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：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 

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 Access  

Microinjection technology is widely used in biotechnological processes such as gene manipulation and microinsemination. Generally, microinjection is performed under an optical microscope while viewing the video of the targets in real-time. In the microinjection process, multiple oocytes must be placed in the same droplet, for which the injection must be performed multiple times. Furthermore, the target must be observed at different magnifications during injection and the oocyte transfer operation. Hence, the operators are required to change the magnification and light intensity repeatedly. These tasks are complicated and are a burden for the operators. Thus, the accuracy, reproducibility, and productivity of microinjection depend on the operator's skill level. In this study, to reduce the burden on the operator and simplify the operation of microinjection, we propose a micromanipulation system that enables both wide-range and high-resolution video presentation with free viewpoint selection. The proposed micromanipulation system is based on a view-expansion microscope system with simultaneous multi-view imaging using a galvanometer mirror and a high-speed vision system. We verify the effectiveness of the proposed system by evaluating the resolution of images presented to the operator and through the experiments involving moving microbeads performed by inexperienced subjects. The experimental results indicate that our micromanipulation system streamlines the task of micromanipulation by eliminating the need to change the objective lens.

DOI： 10.1109/ACCESS.2023.3264785

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 Journal of Biomedical and Health Informatics  

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

DOI： 10.1109/JBHI.2023.3238406

Scopus

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：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）   出版者・発行元：Sensors  

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

DOI： https://doi.org/10.3390/s23063328

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 Access  

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

DOI： 10.1109/ACCESS.2023.3236821

Scopus

担当区分：最終著者   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：2023 8th International Conference on Control and Robotics Engineering, ICCRE 2023  

Understanding surgical tasks represents an important challenge for autonomy in surgical robotic systems. To achieve this, we propose an online task segmentation framework that uses hierarchical transition state clustering to activate predefined robot assistance. Our approach involves performing a first clustering on visual features and a subsequent clustering on robot kinematic features for each visual cluster. This enables to capture relevant task transition information on each modality independently. The approach is implemented for a pick-And-place task commonly found in surgical training. The validation of the transition segmentation showed high accuracy and fast computation time. We have integrated the transition recognition module with predefined robot-Assisted tool positioning. The complete framework has shown benefits in reducing task completion time and cognitive workload.

DOI： 10.1109/ICCRE57112.2023.10155581

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 Access  

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

DOI： 10.1109/ACCESS.2023.3308619

Scopus

担当区分：最終著者   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：2023 8th International Conference on Control and Robotics Engineering, ICCRE 2023  

Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-Assisted endoscope systems which provide precise and stabilized positioning, as well as constrained and smooth motion control of the endoscope. In this work, we propose an online hierarchical optimization framework for visual servoing control of the endoscope in MIS. The framework prioritizes maintaining a remote-center-of-motion (RCM) constraint to prevent tissue damage, while a visual tracking task is defined as a secondary task to enable autonomous tracking of visual features of interest. We validated our approach using a 6-DOF Denso VS050 manipulator and achieved optimization solving times under 0.4 ms and maximum RCM deviation of approximately 0.4 mm. Our results demonstrate the effectiveness of the proposed approach in addressing the constrained motion planning challenges of MIS, enabling precise and autonomous endoscope positioning and visual tracking.

DOI： 10.1109/ICCRE57112.2023.10155579

Scopus

担当区分：最終著者   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：2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023  

In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the trade-offs between the RCM constraint and other objectives such as joint limits, task performance and manipulability optimization. This paper presents a novel method for manipulability maximization in constrained IK of surgical robots, which optimizes the robot's dexterity while respecting the RCM constraint and joint limits. Our method uses a hierarchical quadratic programming (HQP) framework that solves a series of quadratic programs with different priority levels. We evaluate our method in simulation on a 6D path tracking task for constrained and unconstrained IK scenarios for redundant kinematic chains. Our results show that our method enhances the manipulability index for all cases, with an important increase of more than 100% when a large number of degrees of freedom are available. The average computation time for solving the IK problems was under 1ms, making it suitable for real-time robot control. Our method offers a novel and effective solution to the constrained IK problem in RMIS applications.

DOI： 10.1109/ICMA57826.2023.10215986

Scopus

担当区分：最終著者   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：2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023  

The relative-posture-fixed human following is critical for the human-robot interaction and cooperation in daily scenes such as domestic service and healthcare. However, few of previous researches have discussed the difficulties faced by mobile robots in the real world, including the limitation of sensing range and hindrance from obstacles. For practicality, in this paper we investigate the relative-posture-fixed following control with collision avoidance and visibility constraints. The control task is formulated as a receding-horizon optimization problem and solved under the Nonlinear Model Predictive Control (NMPC) framework, while an Extended Kalman Filter (EKF) based human trajectory predict algorithm is integrated into the robot controller. The effectiveness of the proposed algorithm is verified in a simulation, and the results demonstrate a promising performance of our controller for the human-following task in complicated environments.

DOI： 10.1109/ICARM58088.2023.10218797

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 Access  

Current remote-control interfaces are difficult to operate intuitively while viewing the entire remote display and require familiarity with the operation. The space within an individual's reach, called the peri-personal space (PPS), assists them in planning their physical movements. Hence, manipulating objects outside one's PPS is more difficult than doing so inside it. Therefore, this study aimed to develop an interface that creates the illusion of an operator's finger being transferred to a remote display and transfers the PPS to the virtual finger in the display. To transfer the PPS to a manipulated object, it is necessary to enhance the user's sense of agency and ownership toward the manipulated target by ensuring it is similar in shape and motion to the user's body. Long-term input testing confirmed that by transferring the PPS to a virtual finger, there is no significant difference, as suggested by a t-test between the coefficients of the learning curves outside and inside the PPS. Furthermore, when users learned to manipulate the virtual finger outside the PPS under conditions that impaired their sense of agency, even after two weeks of learning, the PPS was not continuously transferred to the virtual finger for more than seven minutes from the start of the virtual finger operation. The experimental results demonstrated that the interface enabled the display located outside the PPS to be operated with the same degree of operability as inside the PPS from the start of the operation, even with a short learning period.

DOI： 10.1109/ACCESS.2023.3271003

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 Access  

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

DOI： 10.1109/ACCESS.2023.3292410

Scopus

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 Neural Systems and Rehabilitation Engineering  

Grasp intention recognition plays a crucial role in controlling assistive robots to aid older people and individuals with limited mobility in restoring arm and hand function. Among the various modalities used for intention recognition, the eye-gaze movement has emerged as a promising approach due to its simplicity, intuitiveness, and effectiveness. Existing gaze-based approaches insufficiently integrate gaze data with environmental context and underuse temporal information, leading to inadequate intention recognition performance. The objective of this study is to eliminate the proposed deficiency and establish a gaze-based framework for object detection and its associated intention recognition. A novel gaze-based grasp intention recognition and sequential decision fusion framework (GIRSDF) is proposed. The GIRSDF comprises three main components: gaze attention map generation, the Gaze-YOLO grasp intention recognition model, and sequential decision fusion models (HMM, LSTM, and GRU). To evaluate the performance of GIRSDF, a dataset named Invisible containing data from healthy individuals and hemiplegic patients is established. GIRSDF is validated by trial-based and subject-based experiments on Invisible and outperforms the previous gaze-based grasp intention recognition methods. In terms of running efficiency, the proposed framework can run at a frequency of about 22 Hz, which ensures real-time grasp intention recognition. This study is expected to inspire additional gaze-related grasp intention recognition works.

DOI： 10.1109/TNSRE.2023.3314503

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）  

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/surgeries3040036

Scopus

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： DOI 10.1109/TNSRE.2022.3213823

記述言語：英語   掲載種別：研究論文（学術雑誌）  

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：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

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）  

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

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：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 toward 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 article, 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 and Kalman filter. 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

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：英語   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：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：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

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：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：英語   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

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：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

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：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

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：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：英語   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

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 (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：英語   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

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 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：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

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：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  

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：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

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： 10.1186/s406480190136z

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：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

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：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

担当区分：最終著者   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：2018 International Conference on Intelligence and Safety for Robotics, ISR 2018  

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

DOI： 10.1109/IISR.2018.8535936

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：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：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

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：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

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：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

担当区分：最終著者   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：IEEE-RAS International Conference on Humanoid Robots  

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

DOI： 10.1109/HUMANOIDS.2017.8246963

Scopus

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：IEEE International Conference on Intelligent Robots and Systems  

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

DOI： 10.1109/IROS.2017.8202202

Scopus

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 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

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：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

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

担当区分：最終著者   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：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

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：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：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）   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：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：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

担当区分：筆頭著者   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）  

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）  

DOI： 10.3390

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/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：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：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）  

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）  

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）  

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：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：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：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

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

開催年月日： 2023年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2023年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2023年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2023年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2023年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2023年10月

記述言語：英語   会議種別：口頭発表（一般）  

国名：アラブ首長国連邦  

開催年月日： 2023年10月

記述言語：英語   会議種別：口頭発表（一般）  

国名：アラブ首長国連邦  

開催年月日： 2023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： 2023年9月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2023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： 2023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： 2023年8月

記述言語：英語   会議種別：口頭発表（一般）  

国名：大韓民国  

開催年月日： 2023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  

開催年月日： 2023年7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： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年6月 - 2023年7月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：名古屋  

開催年月日： 2023年4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： 2023年4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： 2023年3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： 2023年3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： 2023年3月

記述言語：日本語   会議種別：口頭発表（一般）  

開催地：和歌山県白浜   国名：日本国  

開催年月日： 2022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： 2022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： 2022年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2022年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2022年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2022年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2022年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2022年11月

記述言語：英語   会議種別：口頭発表（一般）  

開催年月日： 2022年10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： 2022年10月

記述言語：英語   会議種別：口頭発表（一般）  

国名：日本国  

DOI： 10.1109/IROS47612.2022.9982247

開催年月日： 2022年9月

記述言語：英語   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）  

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）  

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）  

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）  

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： 2022年5月

記述言語：英語   会議種別：口頭発表（一般）  

開催地：フィラデルフィア   国名：アメリカ合衆国  

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）  

国名：アメリカ合衆国  

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.2019.2P2-R02

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