受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：学会誌・学術雑誌による顕彰  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：シンガポール共和国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国内学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞  受賞国：日本国

受賞区分：国際学会・会議・シンポジウム等の賞 

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本ロボット学会  

DOI： 10.7210/jrsj.41.322

CiNii Research

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Micromachines  

Bioactuators have been developed in many studies in the recent decade for actuators of micro-biorobots. However, bioactuators have not shown the same power as animal muscles. Centrifugal force was used in this study to increase the cell density of cultured muscle cells that make up the bioactuator. The effect of the centrifugal force on cells in the matrix gel before curing was investigated, and the optimal centrifugal force was identified to be around 450× g. The compressed modular bioactuator (C-MBA) fabricated in this study exhibited 1.71 times higher cell density than the conventional method. In addition, the contractile force per unit cross-sectional area was 1.88 times higher. The proposed method will contribute to new bioactuators with the same power as living muscles in animals.

DOI： 10.3390/mi13101725

Scopus

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Sensors  

A wirelessly powered four-channel neurostimulator was developed for applying selective Functional Electrical Stimulation (FES) to four peripheral nerves to control the ankle and knee joints of a rat. The power of the neurostimulator was wirelessly supplied from a transmitter device, and the four nerves were connected to the receiver device, which controlled the ankle and knee joints in the rat. The receiver device had functions to detect the frequency of the transmitter signal from the transmitter coil. The stimulation site of the nerves was selected according to the frequency of the transmitter signal. The rat toe position was controlled by changing the angles of the ankle and knee joints. The joint angles were controlled by the stimulation current applied to each nerve independently. The stimulation currents were adjusted by the Proportional Integral Differential (PID) and feed-forward control method through a visual feedback control system, and the walking trajectory of a rat’s hind leg was reconstructed. This study contributes to controlling the multiple joints of a leg and reconstructing functional motions such as walking using the robotic control technology.

DOI： 10.3390/s22197198

Scopus

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE Transactions on Medical Robotics and Bionics  

When performing polymerase chain reaction testing, collecting nasopharyngeal swabs from patients is necessary. Hence, the development of a noncontact specimen collection system is desired to avoid the risk of secondary infection from direct contact between the medical personnel and patients. This study aims to develop a master-follower-type remote specimen collection system to achieve infection protection through adequate isolation. A teleoperated robot is used for specimen collection work instead of a human; the teleoperated robot moves remotely, and a cotton swab is grasped and inserted into the nostril by the robot. A remote center of motion (RCM) mechanism was implemented to prevent the cotton swabs from making excessive contact with the nostril during specimen collection. Further, a variable RCM constraint that combines safety and operability is proposed as the conventional RCM control modification. The evaluation results indicated that the variable RCM restraint allowed a quicker and safer collection of specimens than the conventional RCM constraint.

DOI： 10.1109/TMRB.2022.3176100

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：International Journal of Molecular Sciences  

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

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Sensors  

This study proposes a visual sensing system to investigate the self-propelled motions of droplets. In the visual sensing of self-propelled droplets, large field-of-view and high-resolution images are both required to investigate the behaviors of multiple droplets as well as chemical reactions in the droplets. Therefore, we developed a view-expansive microscope system using a color camera head to investigate these chemical reactions; in the system, we implemented an image processing algorithm to detect the behaviors of droplets over a large field of view. We conducted motion tracking and color identification experiments on the self-propelled droplets to verify the effectiveness of the proposed system. The experimental results demonstrate that the proposed system is able to detect the location and color of each self-propelled droplet in a large-area image.

DOI： 10.3390/s22166309

Scopus

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

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

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Proceedings - IEEE International Conference on Robotics and Automation  

In this paper, we fabricated a soft sensor based on PEDOT:PSS for thin film structure. The developed soft sensor can measure the contraction force at real time to be embedded in a modular bio-actuator [1]. The modular actuator generated contraction forces at 0.3 mN when applying electric pulse stimulation. To measure millinewton contraction forces and make a built in sensor, we fabricated a soft sensor using PEDOT:PSS-PDMS film. To verify that the sensor can measure the force of the actuator and can be integrated to the actuator, we analyzed characteristic of the sensor. First, we measure Young's modulus of the sensor and compare them with the bio-actuator. From the previous research [2], the Young's modulus of the bio-actuator and sensor were 45.8 kPa and 165 kPa, respectively. In addition, we simulated the sensors to estimate the change of the displacement according to the applied force. Next, we have experiments by stretching sensors using stepping motor to measure the resistance change of the sensor. From the simulation data, the displacement change is 23 μm when applying 0.3 mN of forces and then we detect the displacement change smaller than is 20 μm from the experiments. Finally, we analyzed the movement of the bio-actuator when applying stimulation using high speed camera and time response of the developed sensor. The actuator was contracted to the maximum after 150 ms from the electrical stimulation and the sensor detected the repeated motion at 10 Hz without time delay. As a result, the proposed sensor can measure the force of bioactuator at real time.

DOI： 10.1109/ICRA46639.2022.9811795

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE Transactions on Neural Systems and Rehabilitation Engineering  

Gait analysis and evaluation are vital for disease diagnosis and rehabilitation. Current gait analysis technologies require wearable devices or high-resolution vision systems within a limited usage space. To facilitate gait analysis and quantitative walking-ability evaluation in daily environments without using wearable devices, a mobile gait analysis and evaluation system is proposed based on a cane robot. Two laser range finders (LRFs) are mounted to obtain the leg motion data. An effective high-dimensional Takagi-Sugeno-Kang (HTSK) fuzzy system, which is suitable for high-dimensional data by solving the saturation problem caused by softmax function in defuzzification, is proposed to recognize the walking states using only the motion data acquired from LRFs. The gait spatial-temporal parameters are then extracted based on the gait cycle segmented by different walking states. Besides, a quantitative walking-ability evaluation index is proposed in terms of the conventional Tinetti scale. The plantar pressure sensing system records the walking states to label training data sets. Experiments were conducted with seven healthy subjects and four patients. Compared with five classical classification algorithms, the proposed method achieves the average accuracy rate of 96.57%, which is improved more than 10%, compared with conventional Takagi-Sugeno-Kang (TSK) fuzzy system. Compared with the gait parameters extracted by the motion capture system OptiTrack, the average errors of step length and gait cycle are only 0.02 m and 1.23 s, respectively. The comparison between the evaluation results of the robot system and the scores given by the physician also validates that the proposed method can effectively evaluate the walking ability.

DOI： 10.1109/TNSRE.2022.3213823

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.2p1-t10

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.1a1-t02

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.2p1-l04

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.2a1-n05

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.2p2-n04

CiNii Research

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE International Conference on Intelligent Robots and Systems  

In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many researchers have been trying to solve pivoting problems using mathematical modeling or learning-based approaches, the problems remain as open challenges. On the other hand, humans perform in-hand manipulation with remarkable precision and speed. Hence, the solution could be provided by making full use of this intrinsic human skill through dexterous teleoperation. For dexterous teleoperation to be successful, interfaces that enhance and complement haptic feedback are of great necessity. In this paper, we propose a cutaneous feedback interface that complements the somatosensory information humans rely on when performing dexterous skills. The interface is designed based on five-bar link mechanisms and provides two contact points in the index finger and thumb for cutaneous feedback. By integrating the interface with a commercially available haptic device, the system can display information such as grasping force, shear force, friction, and grasped object's pose. Passive pivoting tasks inside a numerical simulator Isaac Sim is conducted to evaluate the effect of the proposed cutaneous feedback interface.

DOI： 10.1109/IROS47612.2022.9982247

Scopus

担当区分：最終著者   記述言語：英語   掲載種別：学位論文（その他）  

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.3390/mi12040379

Scopus

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/LRA.2021.3067857

Scopus

担当区分：最終著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Robotics  

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

DOI： 10.3390/robotics10010027

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Advanced Robotics  

In this paper, we address sequential mobility assistance for daily elderly care through physical human–robot interaction. The goal of this work is to develop a robotic assistive system to provide physical support in daily life such as movement transition, e.g. sit-to-stand and walking. Using a mobile human support robotic platform, we propose an unsupervised learning-based approach to providing desirable physical support through an adaptive impedance parameter selection strategy according to the recognized user's movement state in an online manner. Using a latent generative model with a long short-term memory-based variational autoencoder, we first estimate the probability of the user's current movement state based on the sensory information in a low dimensional latent space. Then, the desired impedance parameters are selected adaptively according to the estimated movement state. One of the benefits of such an unsupervised learning approach is that no labeling is necessary in the training phase. Furthermore, our proposed framework is capable of detecting possible novel states such as falling over based on the obtained latent space. In order to demonstrate the proof of concept of our proposed approach, we present the experimental results of performance evaluations of online movement state recognition as well as novel movement detection.

DOI： 10.1080/01691864.2020.1844797

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE/ASME Transactions on Mechatronics  

Assisting and supervising daily long-durational walking is very crucial for patients with lower extremity dysfunction, especially in the stage of recovery towards a state of walking independently. However, due to the shortage of caregivers and high-cost of nursing, long-term manual assistance and supervision is costly. Thus, in this paper, we propose a cane-type walking-aid robot to follow a human user for the safety and supervision of independent walking during rehabilitation training. Strongly motivated by clinical suggestions and user experiences, the human-following rule that the robot should follow the user in the required position within a fixed relative posture (keeping a certain distance in front of the user, 15-20 cm lateral to the healthy side, and 0 to the user's orientation) is established. To guarantee a reliable following, a quantitative human walking intention estimation method is proposed using the on-board Laser Ranger Finder (LRF) and Kalman Filter (KF). To effectively monitor the user's walking, a finite-time control method for the cane robot is also proposed to ensure its human-following performance. Experiments were conducted to demonstrate the effectiveness of the proposed system and methods. The experimental results show that the proposed system can obtain satisfactory performance of human-following and can be made available for different users in different walking modes.

DOI： 10.1109/TMECH.2021.3068138

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本ロボット学会  

<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

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Proceedings - IEEE International Conference on Robotics and Automation  

Microinjection technology is applied widely in biomedical research for the purposes of gene manipulation and microinsemination. Generally, microinjection is performed under an optical microscope environment through image presentation of the targets. To perform the microinjection process, it is necessary to place multiple cells in the same droplet and perform multiple injections. This process requires observation at different magnifications for the injection and embryo transfer processes, with the operator required to change the magnification and light intensity each time. The complexity of the process can lead to variations in the accuracy, reproducibility, and productivity of the course of multiple microinjections. To simplify the microinjection process and reduce the workload on the operator, we propose a micromanipulation system that enables both wide-range and high-resolution video shooting with free viewpoint selection. The effectiveness of the proposed system is verified through microinjection experiments using porcine embryos.

DOI： 10.1109/ICRA48506.2021.9562106

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics  

Adjustable autonomy is an attractive paradigm to deploy autonomous robots that require occasional interaction with humans or partner robots. In multi-robot applications, autonomy levels such as teleoperation and fully autonomous are extended to team levels, and depending on the task might have complex hierarchical relations.This paper presents a preliminary work on multi-robot coordination strategy based on evaluating the robot's level of autonomy. With appropriate assumptions, choosing the level of autonomy can be interpreted as a cooperative planning problem. To this end, we propose to encode the robot's task and motion plans as a Behavior Tree (BT) to monitor the execution and react to external disturbances. Our approach combines an informative path planning with BT synthesis to obtain a plan that allows a robot to explore and act depending on the uncertainty in an environment representation. We demonstrate how a robot can switch between the single and cooperative execution depending on the exploration's outcome in a navigation among movable objects scenario.

DOI： 10.1109/SMC52423.2021.9658838

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Proceedings - IEEE International Conference on Robotics and Automation  

In spite of recent high attention of the biohybrid robot system, the previous researches focused on actuation system depend on simple on/off control without feedback control. To solve this problem, we proposed a soft sensor for feedback control of a bio-actuator driven by skeletal muscle. The proposed soft sensor can measure contraction forces of the proposed bio-actuator [1]. The bio-actuator was constructed with tendon structure and culture template made by polydimethylsiloxane (PDMS). It generated contraction forces at 0.3 mN when applying electrical stimulation. To measure that kind of small amount of contraction forces (0.3 mN), we fabricated a soft sensor using liquid metal, Galinstan, and HTV-2000. At first, we measured the Young's modulus of the bioactuator and sensor and then fabricated the soft sensor having 68.52 kPa of Young's modulus that is similar the bioactuator (45.8 kPa). Next, we simulated the sensor to estimate the resistance change according to the applied force. Since the resistance change is too small, we design the circuit to amplify the signal. Then, we detect very small resistance at milli-ohm. In addition, we analyzed time response to detect signal of actuator faster than 200 ms. As a result, the proposed sensor can measure the force of bioactuator without time delay.

DOI： 10.1109/ICRA48506.2021.9560817

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Applied Sciences (Switzerland)  

In this study, new artificial dura-mater models were developed using a multilayered structure of a rubber material (represent an elastic component of a dura-mater) and a fiber sheet (represent fiber component of a dura-mater). The artificial dura-mater models were prepared for use in a brain surgery simulator, especially for transnasal pituitary surgery. The mechanical characteristics of the artificial dura-mater models were tested to check the similarities with porcine dura-mater. Tensile stress, viscoelasticity, and the cutting force generated by microscissors were tested to evaluate the fabricated models. Neurosurgeons also assessed the dura-mater models to evaluate their characteristics. The results indicate that these models made of two different non-woven fiber sheets emulated accurately the actual dura-mater.

DOI： 10.3390/app10249000

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

The currently available exoskeleton for assisting the paraplegic patient in walking usually adapts a pre-programmed gait that involves the patient following an exoskeleton lead. The system allows the patient to hold a pair of canes in order to keep balance, and does not contribute to keeping balance without the patient’s action. This paper proposes an algorithm based on the zero moment point (ZMP) to modify the gait generated through human walking synergy for paraplegic patients who make use of the exoskeleton system and hold their canes. The proposed ZMP will enable the paraplegic patient to keep balance during walking and also reduce the burden in maintaining balance. First, a pair of cane is used as an interface to control the user’s walking and then, the synergy between legs and canes is used to synchronize the user’s walking intention during the exoskeleton movement. The walking synergy is extracted from the able-bodied subject walking with a pair of canes and analyzed using principal component analysis (PCA). In order to improve the walking stability, the hip joint angle on stance leg during walking was modified based on ZMP. Furthermore, a nonlinear inverted pendulum (NIP) model was utilized in order to generate a gait with a fully stretched knee joint angle that is similar to human gait. The proposed method was verified via the Gazebo simulation using a walking robot to simulate a patient wearing an exoskeleton. The experiment results show that the walking stability was highly improved after gait modification.

DOI： 10.1186/s40648-020-00169-y

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE International Conference on Intelligent Robots and Systems  

In this paper, we have constructed actively perfusable multiple hepatic lobule-like vascular networks in a 3D cellular structure by using magnetic tweezers. Without well-organized channel networks, cells in a large 3D tissue cannot receive nutrients and oxygen from the channel, and therefore, the cells will be dead after few days. To construct well-organized channel networks, we fabricated a hepatic lobule like vascular networks by using magnetic fields in our previous works [1], [2]. However, the size of the hepatic lobule like vascular network was more than five times larger than real hepatic tissue. To improve the previous research, we have proposed several things. First, we have constructed the vascular network having similar size of the real thing in this step. Second, we have cultured the constructed structure for a long-time (more than two weeks) to verify the biocompatible condition. Third, we assemble the constructed hepatic tissues to make a large size of organ, liver. Finally, an actively perfusable system have been adopted to implement a bioreactor system by adding micro pump.

DOI： 10.1109/IROS45743.2020.9341012

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Advanced Robotics  

This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated whole-body motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement.

DOI： 10.1080/01691864.2020.1813623

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Biomedical Materials (Bristol)  

In this study, we developed a procedure for assembling hepatic microstructures into tube shapes using magnetic self-assembly for in vitro 3D micro-tissue fabrication. To this end, biocompatible hydrogels, which have a toroidal shape, were made using the micro-patterned electrodeposition method. Ferrite particles were used to coat the fabricated toroidal hydrogel microcapsules using a poly-L-lysine membrane. The microcapsules were then magnetized with a 3 T magnetic field, and assembled using a magnetic self-assembly process. During electrodeposition, hepatic cells were trapped inside the microcapsules, and they were cultured to construct tissue-like structures. The magnetized toroidal microstructures then automatically assembled to form tube structures. Shaking was used to enhance the assembly process, and the shaking speed was experimentally optimized to achieve the high-speed assembly of longer tube structures. The flow velocity inside the dish during shaking was measured by particle image velocimetry. Hepatic functions were evaluated to check for side-effects of the magnetized ferrite particles on the microstructures. Collectively, our findings indicated that the developed method can achieve the high-speed assembly of a large number of microstructures to form tissue-like hepatic structures.

DOI： 10.1088/1748-605X/ab8487

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE/ASME Transactions on Mechatronics  

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

DOI： 10.1109/TMECH.2020.2997041

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Applied Sciences (Switzerland)  

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

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Sensors (Switzerland)  

Peripheral nerve disconnections cause severe muscle atrophy and consequently, paralysis of limbs. Reinnervation of denervated muscle by transplanting motor neurons and applying Functional Electrical Stimulation (FES) onto peripheral nerves is an important procedure for preventing irreversible degeneration of muscle tissues. After the reinnervation of denervated muscles, multiple peripheral nerves should be stimulated independently to control joint motion and reconstruct functional movements of limbs by the FES. In this study, a wirelessly powered two-channel neurostimulator was developed with the purpose of applying selective FES to two peripheral nerves—the peroneal nerve and the tibial nerve in a rat. The neurostimulator was designed in such a way that power could be supplied wirelessly, from a transmitter coil to a receiver coil. The receiver coil was connected, in turn, to the peroneal and tibial nerves in the rat. The receiver circuit had a low pass filter to allow detection of the frequency of the transmitter signal. 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, based on the Proportional Integral (PI) control method using a visual feedback control system. This study was aimed at controlling the leg motion by stimulating the peripheral nerves using the neurostimulator.

DOI： 10.3390/s20082210

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Sensors (Switzerland)  

In recent years, the use of microinjections has increased in life science and biotechnology fields; specific examples include artificial insemination and gene manipulation. Microinjections are mainly performed based on visual information; thus, the operator needs high-level skill because of the narrowness of the visual field. Additionally, microinjections are performed as the operator views a microscopic image on a display; the position of the display requires the operator to maintain an awkward posture throughout the procedure. In this study, we developed a microscopic image display apparatus for microinjections based on a view-expansive microscope. The prototype of the view-expansive microscope has problems related to the variations in brightness and focal blur that accompany changes in the optical path length and amount of reflected light. Therefore, we propose the use of a variable-focus device to expand the visual field and thus circumvent the above-mentioned problems. We evaluated the observable area of the system using this variable-focus device. We confirmed that the observable area is 261.4 and 13.9 times larger than that of a normal microscope and conventional view-expansive microscopic system, respectively. Finally, observations of mouse embryos were carried out by using the developed system. We confirmed that the microscopic images can be displayed on a head-mounted display in real time with the desired point and field sizes.

DOI： 10.3390/s20071967

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE Robotics and Automation Letters  

Robotic teleoperation with force feedback has been studied extensively since it was first developed in the 1940 s. Time delay is a common problem of bilateral teleoperation systems. Although many efforts on optimizing the control architectures have been made, there is always a trade-off between transparency and stability for bilateral systems, and the perfect transparency and stability can only be achieved simultaneously in ideal situations. In this letter, we propose a novel approach to compensate for the degraded transparency while using the conventional passivity-based approach to maintain system stability under time-delay. The proposed approach is based on visual feedback and enhances the transparency by displaying different kinds of onomatopoeia according to contact force detected on the slave side. The basic performance is evaluated by conducting a stiffness classification task under constant round trip time delays (0 ms, 500 ms and 1000 ms). The preliminary results indicate that the subjects have higher accuracy for classifying the stiffness of a remote object by using onomatopoeia enhanced force feedback compared with the conventional passivity-based position-force feedback.

DOI： 10.1109/LRA.2020.2972896

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Journal of Functional Biomaterials  

We developed a procedure for fabricating movable biological cell structures using biodegradable materials on a microfluidic chip. A photo-cross-linkable biodegradable hydrogel gelatin methacrylate (GelMA) was used to fabricate arbitrary microstructure shapes under a microscope using patterned ultraviolet light. The GelMA microstructures were movable inside the microfluidic channel after applying a hydrophobic coating material. The fabricated microstructures were self-assembled inside the microfluidic chip using our method of fluid forcing. The synthesis procedure of GelMA was optimized by changing the dialysis temperature, which kept the GelMA at a suitable pH for cell culture. RLC-18 rat liver cells (Riken BioResource Research Center, Tsukuba, Japan) were cultured inside the GelMA and on the GelMA microstructures to check cell growth. The cells were then stretched for 1 day in the cell culture and grew well on the GelMA microstructures. However, they did not grow well inside the GelMA microstructures. The GelMA microstructures were partially dissolved after 4 days of cell culture because of their biodegradability after the cells were placed on the microstructures. The results indicated that the proposed procedure used to fabricate cell structures using GelMA can be used as a building block to assemble three-dimensional tissue-like cell structures in vitro inside microfluidic devices.

DOI： 10.3390/jfb11010018

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE/ASME Transactions on Mechatronics  

Without perfusable vascular networks, 3-D tissues populated with cells cannot maintain a living condition. To construct 3-D tissues, a well-organized vascular network is required. In this article, a method for constructing a hepatic-lobule-like vascular network in a 3-D cellular structure by using magnetic fields is employed. To realize channel networks that mimic the hepatic lobule, steel rods and magnetic fibers were utilized as a sacrificial mold in fibrin gel. The steel rods and fibers were connected by magnetic fields using magnetic tweezers. In our previous work 'Construction of hepatic lobule-like vascular network by using magnetic fields' (Int. Conf. Robot. Autom., 2018, pp. 2688-2693), the tweezers were designed by 2-D simulation data. In addition, a 3-D cellular structure without a channel network was only cultured. New tweezers were designed based on 3-D simulation data to generate higher magnetic fields than the former tweezer. In addition, a tissue with the 3-D channel network was cultured for a week. To verify that the channel network can supply the nutrients to the cells in tissues, the viability of the cells located on the structure was analyzed. The cells close to the channel network show a higher cell viability than the cells far from the channel network.

DOI： 10.1109/TMECH.2019.2957494

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Robotics and Autonomous Systems  

In this paper, we investigate an effective control strategy for a cane-type assistive mobile robot toward clinical gait training. Assistive robots are expected to provide aid in order to reduce the burden of caregivers and physical therapists, e.g., in gait rehabilitation of elderly people. Our group has been developing a series of cane-type walking assistive robots named Intelligent Cane as a mobile hand-holding device based on admittance control to provide safe and efficient gait training. This paper explores a systematic design methodology of the admittance control model in order to provide suitable walking load during gait training. We first conduct a pilot experiment to investigate the relationship between the physiological cost of user's walking and the coefficients in the admittance control model of the cane robot. Then, we present a clinical gait training study conducted in a hospital to evaluate the feasibility in practical use of the proposed control strategy of our cane robot in gait rehabilitation. These experimental results suggest the effectiveness of the proposed gait rehabilitation strategy with our robot.

DOI： 10.1016/j.robot.2019.103326

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：21st International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2017  

Various liver tissue engineering approaches are currently under development in applications ranging from artificial liver organ transplantation to cell-based therapies. Most of them rely on the ability to encapsulate hepatocytes in three-dimensional (3D) scaffolds. Alginate cell-containing hydrogel has shown great potentials for the application of stem cell study, drug release, 3D cell culture and in vitro mimic of tissue structures or organs. We proposed a novel approach to fabricate the Ca-alginate gel sheet embedded liver cells to mimic the liver lobule tissue. Ca-alginate sheet with hepatic lobule shaped pattern was firstly deposited on a micro-electrode device based on the electrodeposition method.

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2020.2p2-f13

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

Recently, wearable extra robotic limbs that aim to enhance the functionality and capability of human operators as extra arms or fingers have become an active research subject among robotics researchers. Improving the operability of the extra robotic limbs is required for the human operators, an approach for which is to induce robotic embodiment. In this paper, we focus on the update of sense of self-location which is the key aspect of embodiment and contributes to the body representation update, and we elucidate dominant factors which induce the embodiment of an extra robotic thumb (ERT). The experiments are conducted to compare the performance of the reaching task of the ERT under three separately given conditions, of which two are somatosensory feedbacks: (1) tactile and position feedback from the fingertips and (2) tactile and position feedback from the human face, and one is a non-somatosensory feedback: (3) auditory feedback. As a result, we confirmed that the somatosensory feedback from finger tips has a large contribution for the update of sense of self-location.

DOI： 10.1186/s40648-019-0135-0

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

This paper reports negative effects on runner’s motions which are supported by an exoskeleton attached to his/her lower limbs. A wearable assistive device has generally been developed to support motions of a wearer, while the device may disturb wearer’s motions due to physical features, including expanded his/her body outline and device’s weight. The expanded outline can exert adverse influence that limits range of motion of a wearer. In this paper, we focus on lower limb motions of a runner who puts an exoskeleton on his/her lower limbs to receive physical assistance. We simulated influence of medial parts of the exoskeleton on running through experiments with seven runners wearing one of three couples of rectangular-shaped light blocks (10 mm, 20 mm or 30 mm in thickness) on the medial sides of both thighs. These blocks increased step width but the 30 mm-thick blocks only increased net running heat rates by 6.05 bpm compared with that of running without blocks. This result shows that a wearable device which is equipped with components less than 20 mm-thick on each medial part of a runner’s thigh has little detrimental effects on running motions.

DOI： 10.1186/s40648-019-0136-z

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

In this paper, toward robotic gait assistance, we investigate the feasibility of a cane-type assistive mobile robot accompanying the user autonomously through a clinical pilot experiment. As widely known, gait ability is important for all people to keep their quality of life. However, for people having weakened lower limbs such as elderly people, their postural sway during walking could be insuppressible and cause falling. To support the gait motion of elderly people, our group has been developing a series of hand-holding cane robots named Intelligent Cane. Such assistive robots are expected to remove barriers to the independent lives of elderly people. Recently, we have focused on the potential of a companion robot that follows the user ahead and can be touched or grasped for bracing whenever the user needs it. In order to demonstrate proof of our concept through an experiment with a motion capture system, we propose a user companion strategy that enables our cane robot to keep a constant relative distance between the robot and the user walking on a treadmill. We evaluate the accuracy of the user companion in an experiment where a user walks on a treadmill. Then, we conduct a clinical experiment with three healthy subjects walking on with the treadmill with our cane robot as a pilot study. Through the clinical experiment, we evaluate a postural stabilization effect of physical interaction with the robot and discuss the feasibility of our robotic gait assistance methodology.

DOI： 10.1186/s40648-019-0145-y

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science  

This paper develops a three-dimensional view-expansive microscope that not only expands the two-dimensional field of observation but also expands the depth of focus. The photographable area of the developed system is approximately 111 times larger than the corresponding area available in a normal microscope. The effectiveness of the developed system is evaluated via view-expansive video shooting experiments of micro beads on a slide grass.

DOI： 10.1109/MHS48134.2019.9249300

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science  

A flower stick rotation manipulation scheme that does not require high-speed robotic motion is studied. We experimentally achieved flower stick rotation using a robotic arm based on the proposed manipulation scheme. The experimental results confirmed that the maximum robotic velocity of the proposed approach is 11.2% lower than that of the previous method.

DOI： 10.1109/MHS48134.2019.9249358

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE Robotics and Automation Letters  

In this letter, we introduce our approach to walking assistance for elderly adults through predictive optimization of gait assistive force. We focus on providing supportive interaction force to the user during walking with a robotic assistive device with an admittance controlled mobile base. Appropriate physical human-robot interaction (pHRI) could be beneficial in reducing the risk associated with immobility such as disuse syndrome by encouraging physical activities with proper assistance. We propose an optimization algorithm based on a model predictive control approach in order to provide desirable assistive forces according to the estimated user's state during walking. Using a simplified human gait model with a linear inverted pendulum, we formulate the optimization of the assistive forces as a linear quadratic programming problem that can be suitable for real-time pHRI. Numerical simulations and experimental results demonstrate the feasibility of our gait support strategy in achieving appropriate compliant interactions during walking, fall prevention, and suitable positioning for user companion.

DOI： 10.1109/LRA.2019.2928770

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Nonlinear Dynamics  

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

DOI： 10.1007/s11071-019-05097-0

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Advanced Robotics  

Robot rehabilitation is now recognized as an important method for the efficient recovery. In European Project FP7 BioMot, we have discussed the potential of the robot rehabilitation and proposed the suitable process for it. In this paper, we describe the proposed rehabilitation process and create the theoretical basis for the robot rehabilitation through designing the control system and the patient model. To design the patient model, we describe the source of paralysis and motion controller separately and define the recovery function from the paralysis. In the theoretical analysis of the control system, we show that the robot motions are first adapted to the patient abnormal motions and gradually drive the patient motions to the better ones by the motion support. The singular perturbation analysis proves that the stabilities of the two different process, adaptation to the patient motions and the motion support to the better ones, as a slow motion subsystem and a fast motion subsystem, respectively. The simulation results show that the proposed control system can drive the patients to the better state depending on the patient conditions such as recovery speed and recovery potential. The proposed system can be tuned to fit to the variety of the real patient conditions when we apply it to the real applications.

DOI： 10.1080/01691864.2019.1633402

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1186/s406480190136z

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM  

We herein propose a view-expansive target tracking microscope which can simultaneously observe large areas around the multiple target objects. We developed a view-expansive microscopic tracking system with a galvanometer mirror, a microscope, and a high-speed vision. The proposed microscopic tracking system can simultaneously track a microobject and observe its surrounding area of 1,280 μm × 256 μm, which is five times larger than the visual field of a conventional microscope with a 20× objective lens. In addition, the system can simultaneously track multiple target objects at different positions based on the quick movement of the viewpoint through a galvanometer mirror. The effectiveness of the view-expansive microscopic tracking system is verified tracking experiments of a paramecium and two paramecia, and imaging of their surroundings.

DOI： 10.1109/AIM.2019.8868726

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Advanced Robotics  

Extra robotic limbs in a robotic system that are designed to augment and expand human abilities have received attention in the field of wearable robotics. We aim to develop a robotic system that is controlled by body parts that are not used on a daily basis in order to augment and expand human abilities. This paper presents operational learning experiments for manipulating a robotic thumb using the posterior auricular muscle, a body part that is not used in everyday life. In these experiments, reaching motions were executed using sensory feedback in the robotic thumb through a device that continuously displays its position. The experimental results indicate the proposed operational learning experiments improve the ability to contract the posterior auricular muscles. In addition, the results indicate the operability of a robotic thumb could be improved by acquiring internal models through repetitive operational learning.

DOI： 10.1080/01691864.2019.1566090

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2019.2p2-r02

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

In recent years, there has been great interest in the possibility of using artificial limbs as an extension of the human body as well as replacement of lost limbs. In this paper, we develop a sixth finger system as an extension of the human body. We then investigate how an extra robotic thumb, that works as a sixth finger and gives somatosensory feedback to the user, modifies the body schema, and also affecting the self-perception of existing limbs. The sixth robotic finger is controlled with the thumb of the opposite hand, and contact information is conveyed via electrostimulation to the tip of the thumb controlling the movement. We conducted reaching task experiments with and without visual information to evaluate the level of embodiment of the sixth robotic finger and the modification of the self-perception of the finger controlling the system. The experimental results indicate that not only the sixth finger is incorporated into the body schema of the user, but also the body schema of the controlling finger is modified; ability of the brain to adapt to different scenarios and geometries of the body is also implied.

DOI： 10.1186/s40648-018-0100-3

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

This paper addresses a reference gait speed generator for limit-cycle-based bipedal gait of humanoid robots in order to achieve secure and efficient acceleration and deceleration without falling down at respective gait speeds. The reference gait speed generator is hard to be developed by analytical approaches due to the necessity of barren work for identifying the respective basins of attraction. We challenge this issue by designing virtual dynamics among a robot, a virtual leader point, and a goal, and adapting it according to a falling risk of the robot. The virtual dynamics, which has settling and acceleration times as design parameters, gives the reference speeds derived from states of the robot and the leader point to a gait speeds controller. In the dynamics, the robot’s mass is optimized virtually to maximize efficiency while ensuring stability stochastically by using a selection algorithm for locomotion. Even when there were obstacles or an up slope in traveling courses of simulations, the robot achieved the autonomous traveling from the start to the goal securely. Specific resistance was also kept small in comparison with local-stability-based walking. The proposed method makes the limit-cycle-based bipedal gait more practical and contributes toward replacing the major method that ensures stability of every step.

DOI： 10.1186/s40648-018-0115-9

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science  

This paper presents experimental evaluation of a haptic visualization interface in robot teleoperation. In the proposed interface, we visually provide a user with a sense of haptic feedback using onomatopoeia, a word that represents a sound. A suitable choice of onomatopoeia for describing the contact state is presented on a head mounted display of the operator. We present experimental results of a stiffness discrimination task of an object in contact in an occluded environment. The results demonstrate the effectiveness of the proposed method in comparison to other modalities such as vibration feedback and contact force visualization with a bar graph.

DOI： 10.1109/MHS.2018.8886983

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：World Automation Congress Proceedings  

This paper proposes a wearable robotic system to support a subject moving his fingers actively or passively in high electromagnetic field. We design a hand exoskeleton with 8 active degrees of freedom for finger tapping movement, which consists of four exoskeletal fingers excluding a thumb. In order to be compatible with MRI environment, the robot is fabricated with nonmagnetic materials through 3D printing and pneumatic actuators are applied to generate joint torques of the exoskeleton for finger movements. Potentiometers are mounted on the MP and PIP joints of four fingers to measure angles and angular velocity of joints. Some measurement experiments are conducted to evaluate the performance of the exoskeleton, including flexion range, time delay, working pressure and tapping frequency. Finally, we confirmed the compatibility of the exoskeleton in MRI environment through measurement experiments of a subject's brain activity. In the future, we will design an experiment to study a specified reorganization area of human brain to help researchers to understand how the motor function is regenerated from point of neuroscience.

DOI： 10.23919/WAC.2018.8430300

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Journal of Mechanisms and Robotics  

The research and development of powered exoskeletons is expected to support the walking of paraplegic patients. At the current stage, exoskeletons do not allow patients to voluntarily control their gait, nor do they provide sensory feedback to compensate for the loss of lower-body sensation. This paper proposes a wearable walking control interface to achieve voluntary gait control, and an electrical stimulation method to inform the patients about their foot position for voluntary gait control. In this study, a walking robot that simulated a paraplegic patient wearing an exoskeleton was used to investigate the performance of the proposed interface and stimulation method. We confirmed that, by using the interface, the subjects were able to control the robot gait for a distance of 3 m. Moreover, the accuracy of the electrical stimulation feedback was confirmed to approximate the visual feedback achieved through the human eyes. The experimental results revealed that the proposed interface and electrical stimulation feedback could be applied to a walking support system for patients with complete paraplegia.

DOI： 10.1115/1.4040354

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.3389/fnbot2018.00043

Web of Science

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Robotics and Autonomous Systems  

This paper addresses “unified bipedal gait” control, which autonomously selects the energy-minimized gait from walking and running at any feasible gait speeds. Humans select walking/running at low/high speed in pursuit of energy minimization and transition between them naturally. Despite the quite different behaviors of walking and running, human gaits share an inherent controller. The unified bipedal gait uses the inherent controller, which implements passive dynamic autonomous control (PDAC) based on a damping and spring-loaded inverted pendulum (D-SLIP) model. Although this D-SLIP could cause chaotic motions, compliance in the D-SLIP dynamics switches behaviors between walking and running, that is, low/high compliant legs for walking/running. This property is employed by the virtual holonomic constraint of the PDAC to extract the required characteristics of walking/running from the D-SLIP dynamics while restraining the chaotic motions for asymptotic stability. As a result, the unified bipedal gait bifurcates to walking and running via autonomous transition to minimize energy cost at any feasible gait speeds.

DOI： 10.1016/j.robot.2018.02.005

Web of Science

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Journal of the Endocrine Society  

Context: Immune checkpoint inhibitors, including anti-programmed cell death-1 (PD-1) antibodies, have become promising treatments for a variety of advanced malignancies. However, these medicines can cause immune-related adverse events (irAEs), including endocrinopathies. Objective: This study examined the incidence of endocrine irAEs induced by nivolumab. Patients and Main Outcome Measured: Sixty-six patients treated with nivolumab at Nagoya University Hospital were prospectively evaluated for pituitary hormones, thyroid function, antithyroid antibodies (Abs), and glucose levels every 6 weeks after the initiation of nivolumab for 24 weeks. Results: Four out of 66 patients developed destructive thyroiditis, and three patients developed hypothyroidism requiring levothyroxine replacement. The prevalence of positive anti-thyroglobulin Abs (TgAbs) and/or anti-thyroid peroxidaseAbs (TPOAbs) at baselinewas significantly higher in the group that developed destructive thyroiditis (3/4) compared with the group that did not develop thyroiditis (3/62; P = 0.002). There were no significant differences in other clinical variables between the groups. There were no endocrine irAEs other than destructive thyroiditis during the 24 weeks. The prevalence of TgAbs and/or TPOAbs at baseline was not associated with the development of other irAEs, including pneumonitis, colitis, or skin reactions. Conclusions: Our real-world data showed that destructive thyroiditis was an endocrine irAE that was frequently induced by nivolumab and was significantly associated with positive TgAbs and/or TPOAbs before treatment. Our findings indicate that evaluating these Abs before treatment may help identify patients with a high risk of thyroidal irAEs and may have important clinical benefit.

DOI： 10.1210/JS.2017-00432

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science  

This study proposes a real-time video shooting system using a view-expanded microscope. The proposed system composed of a microscope, a galvanometer mirror and a high-speed vision system is capable of obtaining a 16,000×2,000 pixel microscopic image in real time at 25 fps by combining multiple visual fields. The effectiveness of our system is demonstrated through video shooting experiments of moving sea urchin embryos in a microchannel.

DOI： 10.1109/MHS.2017.8305257

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Biomedical Materials (Bristol)  

Artificial cell sheets are commonly utilized as buiding blocks for tissue engineering. We propose a novel approach in the fabrication of Ca-alginate gel sheets, embedded with liver cells (RLC-18) in order to mimic liver lobule tissue. Ca-alginate sheets with hepatic lobule-shaped patterns were deposited onto a micro-electrode device using electrodeposition. Viability of embedded cells was ensured to exceed 80%. Cell morphology and biofunctionality were monitored during the one-week culture period and results compared with those of traditional 2D culture. In addition, we detached cell sheets from the electrode substrate and stacked them into a 3D multi-layered structure to mimic the morphology of liver lobule tissue.

DOI： 10.1088/1748-605X/aaa4c4

Web of Science

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本ロボット学会  

<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

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Frontiers in Neurorobotics  

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

DOI： 10.3389/fnbot.2018.00043

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IFAC-PapersOnLine  

This paper describes a manipulation strategy for a flower stick based on the highspeed visual feedback control of a dual robotic arm. Previously, we achieved propeller motion of a flower stick by using a robotic arm with high-speed visual feedback; this motion was a dynamic continuous rotational motion. This work aims to develop a dual robotic arm system with high-speed visual feedback and achieve dynamic dexterous manipulation. We focused on the “idling motion” of a flower stick—a juggling task—generated by using two arms as a fundamental manipulation of a dual robotic arm with high-speed visual feedback. We developed a dual robotic arm system with a high-speed vision system and proposed a visual feedback control strategy for idling motion. The developed system and proposed control strategy are demonstrated through an experiment.

DOI： 10.1016/j.ifacol.2018.11.543

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE International Conference on Intelligent Robots and Systems  

In this research, we fabricated movable toroidal cell structures inside a microfluidic device for tissue engineering applications. A photo-crosslinkable biodegradable hydrogel gelatin methacrylate (GelMA) was employed to encapsulate biological cells for assembling cell structures. The UV light power and the concentration GelMA hydrogel were optimized to achieve both fabrication of microstructures and live condition of cells. The two-layered toroidal cell structures were fabricated which can mimic the multi-layered structure of blood vessels. The movable microstructures were achieved by the water repellent coating on the substrate surface. Finally, on-chip fabrication of GelMA microstructures and peeling off of the fabricated microstructures were achieved using a microfluidic chip. The results indicate that the fabricated movable GelMA microstructures can be used for further three dimensional assembly to achieve vascular-like tube structures.

DOI： 10.1109/IROS.2017.8206134

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Robotics and Autonomous Systems  

This paper proposes a wearable walking control interface and an electric stimulation pattern for a paraplegic patient wearing a powered exoskeleton. The wearable interface allows the paraplegic patient to voluntarily control their own stride while they walk with the aid of an exoskeleton. The electric stimulation equipment provides the wearer with tactile feedback regarding their foot position. For security reasons, a humanoid walking robot was used to replace the patient during the experiments. The robot simulates a paraplegic patient that walks with the aid of an exoskeleton. A series of robot walking experiments were implemented to validate the feasibility of the wearable walking control interface and to evaluate the contribution of the electric stimulation pattern. The experiments to confirm the effectiveness of electric stimulation were implemented under three feedback conditions: visual feedback, electric stimulation feedback, and no feedback. The experimental results indicate that the wearable walking controller enables an operator to voluntarily control their stride while walking. The experimental results also indicate that the electric stimulation provides helpful information to assist in walking at nearly the same level as visual feedback.

DOI： 10.1016/j.robot.2017.09.009

Web of Science

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE Transactions on Biomedical Circuits and Systems  

Recent advances in microfluidic technologies have created a demand for a simple and efficient separation intended for various applications such as food industries, biological preparation, and medical diagnostic. In this paper, we report a tapered microfluidic device for passive continuous separation of microparticles by using hydrodynamic separation. By exploiting the hydrodynamic properties of the fluid flow and physical characteristics of micro particles, effective size based separation is demonstrated. The tapered microfluidic device has widening geometries with respect to specific taper angle which amplify the sedimentation effect experienced by particles of different sizes. A mixture of 3-μm and 10-μm polystyrene microbeads are successfully separated using 20° and 25° taper angles. The results obtained are in agreement with three-dimensional finite element simulation conducted using Abaqus 6.12. Moreover, the feasibility of this mechanism for biological separation is demonstrated by using polydisperse samples consists of 3-μm polystyrene microbeads and human epithelial cervical carcinoma (HeLa) cells. 98% of samples purity is recovered at outlet 1 and outlet 3 with flow rate of 0.5-3.0 μl/min. Our device is interesting despite adopting passive separation approach. This method enables straightforward, label-free, and continuous separation of multiparticles in a stand-alone device without the need for bulky apparatus. Therefore, this device may become an enabling technology for point of care diagnosis tools and may hold potential for micrototal analysis system applications.

DOI： 10.1109/TBCAS.2017.2764118

Web of Science

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：2017 IEEE 17th International Conference on Nanotechnology, NANO 2017  

We studied bending of multilayered graphene into 3D structure. In this paper, we proposed a nanogripper folded by multilayered graphene as one of the 3D device. The nanogripper is actuated by electro static forces to open and close. The multilayered graphene was fabricated by focused ion beam (FIB) to form nano-gripper design. Reversible action is realized by controlled two different electrodes. In the experimental section, the relationship of actuation distance and applied voltage was evaluated for folded multilayered graphene.

DOI： 10.1109/NANO.2017.8117388

Scopus

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

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：International Journal of Electrical and Computer Engineering  

In this study, a new, simple and cost-effective impedance detection of yeast cell concentration by using a novel integrated dual microneedle-microfluidic impedance flow cytometry was introduced. The reported method for impedance flow cytometry detection utilizes embedded electrode and probe in the microfluidic device to perform measurement of electrical impedance when a presence of cells at sensing area. Nonetheless, this method requires costly and complicatedly fabrication process of electrode. Furthermore, to reuse the fabricated electrode, it also requires intensive and tedious cleaning process. Due to that, a dual microneedle integrated at the half height of the microchannel for cell detection as well as for electrical measurement was demonstrated. A commercial available Tungsten needle was utilized as a dual microneedle. The microneedle was easy to be removed from the disposable PDMS microchannel and can be reused with the simple cleaning process, such as washed by using ultrasonic cleaning. Although this device was low cost, it preserves the core functionality of the sensor, which is capable of detecting the passing cells at sensing area. Therefore, this device is suitable for low cost medical and food safety screening and testing process in developing countries.

DOI： 10.11591/ijece.v7i3.pp1513-1521

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE Robotics and Automation Letters  

In this letter, we conducted a new method to fabricate channels inside cell structures for tissue engineering applications. A cell-embedded hydrogel is locally melted to fabricate channels inside cell structures. The fabricated channels can be used as vascular-like networks to supply nutrition and oxygen to cells, or patterning another types of cells inside the cell structures. Microelectrodes were prepared as heaters on a glass substrate by photolithography techniques. The channel patterning was conducted using the microelectrodes. The channel width and height are controlled by the heating duration when the applied voltage to the microelectrodes is constant. The multi-layered channel fabrication was achieved by repeating melting-filling hydrogel. Patterning of different cell types in hydrogel was conducted using liver cells and fibroblast cells. The proposed method can fabricate vascular-like channels in cell structures to achieve in vitro 3-D co-culture cell systems.

DOI： 10.1109/LRA.2017.2655625

Web of Science

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Acta Biomaterialia  

The proper functioning of the liver and tissues containing hepatocytes greatly depends upon the intricate organization of the cells. Consequently, controlling the shape of three-dimensional (3D) cellular constructs is an important issue for in vitro applications of fabricated artificial livers. However, the precise control of tissue shape at the microscale cannot be achieved with various commonly used 3D tissue-engineered building units, such as spheroids. Here, we present the fabrication of hepatic lobule-shaped microtissue (HLSM) containing rat liver (RLC-18) cells. By using cell-microcapsule technology, RLC-18 cells were encapsulated in the core region of poly-L-lysine-alginate microcapsules. After 14 days of long-term cultivation, RLC-18 cells self-assembled into HLSM, and the cells fully occupied the microcapsule. By monitoring the cell number and albumin secretion during culture and characterizing the dimensions of the fabricated tissue, we demonstrated that the HLSM showed higher hepatic function as compared with normal cell spheroids. We also showcased the assembly of these microtissues into a 3D four-layered hepatic lobule model by a facile micromanipulation method. Our technology for fabricating 3D multilayer hepatic lobule-like, biofunctional tissue enables the precise control of tissue shape in three dimensions. Furthermore, these constructs can serve as tissue-engineered building blocks for larger organs and cellular implants in clinical treatment.

DOI： 10.1016/j.actbio.2016.12.020

Web of Science

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016  

In this paper, we develop a prototype of a smaller cane robot which accompanies a user with or without physical contact. In clinical gait training for elderly or physically challenged people, there has been a growing demand for functions of walking assistive devices for efficient improvement of their physical ability. We propose a contact control and a non-contact coordinated motion control algorithms of the cane robot in order to autonomously keep the desired relative distance from the user based on the estimated walking direction by the user's leg movement. We demonstrate the position control precision of the proposed control algorithm in walking experiments.

DOI： 10.1109/MHS.2016.7824241

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Applied Sciences (Switzerland)  

In this study, we introduce novel method of flow cytometry for cell detection based on impedance measurements. The state of the art method for impedance flow cytometry detection utilizes an embedded electrode in the microfluidic to perform measurement of electrical impedance of the presence of cells at the sensing area. Nonetheless, this method requires an expensive and complicated electrode fabrication process. Furthermore, reuse of the fabricated electrode also requires an intensive and tedious cleaning process. Due to that, we present a microfluidic device with integrated microneedles. The two microneedles are placed at the half height of the microchannel for cell detection and electrical measurement. A commercially-available Tungsten needle was utilized for the microneedles. The microneedles are easily removed from the disposable PDMS (Polydimethylsiloxane) microchannel and can be reused with a simple cleaning process, such as washing by ultrasonic cleaning. Although this device was low cost, it preserves the core functionality of the sensor, which is capable of detecting passing cells at the sensing area. Therefore, this device is suitable for low-cost medical and food safety screening and testing process in developing countries.

DOI： 10.3390/app7020170

Web of Science

Scopus

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Journal of Healthcare Engineering  

DOI： 10.1155/2017/1610372

Web of Science

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/978-3-319-32180-6_23

Web of Science

掲載種別：研究論文（学術雑誌）   出版者・発行元：公益社団法人 計測自動制御学会  

DOI： 10.9746/sicetr.53.1

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：The Japan Society of Mechanical Engineers  

<p>This paper presents a force control based cooperative human-robot guidance system for transnasal endoscopic surgery. The aim is to accurately bring a long surgical instrument such as articulated forceps attached to a six degree-of-freedom robotic arm to the desired pre-insertion position. An appropriate orientation and position control is needed to ensure the safety of tool insertion through the narrow nasal cavity. This study explores an approach to providing the surgeon with highly accurate and intuitive operation of a surgical instrument for its pre-positioning. We report our initial development of a cooperative manipulation system and preliminary positioning experiments with an industrial robot arm.</p>

DOI： 10.1299/jsmermd.2017.2a1-o10

CiNii Research

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.actbio.2016.03.045.

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/TMECH.2015.2477996

記述言語：英語   掲載種別：研究論文（学術雑誌）  

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

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.3390

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/TNB.2015.2507064

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/transjsme.14-00634

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/IROS.2014.6942650

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

記述言語：英語 著書種別：学術書

記述言語：英語 著書種別：学術書

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記述言語：英語   会議種別：口頭発表（一般）  

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記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2022年9月

記述言語：日本語   会議種別：口頭発表（一般）  

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記述言語：日本語   会議種別：口頭発表（一般）  

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開催年月日： 2022年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：札幌  

開催年月日： 2022年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：札幌  

開催年月日： 2022年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：札幌  

開催年月日： 2022年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：札幌  

開催年月日： 2022年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：札幌  

開催年月日： 2021年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年12月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2021年12月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2021年12月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2021年12月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2021年10月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：online   国名：日本国  

DOI： 10.1109/SMC52423.2021.9658838

開催年月日： 2021年9月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2021年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2021年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2021年5月 - 2021年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Xi'an   国名：中華人民共和国  

DOI： 10.1109/ICRA48506.2021.9560817

開催年月日： 2021年5月 - 2021年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Xi'an   国名：中華人民共和国  

DOI： 10.1109/ICRA48506.2021.9562106

開催年月日： 2021年5月 - 2021年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Xi'an   国名：中華人民共和国  

開催年月日： 2020年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年12月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年10月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2020年10月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年10月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年10月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年5月 - 2020年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2020年5月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年5月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年5月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2020年5月

記述言語：日本語   会議種別：口頭発表（一般）  

開催年月日： 2019年12月

記述言語：英語   会議種別：口頭発表（一般）  

Scopus

開催年月日： 2019年12月

記述言語：英語   会議種別：口頭発表（一般）  

Scopus

開催年月日： 2019年12月

記述言語：英語   会議種別：口頭発表（一般）  

Scopus

開催年月日： 2019年12月

記述言語：英語   会議種別：口頭発表（一般）  

Scopus

開催年月日： 2019年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmemecj.2019.S15103P

開催年月日： 2019年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmemecj.2019.S15101

開催年月日： 2019年7月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/AIM.2019.8868726

Scopus

開催年月日： 2019年6月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmermd.2019.2A1-M01

開催年月日： 2019年6月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmermd.2019.1A1-R05

開催年月日： 2019年6月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmermd.2019.2P2-R02

開催年月日： 2019年3月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2019年3月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2019年3月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2019年1月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Paris, France   国名：フランス共和国  

開催年月日： 2018年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2018.8887007

Scopus

開催年月日： 2018年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2018.8887041

Scopus

開催年月日： 2018年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2018.8887011

Scopus

開催年月日： 2018年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2018.8886983

Scopus

開催年月日： 2018年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2018.8886921

Scopus

開催年月日： 2018年10月

記述言語：英語   会議種別：口頭発表（一般）  

国名：中華人民共和国  

DOI： 10.1109/CBS.2018.8612171

Scopus

開催年月日： 2018年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年8月

記述言語：英語   会議種別：口頭発表（一般）  

国名：中華人民共和国  

DOI： 10.1109/IISR.2018.8535936

Scopus

開催年月日： 2018年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2018年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：北九州   国名：日本国  

開催年月日： 2018年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：北九州   国名：日本国  

開催年月日： 2018年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：北九州   国名：日本国  

開催年月日： 2018年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：北九州   国名：日本国  

開催年月日： 2018年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：北九州   国名：日本国  

開催年月日： 2018年6月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：北九州   国名：日本国  

DOI： 10.1299/jsmermd.2018.2a2-d04

開催年月日： 2018年6月

記述言語：英語   会議種別：口頭発表（一般）  

国名：アメリカ合衆国  

DOI： 10.23919/WAC.2018.8430300

Scopus

開催年月日： 2018年5月

記述言語：英語   会議種別：口頭発表（一般）  

国名：オーストラリア連邦  

DOI： 10.1109/ICRA.2018.8461238

Scopus

開催年月日： 2018年5月

記述言語：英語   会議種別：口頭発表（一般）  

国名：オーストラリア連邦  

DOI： 10.1109/ICRA.2018.8461114

Scopus

開催年月日： 2018年3月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋   国名：日本国  

DOI： 10.1299/jsmetokai.2018.67.619

開催年月日： 2017年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/HUMANOIDS.2017.8246963

Scopus

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/IROS.2017.8206134

Scopus

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/IROS.2017.8202202

Scopus

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年11月

記述言語：英語   会議種別：口頭発表（一般）  

国名：グレートブリテン・北アイルランド連合王国(英国)  

開催年月日： 2017年10月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Georgia, USA   国名：アメリカ合衆国  

開催年月日： 2017年10月

記述言語：英語   会議種別：口頭発表（一般）  

国名：大韓民国  

DOI： Jeju, Korea

開催年月日： 2017年10月

記述言語：英語   会議種別：口頭発表（一般）  

国名：中華人民共和国  

開催年月日： 2017年9月

記述言語：英語   会議種別：口頭発表（一般）  

国名：カナダ  

開催年月日： 2017年9月

記述言語：英語   会議種別：口頭発表（一般）  

国名：カナダ  

開催年月日： 2017年9月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年8月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Wuhan, China   国名：中華人民共和国  

開催年月日： 2017年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：アメリカ合衆国  

開催年月日： 2017年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：アメリカ合衆国  

開催年月日： 2017年7月

記述言語：英語   会議種別：口頭発表（一般）  

国名：アメリカ合衆国  

開催年月日： 2017年7月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/ICRA.2017.7989422

Scopus

開催年月日： 2017年7月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/CBS.2017.8266101

Scopus

開催年月日： 2017年5月 - 2017年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Singapore   国名：シンガポール共和国  

開催年月日： 2017年5月 - 2017年6月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Singapore   国名：シンガポール共和国  

開催年月日： 2017年5月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmermd.2017.1p1-k11

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年5月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2017年1月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1299/jsmebio.2017.29.2g32

開催年月日： 2017年1月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2016.7824162

Scopus

開催年月日： 2017年1月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2016.7824195

Scopus

開催年月日： 2017年1月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2016.7824182

Scopus

開催年月日： 2017年1月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2016.7824241

Scopus

開催年月日： 2017年1月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2016.7824180

Scopus

開催年月日： 2017年1月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/MHS.2016.7824181

Scopus

開催年月日： 2017年

記述言語：英語   会議種別：口頭発表（一般）  

Scopus

開催年月日： 2017年

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1007/978-3-319-65289-4_23

Scopus

開催年月日： 2016年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2016年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2016年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Nagoya, Japan   国名：日本国  

開催年月日： 2016年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Nagoya, Japan   国名：日本国  

開催年月日： 2016年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Nagoya, Japan   国名：日本国  

開催年月日： 2016年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Nagoya, Japan   国名：日本国  

開催年月日： 2016年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Nagoya, Japan   国名：日本国  

開催年月日： 2016年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Nagoya, Japan   国名：日本国  

開催年月日： 2016年10月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Daejeon, Korea   国名：大韓民国  

開催年月日： 2016年10月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Daejeon, Korea   国名：大韓民国  

開催年月日： 2016年10月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Dublin, Ireland,   国名：アイルランド  

開催年月日： 2016年9月

記述言語：英語   会議種別：口頭発表（一般）  

DOI： 10.1109/DEVLRN.2016.7846810

Scopus

開催年月日： 2016年9月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2016年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：山形   国名：日本国  

開催年月日： 2016年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：山形   国名：日本国  

開催年月日： 2016年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：山形   国名：日本国  

開催年月日： 2016年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：山形   国名：日本国  

開催年月日： 2016年9月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：仙台   国名：日本国  

開催年月日： 2016年8月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Harbin, China   国名：中華人民共和国  

開催年月日： 2016年7月 - 2016年8月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Puerto Rico   国名：プエルトリコ  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

開催地：横浜   国名：日本国  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

国名：日本国  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

開催地：横浜   国名：日本国  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

開催地：横浜   国名：日本国  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

開催地：横浜   国名：日本国  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

開催地：横浜   国名：日本国  

開催年月日： 2016年6月

記述言語：日本語   会議種別：ポスター発表  

開催地：横浜   国名：日本国  

開催年月日： 2016年5月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Stockholm, Sweden   国名：スウェーデン王国  

開催年月日： 2016年5月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：Stockholm, Sweden   国名：スウェーデン王国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：日本語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年12月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年11月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年11月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年11月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

開催年月日： 2015年11月

記述言語：英語   会議種別：ポスター発表  

国名：日本国  

開催年月日： 2015年11月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国