処理構造のロボット歩行制御に与える機能の実験的検証

    岡島正太郎(名大/ 理研),下田真吾(理研),長谷川泰久(名大)

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Venue:横浜   Country:Japan  

  211. 同伴型杖ロボットの協調移動アルゴリズム

    板寺駿輝,長谷川泰久(名大),福田敏男(名城大),谷本正智,近藤和泉(国立長寿医療研究センター)

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Venue:横浜   Country:Japan  

  212. 磁気トロイダルカプセルによる自己組織的3 次元構造体の組み立て

    服部守(名城大),竹内大(名大),市川明彦,大原賢一(名城大),中島正博,長谷川泰久(名大),福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Venue:横浜   Country:Japan  

  213. 並列バネによる走行時の立脚期における脚部負荷軽減

    久保田直樹,長谷川泰久

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Venue:横浜   Country:Japan  

  214. 局所的熱融解による生体親和性ゲルの選択的チャネルパターニング

    大矢智之(名城大),竹内大(名大),大原賢一,市川明彦(名城大),中島正博,長谷川泰久(名大),福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016) 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Venue:横浜   Country:Japan  

  215. Unified bipedal gait for walking and running by dynamics-based virtual holonomic constraint in PDAC International conference

    T. Kobayashi, Y. Hasegawa, K. Sekiyama, T. Aoyama, T. Fukuda

    2016 IEEE International Conference on Robotics and Automation (ICRA2016) 

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    Event date: 2016.5

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Stockholm, Sweden   Country:Sweden  

  216. Novel In situ nanomanipulation integrated with SEM-CT imaging system International conference

    M. Nakajima, M. Takeuchi, N. Hisamoto, T. Fukuda, Y. Hasegawa, Q. Huang

    2016 IEEE International Conference on Robotics and Automation (ICRA2016) 

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    Event date: 2016.5

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Stockholm, Sweden   Country:Sweden  

  217. 折り目を利用したマルチグラフェンの折り曲げナノ加工

    藤原 崇文(名城大学)中島 正博(名古屋大学)市川 明彦(名城大学)大原 賢一(名城大学)長谷川 泰久(名古屋大学)福田 敏男(名城大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  218. 移乗支援装置の後方転倒防止機能及び体重免荷効果の確認

    長谷川 泰久(名古屋大学)星野 崇(筑波大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  219. PDACの仮想拘束最適化による2足歩容の性能向上

    小林 泰介(名古屋大学)関山 浩介(名古屋大学)長谷川 泰久(名古屋大学)青山 忠義(広島大学)福田 敏男(名城大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  220. 杖型歩行補助ロボットを用いた歩行臨床訓練における体力増進評価

    板寺 駿輝(名古屋大学)長谷川 泰久(名古屋大学)福田 敏男(名城大学)谷本 正智(国立長寿医療研究センター)近藤 和泉(国立長寿医療研究センター)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  221. 触覚フィードバックを用いた身体拡張義指操作

    佐藤 雄一朗(名古屋大学)傍嶋 將文(名古屋大学)王 旭峰(名古屋大学)長谷川 泰久(名古屋大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  222. フォトリソグラフィを用いたポリイミドベースのマウス末梢神経刺激用マイクロ電極の作製

    佐野 正人(名古屋大学)中島 正博(名古屋大学)竹内 大(名古屋大学)長谷川 泰久(名古屋大学)栗本 秀(名古屋大学)中野 智則(名古屋大学)新開 宏明(名古屋大学)平田 仁(名古屋大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  223. ゲルファイバーモールドによる血管様チャネルの作製

    竹内 大(名古屋大学)中島 正博(名古屋大学)福田 敏男(名古屋大学/名城大学)長谷川 泰久(名古屋大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  224. 磁気ビーズ内包スフェロイドによる自己組織的細胞構造体の組み立て

    服部 守(名城大学)竹内 大(名古屋大学)市川 明彦(名城大学)大原 賢一(名城大学)中島 正博(名古屋大学)長谷川 泰久(名古屋大学)福田 敏男(名城大学)

    第16回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2015.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  225. Local Guiding of C. Elegans Inside Micro-Channel for Injection Operation (I) International conference

    Yuki Ayamura, Masahiro Nakajima, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda

    2015 IEEE/SICE International Symposium on System Integration (SII 2015) 

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    Event date: 2015.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  226. Improvement of Operability of Extra Robotic Thumb Using Tactile Feedback by Electrical Stimulation International conference

    Masafumi Sobajima, Yuichiro Sato, Wang Xufeng, and Yasuhisa Hasegawa

    2015 International Symposium on Micro Nano Mechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  227. Microchannels fabrication by alginate fiber molding method International conference

    M. Takeuchi, M. Nakajima, T. Fukuda, Y. Hasegawa

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  228. Local melting of hydrogel for microchannels fabrication in cell structures International conference

    T. Oya, M. Takeuchi, A. Ichikawa, K. Ohara, M. Nakajima, Y. Hasegawa, T. Fukuda

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  229. Dynamics-based virtual holonomic constraint for PDAC running International conference

    Taisuke Kobayashi, Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama and Toshio Fukuda

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Poster presentation  

    Country:Japan  

  230. Fabrication of hepatic lobule model based on electrodeposition International conference

    Z. Liu, M. Takeuchi, M. Nakajima, T. Fukuda, Y. Hasegawa, Q. Huang

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  231. Japanese syllabary identification using myoelectric potential of neck muscles International conference

    K. Suzuki, Y. Hasegawa

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  232. Wearable input device by fingertip motion International conference

    O. Asai, Y. Hasegawa

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  233. On-chip fabrication of bio-degradable microstructures International conference

    Ryota Sakakibara, Masaru Takeuchi, Akihiko Ichikawa, Kenichi Ohara, Masahiro Nakajima, Yasuhisa Hasegawa and Toshio Fukuda

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Poster presentation  

    Country:Japan  

  234. In situ nanomanipulation with 3D SEM-CT observation inside environmental SEM International conference

    Masahiro Nakajima, Masaru Takeuchi, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  235. Fabrication of micro flexible electrode to stimulate peripheral nerve for rodent model International conference

    Masato Sano, Masahiro Nakajima, Masaru Takeuchi, Yasuhisa Hasegawa, Shigeru Kurimoto, Tomonori Nakano, Hiroaki Shinkai, and Hitoshi Hirata

    2015 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Poster presentation  

    Country:Japan  

  236. Bending of multi-graphene by nanomanipulation assisted with electron beam irradiation for box structure International conference

    T. Fujiwara, M. Nakajima, A. Ichikawa, K. Ohara, Y. Hasegawa, T. Fukuda

    41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  237. Shape-controlled production of alginate hydrogel-poly-L-lysine microcapsules based on electrodeposition method: Shape-controlled microcapsules International conference

    Z. Liu, M. Takeuchi, M. Nakajima, Y. Hasegawa, T. Fukuda, Q. Huang

    41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015) 

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    Event date: 2015.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  238. SHAPE-CONTROLLED PRODUCTION OF ALGINATE-POLY-L-LYSINE(PLL) MICROCAPSULES FOR 3D CELL STRUCTURES FABRICATION BASED ON ELECTRODEPOSITION METHOD International conference

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda, and Qiang Huang

    The 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences (microTAS 2015) 

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    Event date: 2015.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Korea, Republic of  

  239. Electric Stimulation Feedback for Gait Control of Walking Robot International conference

    Yasuhisa Hasegawa, Keisuke Nakayama, Kohei Ozawa and Mengze Li

    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS2015) 

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    Event date: 2015.9 - 2015.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Germany  

  240. Electrodeposition of Cell-Laden Alginate-PLL Hydrogel Structures for Spatially Selective Entrapment International conference

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS2015) 

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    Event date: 2015.9 - 2015.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Germany  

  241. Survival Micro injection into C. elegans with In vivo Observation based on Micromanipulation International conference

    Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang

    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS2015) 

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    Event date: 2015.9 - 2015.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Germany  

  242. 共振モードを利用した倒立振子の外乱に対する安定領域の拡大

    岡島 正太郎(名大/理研) 下田 真吾(理研) 長谷川 泰久(名古屋大学)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  243. 電気刺激を用いた位置覚提示における随意運動の貢献

    大原 崇義(名大) 長谷川 泰久(名大)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  244. ダイナミクス規範型仮想拘束を用いたPDACによる2足走行

    小林 泰介(名大) 青山 忠義(広島大) 長谷川 泰久(名大) 関山 浩介(名大) 福田 敏男(名城大)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  245. 生体親和性ゲルの局所的熱融解によるマイクロチャネル作製

    大矢 智之(名城大) 竹内 大(名大) 市川 明彦(名城大) 大原 賢一(名城大) 中島 正博(名大) 長谷川 泰久(名大) 福田 敏男(名城大)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  246. ハイドロゲルファイバーモールドを用いた細胞構造体作製

    竹内 大(名大) 中島 正博(名大) 福田 敏男(名城大) 長谷川 泰久(名大)

    竹内 大(名大) 中島 正博(名大) 福田 敏男(名城大) 長谷川 泰久(名大) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  247. 生体電位と加速度に基づいた走行状態の推定手法

    久保田 直樹(名大) 長谷川 泰久(名大)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  248. 含水状態での環境制御型電顕内SEM-CT撮影

    中島 正博(名大) 永尾 圭(名大) 竹内 大(名大) 久本 直毅(名大) 長谷川 泰久(名大) 福田 敏男(名城大・名大)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  249. インジェクションのための走電性を利用したマイクロチャネル内での線虫への位置決め

    綾村 友貴(名大) 中島 正博(名大) 竹内 大(名大) 久本 直毅(名大) パストゥホフ ストラヒル(名大) 長谷川 泰久(名大) 福田 敏男(名城大・名大)

    第33回ロボット学会学術講演会 (RSJ 2015) 

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    Event date: 2015.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  250. Virtual Friction Model for Control of Cane Robot International conference

    Shotaro Nakagawa, Shunki Itadera, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda, Pei Di, Jian Huang, and Qiang Huang

    24th IEEE International Symposium on Robot and Human Interactive Communication 

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    Event date: 2015.8 - 2015.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  251. 3D microchannel networks by melting alginate hydrogel fibers for cell structures International conference

    Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda

    2015 IEEE 15th International Conference on Nanotechnology (IEEE-NANO 2015) 

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    Event date: 2015.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

  252. Aqueous imaging by SEM-CT system inside environmental-SEM International conference

    M. Nakajima, M. Takeuchi, K. Shimazaki, N. Hisamoto, Y. Hasegawa, T. Fukuda, Qiang Huang

    2015 IEEE 15th International Conference on Nanotechnology (IEEE-NANO 2015) 

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    Event date: 2015.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

  253. Multi-graphene cubic structure fabricated by nanomanipulation International conference

    T. Fujiwara, M. Nakajima, A. Ichikawa, K. Ohara, Y. Hasegawa, T. Fukuda

    2015 IEEE 15th International Conference on Nanotechnology (IEEE-NANO 2015) 

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    Event date: 2015.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

  254. MRI Compatibility of Lower-extremity Motion Simulator: LoMS International conference

    Takahiro Ikeda, Akira Matsushita, Kousaku Saotome, Yasuhisa Hasegawa, Akira Matsumura, Yoshiyuki Sankai, Toshio Fukuda

    2015 IEEE International Conference on Robotics and Automation (ICRA 2015) 

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    Event date: 2015.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  255. Tandem Stance Avoidance Using Adaptive and Asymmetric Admittance Control for Fall Prevention International conference

    Shotaro Nakagawa, Pei Di, Yasuhisa Hasegawa, Toshio Fukuda, Izumi Kondo, Masanori Tanimoto, Jian Huang

    2015 IEEE International Conference on Robotics and Automation (ICRA 2015) 

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    Event date: 2015.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  256. Optimal Use of Arm-Swing for Bipedal Walking Control International conference

    Taisuke Kobayashi, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, Toshio Fukuda

    2015 IEEE International Conference on Robotics and Automation (ICRA 2015) 

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    Event date: 2015.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  257. Thin and Active Fixture to Hold Finger for Easy Attachment and Comfort of Grasping Support Exoskeleton International conference

    Yasuhisa Hasegawa and Takeshi Suzuki

    2015 IEEE International Conference on Robotics and Automation (ICRA 2015) 

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    Event date: 2015.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  258. Lab in a Droplet (LiD): Self-assembly of Micro-nano Structures inside a Droplet using Surface Tension International conference

    Masaru Takeuchi, Akihiko Ichikawa, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    2015 IEEE International Conference on Robotics and Automation (ICRA 2015) 

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    Event date: 2015.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  259. 指先動作による装着型入力装置

    長谷川泰久(名大)、浅井修(筑波大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  260. 芝刈りロボットの自動化のためのテクスチャ認識に基づく芝の刈取境界認識

    福川智哉、関山浩介、長谷川泰久(名大)、福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  261. 頸部電位を用いた五十音の識別手法の提案

    長谷川泰久(名大)、鈴木健太郎(筑波大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  262. 振動モード空間への Tacit learning の適用によるロボットの運動

    岡島正太郎(名大/ 理研)、Maxime Tournier、下田真吾(理研)、長谷川泰久(名大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  263. ヒューマノイドロボットによる高速走行制御に関する研究

    太田智郎、大原賢一、市川明彦(名城大)、小林泰介、長谷川泰久(名大)、福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  264. 環境制御型電顕内でのSEM-CT による含水観察

    中島正博、嶋崎功也、竹内大、久本直毅、長谷川泰久(名大)、福田敏男(名城大/ 名大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  265. 線虫への局所マイクロインジェクションにおける生存率の評価

    綾村友貴、中島正博、竹内大、久本直毅、ストラヒル パストゥホフ、長谷川泰久(名大)、福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  266. アルギン酸ハイドロゲルファイバーモールドによるマイクロチャネル作製

    竹内大、中島正博(名大)、福田敏男(名城大)、長谷川泰久(名大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  267. 生分解性材料を用いたマイクロ構造体のオンチップ作製

    榊原涼太(名城大)、竹内大(名大)、市川明彦、大原賢一(名城大)、中島正博、長谷川泰久(名大)、福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  268. 局所的熱制御による生体親和性ゲル内での細胞パターニング

    大矢智之(名城大)、竹内大(名大)、市川明彦、大原賢一(名城大)、中島正博、長谷川泰久(名大)、福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  269. ナノマニピュレーションによるグラフェン立方体の作製

    藤原崇文(名城大)、中島正博(名大)、市川明彦、大原賢一(名城大)、長谷川泰久(名大)、福田敏男(名城大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  270. 小型化アレイ電極を用いた電気刺激による股関節角度提示インタフェース

    長谷川泰久(名大)、小澤剛平(筑波大)、大原崇義(名大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  271. 生体電位による支援装置の制御方法の設計および走行支援装置への適応

    長谷川泰久、久保田直樹(名大)

    ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015) 

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    Event date: 2015.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  272. 2足歩行のための腕振りを用いた最適な重心追従補助制御

    小林泰介,関山浩介(名古屋大学),青山忠義(広島大学),長谷川泰久(名古屋大学),福田敏男(名城大学)

    第20回ロボティクスシンポジア 

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    Event date: 2015.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  273. ナノマニピュレーションによるグラフェンの折り曲げ加工

    藤原 崇文(名城大学)中島 正博(名古屋大学)市川 明彦(名城大学)大原 賢一(名城大学)長谷川 泰久(名古屋大学)福田 敏男(名城大学)

    第15回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  274. 芝刈りロボットのためのカメラ画像に基づく刈取境界認識

    福川 智哉(名古屋大学)関山 浩介(名古屋大学)長谷川 泰久(名古屋大学)福田 敏男(名城大学)

    第15回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  275. マイクロ流体チップ内での生分解性材料を用いた微小構造体組み立て

    榊原 涼太(名城大学)竹内 大(名古屋大学)市川 明彦(名城大学)大原 賢一(名城大学)中島 正博(名古屋大学)長谷川 泰久(名古屋大学)福田 敏男(名城大学)

    第15回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  276. 表面張力を利用したマイクロ構造体の自己組織的組み立て

    竹内 大(名古屋大学)市川 明彦(名城大学)中島 正博(名古屋大学)福田 敏男(名城大学)長谷川 泰久(名古屋大学)

    第15回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  277. Local Microinjection near Nerve Axon of C. elegans with Hydro-gel Beads Based on Micromanipulation International conference

    Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Pastuhov Strahil, Yasuhisa Hasegawa, Toshio Fukuda

    2014 IEEE/SICE International Symposium on System Integration (SII2014) 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  278. Pseudo-somatosensory Feedback about Joint's Angle International conference

    Yasuhisa Hasegawa, Kohei Ozawa

    2014 IEEE/SICE International Symposium on System Integration (SII2014) 

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    Event date: 2014.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  279. Support of COG Trajectory Tracking by Arm-Swing with Bipedal Walking International conference

    Taisuke Kobayashi, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, and Toshio Fukuda

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  280. Development of Wrist Support Mechanism for Muscle Weakness Person to Work on Desk Work International conference

    Yasuhisa Hasegawa, Satoshi Shimada, Kiyoshi Eguchi

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  281. Force Range Extension and High Force Accuracy with Pintching Support Device by Presenting Haptic Sense Based on Fingerthip Sensitivity International conference

    Yasuhisa Hasegawa, Junichi Muto

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  282. Wearable Assistive Device for Lower Limbs of Caregiver on Transferring Support International conference

    Yasuhisa Hasegawa, Takashi Hoshino

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  283. Gait Control of Powered Exoskeleton with Finger-mounted Walk Controller for Paraplegic Patient International conference

    Yasuhisa Hasegawa, Keisuke Nakayama

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  284. Electrodeposition of Alginate Hydrogel for Spatially Selective Entrapment of Biological Cells International conference

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  285. On-chip Fabrication of Bio-degradable Microstructures for 3D Cell Assembly International conference

    Ryota Sakakibara, Masaru Takeuchi, Akihiko Ichikawa, Kenichi Ohara, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  286. SEM-CT Observation of Bone from Mice using Environmental-SEM International conference

    Masahiro Nakajima, Masaru Takeuchi, Taisuke Masuda, Takshisa Anada, Osamu Suzuki, Toshio Fukuda, Qiang Huang, Yasuhisa Hasegawa

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  287. Microassembly of Spheroids by Thermoresponsive Gel Probe International conference

    Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa

    2014 International Symposium on Micromechatronics and Human Science (MHS 2014) 

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    Event date: 2014.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  288. Three Dimensional Multi-Cell Spheroids Assembly Using Thermoresponsive Gel Probe International conference

    Takeuchi, Masaru, Nakajima, Masahiro, Fukuda, Toshio, Hasegawa, Yasuhisa

    2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014)  

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    Event date: 2014.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  289. Pneumatic Tubular Body Fixture for Wearable Assistive Device - Analysis and Design of Active Cuff to Hold Upper Limb International conference

    Hasegawa, Yasuhisa, Hasegawa, Takaaki, Eguchi, Kiyoshi

    2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014)  

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    Event date: 2014.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  290. ヒューマノイドロボットの腕振りと股関節回旋を用いた歩行効率向上及び安定化

    小林 泰介(名大) 関山 浩介(名大) 青山 忠義(広島大) 長谷川 泰久(名大) 福田 敏男(名城大)

    第32回日本ロボット学会学術講演会(RSJ2014) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  291. 外骨格型走行支援装置のための走行状態推定に基づく支持脚支援機構の開発

    長谷川 泰久(名古屋大学) 久保田 直樹(名古屋大学) 小倉 慶一(筑波大学)

    第32回日本ロボット学会学術講演会(RSJ2014) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  292. SEM-CTによる線虫の3次元観察とナノマニピュレーション応用

    中島 正博(名大) 竹内 大(名大) 久本 直毅(名大) 福田 敏男(名城大・名大) 長谷川 泰久(名大)

    第32回日本ロボット学会学術講演会(RSJ2014) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  293. 線虫への局所マイクロインジェクションと体内でのゲルビーズ観察

    綾村 友貴(名大) 中島 正博(名大) 竹内 大(名大) 久本 直毅(名大) 長谷川 泰久(名大) 福田 敏男(名城大・名大)

    第32回日本ロボット学会学術講演会(RSJ2014) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  294. 感熱応答性ゲルによる細胞スフェロイドの組み立て

    竹内 大(名大) 中島 正博(名大) 福田 敏男(名城大) 長谷川 泰久(名大)

    第32回日本ロボット学会学術講演会(RSJ2014) 

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    Event date: 2014.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  295. Cross-sectional imaging of C. elegans by SEM-CT using Environmental SEM for nanomanipulation International conference

    Nakajima, M.; Takeuchi, M.; Hisamoto, N.; Fukuda, T.; Hasegawa, Y.; Qiang Huang

    2014IEEE 14th International Conference on Nanotechnology (IEEE-NANO) 

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    Event date: 2014.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  296. Lab in a Droplet (LiD): Self-assembly method of microstructures inside a Droplet International conference

    Takeuchi, M.; Ichikawa, A.; Nakajima, M.; Fukuda, T.; Hasegawa, Y.; Qiang Huang

    2014IEEE 14th International Conference on Nanotechnology (IEEE-NANO) 

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    Event date: 2014.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  297. Local cell stiffness measurement using probes deformation International conference

    Takeuchi, M.; Bin Ahmad, M.R.; Nakajima, M.; Fukuda, T.; Umeshima, H.; Kengaku, M.; Hasegawa, Y.; Qiang Huang

    2014IEEE 14th International Conference on Nanotechnology (IEEE-NANO) 

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    Event date: 2014.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  298. Finger-mounted walk controller of powered exoskeleton for paraplegic patient's walk International conference

    Yasuhisa Hasegawa and Keisuke Nakayama

    World Automation Congress 2014 (WAC2014) 

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    Event date: 2014.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  299. Exoskeletal Meal Assistance System (EMAS III) for Progressive Muscle Dystrophy Patient International conference

    Yasuhisa HASEGAWA, Tomoaki KIKAI, Kiyoshi EGUCHI, and Satoshi SHIMADA

    2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 

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    Event date: 2014.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:France  

  300. Advantage of variable stiffness of human fingers for key insertion task International conference

    Yasuhisa HASEGAWA and Ojiro KITAMURA

    2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 

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    Event date: 2014.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:France  

  301. 指操作型インタフェースによる歩行支援ロボットの歩行操作

    長谷川泰久(筑波大) ○ 中山恵介(筑波大)

    ロボティクス・メカトロニクス講演会2014 

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    Event date: 2014.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  302. 上肢支援機器の装着性向上を目的としたアクティブカフの基本性能評価

    長谷川泰久(筑波大) 長谷川誉晃(筑波大)島田智(筑波大) 江口清(筑波大)

    ロボティクス・メカトロニクス講演会2014 

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    Event date: 2014.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  303. 筋力低下者の上肢および手首支援機構の研究開発

    長谷川泰久(筑波大)  ○ 島田智(筑波大) 江口清(筑波大学病院)

    ロボティクス・メカトロニクス講演会2014 

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    Event date: 2014.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  304. 把持支援機器の容易な着脱を目的とした薄型能動装着機構の提案

    長谷川 泰久(筑波大学)鈴木 豪志(筑波大学)長谷川 誉晃(筑波大学)

    第14回計測自動制御学会システムインテグレーション部門講演会 

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    Event date: 2013.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  305. First Report on Passive Exoskeleton for Easy Running: PEXER IV International conference

    Yasuhisa Hasegawa and Keiichi Ogura

    IEEE International Symposium on Micro-Nano Mechatronics and Human Science 

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    Event date: 2013.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  306. Preliminary report of brain activities during active and passive gait-like motion International conference

    Takahiro Ikeda, Akira Matsushita, Kousaku Saotome, Yasuhisa Hasegawa, Yoshiyuki Sankai

    6th Annual International IEEE EMBS Conference on Neural Engineering 

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    Event date: 2013.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  307. Use of Simulated Inertia to Improve the Performance of a BEP Human-Computer Interface International conference

    Noel Segura-Meraz, Yasuhisa Hasegawa

    2013 IEEE International Conference on Systems, Man, and Cybernetics (SMC2013) 

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    Event date: 2013.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:United Kingdom  

  308. 歩行模擬動作提示時のfMRI計測予備実験

    池田貴公,松下明,五月女康作,長谷川泰久,山海嘉之(筑波大)

    第31回日本ロボット学会学術講演会(RSJ2013) 

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    Event date: 2013.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  309. 上肢支援機器の装着性を向上させるアクティブカフの設計

    長谷川泰久(筑波大) 長谷川誉晃(筑波大)

    第31回日本ロボット学会学術講演会(RSJ2013) 

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    Event date: 2013.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  310. Wearable Lower-Limb Assistive Device for Physical Load Reduction of Caregiver on Transferring Support International conference

    Yasuhisa Hasegawa and Masataka Muramatsu

    2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2013) 

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    Event date: 2013.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:Australia  

  311. 伸張反射が与える随意運動強度への影響評価

    長谷川泰久(筑波大) ○ 藤澤俊宏(筑波大) 上林清孝(筑波大)

    ロボティクス・メカトロニクス講演会2013 

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    Event date: 2013.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  312. 物体把持作業における指先可変剛性の有用性評価

    長谷川泰久(筑波大) ○ 北村央士朗(筑波大) 岩城匡広(筑波大)

    ロボティクス・メカトロニクス講演会2013 

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    Event date: 2013.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  313. 外骨格型把持力支援システム使用時における指先力精度の優位性

    長谷川泰久(筑波大) ○ 武藤淳一(筑波大)

    ロボティクス・メカトロニクス講演会2013 

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    Event date: 2013.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  314. Superiority of Pinching Force Accuracy Augmented by Exoskeletal Support System International conference

    Yasuhisa Hasegawa, Junichiro Muto

    Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 

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    Event date: 2013

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  315. MRI適合性を有する下肢動作提示システムの基本性能評価

    池田貴公,松下明,五月女康作,長谷川泰久,山海嘉之(筑波大)

    第30回日本ロボット学会学術講演会(RSJ2012) 

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    Event date: 2012.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  316. From Brachiation robot to assistive robot International conference

    Yasuhisa Hasegawa

    2012 International Symposium on Multi-scale Intelligent Systems 

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    Event date: 2012.7

    Language:English   Presentation type:Oral presentation (invited, special)  

    Country:Japan  

  317. 装着型ピアノ演奏教示装置の研究・開発~手首・手指駆動機構の設計・製作~

    長谷川泰久(筑波大) ○ 副島英明(筑波大) 正山海嘉之(筑波大) 上林清孝(筑波大)

    ロボティクス・メカトロニクス講演会2012  

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    Event date: 2012.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  318. 転倒リスク評価に基づくマルチロコモーションロボットの行動選択

    小林泰介(名大) 青山忠義(名大) 関山浩介(名大)長谷川泰久(筑波大) 福田敏男(名大)

    ロボティクス・メカトロニクス講演会2012  

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    Event date: 2012.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  319. アクティブエアマットによる支援機器前腕部の装着性の改善

    長谷川泰久(筑波大)  田山宗徳(筑波大) 長谷川誉晃(筑波大)

    ロボティクス・メカトロニクス講演会2012  

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    Event date: 2012.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  320.  把持支援システムの親和性向上に関する研究|アクティブエアマットを使用した着脱の簡易化|

    長谷川泰久(筑波大) 長谷川誉晃(筑波大)

    ロボティクス・メカトロニクス講演会2012  

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    Event date: 2012.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  321. SVMを用いた前頸部表面筋電位に基づく舌運動の検出

    長谷川泰久(筑波大) 末澤賢(筑波大) 副島英明(筑波大) 高橋淳二(筑波大)

    ロボティクス・メカトロニクス講演会2012  

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    Event date: 2012.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  322. PDACに基づく遊脚伸縮運動及び両脚支持期を用いた2 足歩行制御

    青山忠義(名大)   関山浩介(名大)長谷川泰久(筑波大) 福田敏男(名大)

    ロボティクス・メカトロニクス講演会2012  

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    Event date: 2012.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  323. Accuracy Improvement of Pinching Force Augmentation by Exoskeleton International conference

    Yasuhisa Hasegawa, Junichiro Tokita, Kiyotaka Kamibayashi and Tetsuri Ariyama

    The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  324. Alternative Interface System by Using Surface Electromyogram from Unusual Muscles Contraction International conference

    Junji TAKAHASHI, Satoru SUEZAWA, Yasuhisa HASEGAWA and Yoshiyuki SANKAI

    2012 IEEE International Conference on Robotics and Automation 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  325. Generic Bioelectrical Potential Signal Human-computer Interface with Electrostimulation Feedback International conference

    Noel Segura-Meraz, Yasuhisa Hasegawa and Junji Takahashi

    2012 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  326. Pseudo-proprioceptive Motion Feedback by Electric Stimulation International conference

    Yasuhisa Hasegawa, Motoki Sasaki, and Atsushi Tsukahara

    2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  327. Pinching Force Accuracy Affected by Thumb Sensation in Human Force Augmentation International conference

    Yasuhisa Hasegawa, Tetsuri Ariyama and Kiyotaka Kamibayashi

    The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  328. Locomotion Selection of Multi-Locomotion Robot based on Falling Risk and Moving Efficiency International conference

    Taisuke Kobayashi, Tadayoshi Aoyama, Kosuke Sekiyama, Zhiguo Lu, Yasuhisa Hasegawa and Toshio Fukuda

    The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  329. Optimal Control of Energetically Efficient Ladder Decent Motion with Internal Stress Adjustment Using Key Joint Method International conference

    Zhiguo Lu, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, Taisuke Kobayashi, and Toshio Fukuda

    The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  330. Pilot study of floor-reactive-force generator mounted on MRI, -compatible lower-extremity motion simulator- International conference

    IKEDA Takahiro, MATSUSHITA Akira, SAOTOME Kosaku, HASEGAWA Yasuhisa and SANKAI Yoshiyuki

    The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  331. Compatibility on Lower-extremity Motion and Sensory Simulator to fMRI International conference

    Takahiro IKEDA, Akira MATSUSHITA, Kosaku SAOTOME, Yasuhisa HASEGAWA and Yoshiyuki SANKAI

    Proceedings of the IASTED International Conference Biomedical Engineering  

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  332. 3-D biped walking using double support phase based on the assumption of point-contact.

    Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

    International Symposium on Micro-NanoMechatronics and Human Science, MHS 2011, Nagoya, Japan, November 6-9, 2011  2011  IEEE

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    Event date: 2011

    Language:English   Presentation type:Oral presentation (general)  

  333. Alternative interface system by using surface EMG of residual muscles for physically challenged person.

    Junji Takahashi, Noel Segura Meraz, Satoru Suezawa, Yasuhisa Hasegawa, Yoshiyuki Sankai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011  2011  IEEE

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    Event date: 2011

    Language:English   Presentation type:Oral presentation (general)  

  334. Active air mat for comfortable and easy to wear a forearm support system

    Yasuhisa Hasegawa, Munenori Tayama, Takefumi Saito, Yoshiyuki Sankai

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS  2011  IEEE

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    Event date: 2011

    Language:English   Presentation type:Oral presentation (general)  

    This paper proposes an active air mat that improves comfortableness and easiness to wear an exoskeleton on a forearm. They are ones of important factors for the system performance evaluation in addition to physical support functions of the system. The active air mat which is installed in interface parts of the exoskeleton enables a wearer to attach and release the exoskeleton in an easy way and a short time by quickly inflating the air chambers to hold a human arm or deflating them to release. The air mat adaptively fills a gap between a human arm of various sizes and an exoskeleton. In addition, the air mat minimizes constriction of blood flow by changing contacting areas with a human arm from the periphery to the trunk. The exhaust air from the deflating air chamber is used to ventilate around skin surface so that humidity of the skin could keep low by the ventilation. The active air mat is evaluated through some experiments from the viewpoint of pressure distribution, blood flow, wearing time, releasing time, body-holding rigidity, and temperature and humidity of a human skin in resting and working states.

  335. Dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot

    Zhiguo Lu, Tadayoshi Aoyama, Kousuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

    2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010  2010.12.1 

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    Event date: 2010.12

    Language:English   Presentation type:Oral presentation (general)  

    This paper describes a dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot (MLR). In our previous works, the static transition motion from ladder climbing to barchiation has been developed. However, the motion is based on stable static model. It is difficult to realize the flexible and fast movement. To solve these problems, a new dynamic transition motion is proposed to simplify the action steps and increase the motion speed. The gravity is used to adjust the speed of turning body motion when the left hand and left foot are considered, and a pendulum model is used in the motion planning for the MLR to catch the second horizontal bar. The motion step is simplified and the motion speed is increased significantly by using the proposed method. The simulation result is realized by using the open dynamic engine (ODE) software. ©2010 IEEE.

  336. Cooperative control of exoskeletal assistive system for paraplegic walk - Transferring between sitting posture and standing posture, and going up and down on stairs

    Yasuhisa Hasegawa, Junho Jang, Yoshiyuki Sankai

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010  2010 

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    Event date: 2010

    Language:English   Presentation type:Oral presentation (general)  

    This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower limb in accordance with a patient wishes when a patient indicates his/her wishes by using residual functions such as motions of an upper limb. In our project, a pair of gloves with several DOFs was developed to convey wearer's wishes to the walking support system. The gloves measure his/her index fingers' swing that simulates foot motions of his/her walking and measure flexion or deviation of his/her wrist joint. The cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable motions that satisfy the wishes expressed by the wearer's hand and wrist motions and then the designed motions are executed in realtime by the walking support system. As the first trial, a small humanoid robot is used for safety as a control target that corresponds to a combination of the patient body and the walking support system in an actual situation. Through some experiments it is confirmed that our algorithm enables the humanoid robot to start and stop stable walk with variable step length in the desired walking direction from a seated position and that it enables the robot to step aside and to go up and down stairs. © 2010 IEEE.

  337. Cooperative walk control of paraplegia patient and assistive system

    Yasuhisa Hasegawa, Junho Jang, Yoshiyuki Sankai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS  2009  IEEE

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    Event date: 2009

    Language:English   Presentation type:Oral presentation (general)  

    This paper introduces a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as a timings to start and stop walking, walking speed and waking direction. Using this algorithm an exoskeletal walking support system could help a paraplegia patient walking comfortablly. At first, a pair of gloves with several DOFs is developed to convey a wearer's intention to the walking support system. He/she swings both his/her index fingers as to simulate foot motions of his/her walking. The amplitude and period of the swing corresponds to a step length and period of the walk, respectively. Pronation/supination of the wrist joint of his/her right arm corresponds to a walk direction. The cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable walking pattern that satisfies the intention expressed by the wearer's hand motion and then the designed walking pattern is executed in realtime by the walking support system. As the first trial, a small humanoid robot "HRP-2m" is used for safety as a control target that will be a combination of a wearer and the walking support system in the final situation. Through some experiments we confirm that our proposed algorithm enables the humanoid robot to start and stop stable walk with variable step length in the desired walking direction according to operator's intentions.

  338. Analysis of Relationship between Limb Length and Joint Load in Quadruped Walking on the slope

    Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS  2008  IEEE

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    Event date: 2008

    Language:English   Presentation type:Oral presentation (general)  

    An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint acceleration in walking motion, and hence to reduce energy consumption. Numerical simulation analyzed joint torques in each limb length and slope angle under walking on a slope. The optimal rate of rear leg length (RRL) is derived by the simulation as the physical structure. Our analysis suggests that the joint torque will increase as the slope angle becomes steeper in the case that the rear legs are shorter than forelegs. On the other hand, the joint torque will decrease as the slope angle is declined in the case that the forelegs am shorter than the rear legs. Experimental results validated the simulation analysis.

  339. Design method of brachitation controller based on virtual holonomic constraint

    Toshio Fukuda, Shigetaka Kojima, Kosuke Sekiyama, Yasuhisa Hasegawa

    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3  2007  IEEE

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    Event date: 2007

    Language:English   Presentation type:Oral presentation (general)  

    This paper describes an energy-efficient swing-back control for the brachiation robot. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional swing-back control does not consider energy efficiency. Thus, a novel method to achieve an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

  340. Biorhythm-based awakening timing modulation

    Yuki Wakuda, Akiko Noda, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10  2007  IEEE

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    Event date: 2007

    Language:English   Presentation type:Oral presentation (general)  

    The purpose of the present study is to control human biological rhythm and life cycle by optimization of awakening timing. We developed a wearable interface for controlling awakening time named "BRAC (Biological Rhythm based Awakening timing Controller)". BRAC could estimate bio-rhythm by pulse wave from finger tip and send awake signal to user.
    An ordinary alarm clock operates according to set times that have to be set in advance. However, humans have a rhythm in their sleep, which affects one's sleep depth and wake-up timing. We consider the simplest way to control or reset human's biorhythm or life style is to optimize the awakening timing and the sleeping hours.
    We examined the relationship between controlling awakening timing based on autonomous nerve rhythm and equilibrium function. Our findings suggest indicate that the prototype "BRAC" could evaluate user's biological rhythm and awakes user at the time optimized for physical function of equilibrium.

  341. Design method of brachiation controller based on virtual holonomic constraint

    Toshio Fukuda, Shigetaka Kojima, Kosuke Sekiyama, Yasuhisa Hasegawa

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9  2007  IEEE

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    Event date: 2007

    Language:English   Presentation type:Oral presentation (general)  

    This paper describes a control for the brachiation robot with holonomic constraint. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional control can not apply brachiation in irregular ladder. And the convetional control was not consider energy efficiency. Thus, a novel method to achieve brachiation in irregular ladder and an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

  342. Automatic land-mine detection system using adaptive sensing with vector CPR

    Toshio Fukuda, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zyada Zakariya, Takayuki Matsuno

    IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11  2006  IEEE

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    Event date: 2006

    Language:English   Presentation type:Oral presentation (general)  

    Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, but there are two major problems to overcome. One is the non-planer(e.g. rough and/or undulating) ground surface. It remains irremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchhoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

  343. 3D dynamic walking based on the inverted pendulum model with two degree of underactuation

    M Doi, Y Hasegawa, T Fukuda

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4  2005  IEEE

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    Event date: 2005

    Language:English   Presentation type:Oral presentation (general)  

    In this paper, the new control method to realize 3D natural dynamic walking based on the 3D robot inherent dynamics is proposed. The proposed method describes robot dynamics by use of a 3D inverted pendulum model and applies Passive Dynamic Autonomous Control(PDAC) to it. By utilizing the polar coordinate system to express the robot state around the contact-point between robot and the ground and applying PDAC, it is possible to express the 3-dimensional dynamics as 1-dimensional autonomous system. Due to autonomy, this ID dynamics has the conservative quantity named PDAC Constant. We build the stabilizing controller by means of PDAC Constant and analyze the walking based on the ID dynamics. Finally the proposed method is tested by experiment.

  344. Development of character robots for human-robot mutual communication

    F Arai, D Tachibana, MJ Jung, T Fukuda, Y Hasegawa

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS  2003  IEEE

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    Event date: 2003

    Language:English   Presentation type:Oral presentation (general)  

    This paper describes a robot-head system as a communication device,for human robot interaction. Most robotic systems with natural modalities have facial expression functions, since facial expressiveness is regarded as a key component, to develop personal attachment along with prosodic expressiveness. Most of the conventional facial robots has adopted Ekman's FACS. However, due to some mechanical constraints, there are some limitations to adopt FACS model completely in facial robots. In the first part of this paper, we introduce a character robot - CRF2 that have richer facial expressions than the first prototype character robot -CRF1 since the facial design of CRF2 implements eyelids' mechanism and it is based on the 3D deformation model. However due to the fact that the recognition rate of some expressions such as disgust and fear was not improved very much, we concluded that Character Robot needs other communication channels such as voice to convey robot's emotional states properly to the user in addition to renovating mechanical facial part. As a result we developed a renovated character robot -CRF3. In addition to facial expressiveness, CRF3 is implemented speech synthesis and neck motions. Further CRF3 has visual, auditory and tactile. sensors and expanded configuration that can connect additional sensor or actuator modules to the system. To evaluate the applications of CRF, we applied CRF3 to home environments as a home network manager which selects a task based on robot mood.

  345. Continuous locomotion of brachiation robot by behavior phase shift

    Y Hasegawa, H Tanahashi, T Fukuda

    JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5  2001  IEEE

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    Event date: 2001

    Language:English   Presentation type:Oral presentation (general)  

    In this paper, we propose an extension of a hierarchical behavior controller which achieve dynamically dexterous behavior by shifting behavior phase. A controller for a dynamically dexterous behavior is hard to be designed by using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space and its complexity, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller and adaptation algorithm for scaling of behavior outputs. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. The robot however does not locomote from branch to branch stably, by adjusting amplitude of two behavior controllers. A hybrid adjusting algorithm with amplitude scaling and phase shifting of behavior outputs is proposed in this paper. Numerical simulations demonstrate that the obtained controller can successfully generate the stably continuous locomotion.

  346. Behavior coordination of brachiation robot based on Behavior phase shift

    Y Hasegawa, H Tanahashi, T Fukuda

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4  2001  IEEE

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    Event date: 2001

    Language:English   Presentation type:Oral presentation (general)  

    In this paper, we propose a new method to acquire hierarchical behavior controller which is achieved by shifting phase between local behaviors. Complex behavior is hardly obtained using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. Numerical simulations demonstrate that the obtained controller can successfully achieve continuous locomotion.

  347. Behavior modification for continuous locomotion of Brachiation-type mobile robot

    Y Hasegawa, T Fukuda, Y Ito

    SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5  2000  IEEE

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    Event date: 2000

    Language:English   Presentation type:Oral presentation (general)  

    In this paper, we propose an adaptation and learning algorithm to adjust behavior coordinator against small changes of the objective task or new one. This method measures the relation between the each local behavior and the global behavior, and then determines the direction of change of the activation values from the behavior coordinator based on the measurements. Monkey-typed locomotion robot, Brachiator III, has 13 links and 12 joints and be able to take a motions like a real ape in a three-dimensional space. The controller is designed for a primitive case. The proposed algorithm is used when the branch interval is changed and when the continuous locomotion is desired. We show the effectiveness of the proposed algorithm through the experiments using the Brachiator III.

  348. Acquisition method of regrasping motion with tolerance for object size

    Y Hasegawa, J Matsuno, T Fukuda

    IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4  2000  IEEE

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    Event date: 2000

    Language:English   Presentation type:Oral presentation (general)  

    Me have studied generation method of regrasping motion for four-fingered robot using Evolutionary Programming. EP has advantage of finding the alley of optimal numerical values but it requires much iteration to find it. This obtained regrasping strategy can not be applied to the other shaped-object except an object used in finding process. Therefore the generated regrasping strategy by EP should be reused for other sized-object. In this paper, we proposed the adaptation algorithm for different size of grasping object, We show the effectiveness of the method with the experimental results.

  349. Behaviour adaption on behavior-based controller for brachiation robot

    Y Hasegawa, Y Ito, T Fukuda

    ADVANCES IN ARTIFICIAL LIFE, PROCEEDINGS  1999  SPRINGER-VERLAG BERLIN

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    Event date: 1999

    Language:English   Presentation type:Oral presentation (general)  

    This paper proposes novel adaptation method for a behavior-based locomotion robot. Utilization of hierarchical behavior controller makes the controller designing process easier and shorter, because the designer can deal with behavior controllers for simple behaviors independently, and coordinate those behavior controllers in order for a robot to perform the objective behavior after finishing the design of the fundamental behavior controllers. Some problems are still remaining. One is how to adjust the behavior coordinator when the objective behavior or robot parameters are slightly changed. We propose the novel method to adjust the behavior coordinator against some changes. This method measures the effects of the fundamental behavior controllers to the total behavior, and changes the activation values for them in less trials. This proposed method is applied to the real brachiation robot control. This brachiation robot has redundant mechanism to locomote from branch to branch with 14 actuators like a long-armed ape.

  350. Advantage of variable stiffness of human fingers for key insertion task

    Yasuhisa HASEGAWA, Ojiro KITAMURA

    2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)  2014.7.8 

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    Language:English   Presentation type:Oral presentation (general)  

  351. Bio-Fabrication of Ca-Alginate Cell Sheets with the Electrodeposition Method for Hepatic Lobule Tissue Reconstracts

    Zeyang Liu, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang

    The 21st International Conference on Miniaturized Systems for Chemistry and Life Sciences (MicroTAS 2017)  2017.10.24 

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    Language:English   Presentation type:Oral presentation (general)  

    Venue:Georgia, USA  

  352. Auricularis Muscles based Control Interface for Robotic Extra Thumb

    Noel Segura Meraz, Yasuhisa Hasegawa, Hiroshi Shikida

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),  2017.12.4 

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    Language:English   Presentation type:Oral presentation (general)  

  353. Assembly of Hepatic Lobule-like Microtissue with Repetitive Single-Step Contact Manipulation

    Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)  2016.11.28 

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    Language:English   Presentation type:Oral presentation (general)  

    Venue:Nagoya, Japan  

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KAKENHI (Grants-in-Aid for Scientific Research) 10

  1. Sensorimotor Control System with Ectopic Ganglion Induction

    Grant number:22H03451  2022.4 - 2025.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

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    Authorship:Coinvestigator(s) 

  2. 身体化されたロボットアームへのAIによる運動介入時の操作者適応支援技術

    Grant number:20H05468  2020.4 - 2022.3

    科学研究費助成事業  新学術領域研究(研究領域提案型)

    長谷川 泰久

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    Authorship:Principal investigator 

    Grant amount:\6110000 ( Direct Cost: \4700000 、 Indirect Cost:\1410000 )

    本提案課題では、人と機械(知能機械)が身体表現の更新により神経生理的に融合させ、更にフィードバック情報を加工・操作し人の適応・認知を誘導することで、その作業能力の限界を拡張する。この人と知能機械の完全な融合を促進する操作インタフェース技術は、人支援機器の実用性を大きく左右する基幹技術であり、医療・福祉・介護のみならず、建設現場や工場における重作業支援、トレーニング、スポーツ、アミューズメントなどその活用範囲は広い。
    本年度は,異なる聴覚フィードバック状況下でアーム速度を維持・変更する操作介入を導入し,自己主体感に及ぼす影響を実験により調査した.健常な20代男性7名を被験者とし,HSRのアーム先端位置を奥行き方向のみ遠隔操作可能な状態で実施した.アーム初期位置から25cm離れた位置に設置したポールを把持可能な位置まで3秒間でアームを移動させるタスクを設定し,補正なし条件で練習後,補正あり/なし条件をランダムに変更して実験した.各条件5回,計10回を1セットとし,1条件あたり2セット実施した.比較のため,各聴覚フィードバック条件で速度変化率を7段階変更して繰り返し実験した.
    アーム操作に対する自己主体感,補正への気づきの有無を評価指標とし,補正あり/なしでの比較をした.自己主体感に関しては,各試行後に「自身の操作がロボットアームの動きに反映されていたか」という問いに対して5段階のリッカート尺度で評価を求めた.
    聴覚フィードバック無しの条件において,弱い操作介入による自己主体感への影響が小さかったのに対し,BeepまたはSurround条件は,操作介入の影響を受けやすく,強い介入条件で自己主体感が大きく低下した.これは,視覚のみでは変化に気が付きにくく,ロボットや自身の動きに対応した音によって視覚とのずれが強調されたためと考えられる.
    BeepおよびSurroundがある条件では,弱い介入では他条件よりも自己主体感の低下が大きいが,強い介入条件で最も自己主体感の低下を抑制した.この結果は,視覚刺激-聴覚刺激の同期と運動-聴覚刺激の同期が自己主体感を低下させる基準を曖昧にする可能性を示唆した.
    実験結果から,ロボットアームの動作音やコントローラ操作音の提示は,強い介入による自己主体感の低下を抑制せず,両者を同時提示する場合に強い介入による影響を低減する可能性が示された.
    令和3年度が最終年度であるため、記入しない。
    令和3年度が最終年度であるため、記入しない。

  3. Implantable device to control nerve network activation reinnervation for reconstruction of functional motion

    Grant number:19K21944  2019.6 - 2021.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Challenging Research (Exploratory)

    Hasegawa Yasuhisa

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    Authorship:Principal investigator 

    Grant amount:\6370000 ( Direct Cost: \4900000 、 Indirect Cost:\1470000 )

    In this study, a wirelessly powered multi-channel neurostimulator was developed with the purpose of applying selective FES to peripheral nerves: the peroneal nerve and the tibial nerve in a rat. The neurostimulator was designed that power could be supplied wirelessly, from a transmitter coil to a receiver coil. The receiver coil was connected to the peroneal and tibial nerves in the rat. The stimulation of the nerves was switched according to the frequency of the transmitter signal. Dorsal/plantar flexion of the rat ankle joint was selectively induced by the developed neurostimulator. The rat ankle joint angle was controlled by changing the stimulation electrode and the stimulation current using a visual feedback control system.

  4. Development of cybernetics technology based on decentralized control for paralysis treatment

    Grant number:18H04063  2018.4 - 2021.3

    Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (A)

    Hirata Hitoshi

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    Authorship:Coinvestigator(s) 

    Injuries and diseases such as spinal cord injury and amyotrophic lateral sclerosis maintain normal brain function, but extensive neurogenic muscle atrophy progresses to severe, life-threatening disorders. In this research, we are developing a cybernetics technology that achieves functional recovery to a level where independent living is possible by applying three originally developed basic technologies for such intractable paralysis.
    (1) Ganglionic induction of spinal-cord-like structures near paralyzed muscles by transplantation of neural stem cells into peripheral nerve trunks. (2) A newly developed multiple controllable implantable electrical stimulator. (3) Artificial intelligence that can predict brain control signals and control them with implicit knowledge.

  5. Flexible micro device to drive embryonic motor neurons for activity of denervated muscle

    Grant number:17K20101  2017.6 - 2019.3

    Grant-in-Aid for Challenging Research (Exploratory)

    Hasegawa Yasuhisa

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    Authorship:Principal investigator 

    Grant amount:\6500000 ( Direct Cost: \5000000 、 Indirect Cost:\1500000 )

    Recently, transplantation of embryonic motor neurons into peripheral nerve combined with Functional Electrical Stimulation (FES) has been used to restore functional muscle activity for denervated muscle after peripheral nerve injury. However, conventional electrode could not achieve multiple stimulation of nerves and stable FES for long term because scar tissue was generated around the electrode.
    In this research, a wirelessly powered neurostimulator with two electrodes was developed. The neurostimulator uses a magnetic field resonance method to supply power wirelessly from a transmitter coil to a receiver coil. The receiver coil is connected to peroneal/tibial nerves, and implanted into a rat body. Planter/dorsal flexions of rat ankle was generated by the developed neurostimulator. Flexible micro electrode was also developed to prevent scar tissue generation using a polyimide film. Insertion of fabricated micro electrode into a rat peroneal and tibial nerves was achieved.

  6. Permanent body augmentation technologies and its application for teleoperation and motion support

    Grant number:17H03205  2017.4 - 2020.3

    Hasegawa Yasuhisa

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    Authorship:Principal investigator 

    Grant amount:\17290000 ( Direct Cost: \13300000 、 Indirect Cost:\3990000 )

    In this project, technologies for permanent body augmentation have been explored from viewpoint of recognition and perception in order to mitigate limitations on system lightweighting and downsizing. This approach is based on the tool embodiment phenomena where a user could feel a tool as a part of one’s body which never feel its size and weight. We are aiming to enhance and apply acquired knowledge and technologies for the physiological affinity to teleoperation system and wearable motion assistive device control in order to make them more useful.

  7. 駆動関節を有する人工肢の身体化過程における身体表現変容因子の同定

    Grant number:17H05906  2017.4 - 2019.3

    新学術領域研究(研究領域提案型)

    長谷川 泰久

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    Authorship:Principal investigator 

    Grant amount:\9880000 ( Direct Cost: \7600000 、 Indirect Cost:\2280000 )

    本研究では,ロボット身体化において重要となる身体表現の更新を促進する要因を解明すると共に,より良いロボット操作インタフェースを開発することを目標としている.今年度は,身体表現を持たない後耳介筋を用いてロボット指を操作するための操作学習実験を行なった.まず,耳を動かすことができない被験者3名に対し,後耳介筋の随意収縮能力を獲得することを目的としたトレーニングを実施した.その結果,被検者 Aはトレーニング開始直後に左耳を動かすことが可能となったが,右耳を動かすことはできなかった.被検者Bはトレーニングを通じて向上はなかった.被検者Cはトレーニングの3セット目から右耳側の筋電位に向上が確認された.その後,左右の後耳介筋を独立して十分に動かすことができる被験者 1名に対し,後耳介筋を用いたロボット指の操作実験を行った.振動刺激を呈示した場合において,より少ない到達作業失敗回数となった(p<0.1).また,実験終了後に被検者から,振動刺激によってロボット指の位置を知覚できたとの報告が得られた.
    平成30年度が最終年度であるため、記入しない。
    平成30年度が最終年度であるため、記入しない。

  8. 駆動関節を有する人工肢の運動学習過程における身体表現変容因子の同定

    2015.4 - 2017.3

    科学研究費補助金 

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    Authorship:Principal investigator 

  9. 運動支援および感覚刺激による高次運動早期獲得技術の実現

    2014.4 - 2017.3

    科学研究費補助金  挑戦的萌芽研究

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    Authorship:Principal investigator 

  10. 神経生理的親和性向上技術による恒常的身体拡張技術に関する研究開発

    2013.4 - 2017.3

    科学研究費補助金  基盤研究(B)

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    Authorship:Principal investigator 

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Industrial property rights 3

  1. Force-sense visualization apparatus, robot, and force-sense visualization program

    Yasuhisa Hasegawa, Jun Nakanishi, Shunki Itadera, Jotaro Chiba, Fuminori Saito

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    Applicant:Yasuhisa Hasegawa, Jun Nakanishi, Shunki Itadera, Jotaro Chiba, Fuminori Saito

    Application no:US20190366548A1  Date applied:2019.5

    Announcement no:US11279037B2  Date announced:2022.3

    Patent/Registration no:US11279037B2  Date registered:2022.3 

    Country of applicant:Foreign country  

  2. Work vehicle

    Toshio Fukuda, Kosuke Sekiyama, Yasuhisa Hasegawa, Tomoya Fukukawa, Toshifumi Hiramatsu

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    Applicant:Toshio Fukuda, Kosuke Sekiyama, Yasuhisa Hasegawa, Tomoya Fukukawa, Toshifumi Hiramatsu

    Patent/Registration no:US10274963B2  Date registered:2019.4 

    Country of applicant:Domestic  

  3. 関節角の受動変化を利用して歩行するロボットとその制御方法

    土井 将弘 , 梶谷 義美,福田 敏男, 菅 敬介, 長谷川 泰久

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    Applicant:土井 将弘 , 梶谷 義美,福田 敏男, 菅 敬介, 長谷川 泰久

    Patent/Registration no:JP2006082146A  Date registered:2006.3 

    Country of applicant:Domestic  

 

Social Contribution 1

  1. 新・ひとの大学 現代編

    Role(s):Lecturer

    NHK文化センター名古屋教室  2021.5

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    Audience: General

    Type:Lecture

    「人の運動を支援するロボット」の講演

Academic Activities 1

  1. 奥三河メディカルバレープロジェクト

    2020