Faculty Profiles - HASEGAWA, Yasuhisa

Presentations -

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アクティブエアマットによる支援機器前腕部の装着性の改善

長谷川泰久(筑波大) 　田山宗徳(筑波大)　長谷川誉晃(筑波大)

ロボティクス・メカトロニクス講演会2012　

　把持支援システムの親和性向上に関する研究|アクティブエアマットを使用した着脱の簡易化|

長谷川泰久（筑波大）長谷川誉晃（筑波大）

ロボティクス・メカトロニクス講演会2012　

SVMを用いた前頸部表面筋電位に基づく舌運動の検出

長谷川泰久(筑波大) 末澤賢(筑波大)　副島英明(筑波大) 高橋淳二(筑波大)

ロボティクス・メカトロニクス講演会2012　

PDACに基づく遊脚伸縮運動及び両脚支持期を用いた2 足歩行制御

青山忠義(名大) 　　関山浩介(名大)長谷川泰久(筑波大) 福田敏男(名大)

ロボティクス・メカトロニクス講演会2012　

転倒リスク評価に基づくマルチロコモーションロボットの行動選択

小林泰介（名大）青山忠義（名大）関山浩介（名大）長谷川泰久（筑波大）福田敏男（名大）

ロボティクス・メカトロニクス講演会2012　

Accuracy Improvement of Pinching Force Augmentation by Exoskeleton International conference

Yasuhisa Hasegawa, Junichiro Tokita, Kiyotaka Kamibayashi and Tetsuri Ariyama

The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

Generic Bioelectrical Potential Signal Human-computer Interface with Electrostimulation Feedback International conference

Noel Segura-Meraz, Yasuhisa Hasegawa and Junji Takahashi

2012 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO2012)

Pseudo-proprioceptive Motion Feedback by Electric Stimulation International conference

Yasuhisa Hasegawa, Motoki Sasaki, and Atsushi Tsukahara

2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS2012)

Pinching Force Accuracy Affected by Thumb Sensation in Human Force Augmentation International conference

Yasuhisa Hasegawa, Tetsuri Ariyama and Kiyotaka Kamibayashi

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)

Locomotion Selection of Multi-Locomotion Robot based on Falling Risk and Moving Efficiency International conference

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

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)

Optimal Control of Energetically Efficient Ladder Decent Motion with Internal Stress Adjustment Using Key Joint Method International conference

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

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)

Pilot study of floor-reactive-force generator mounted on MRI, -compatible lower-extremity motion simulator- International conference

IKEDA Takahiro, MATSUSHITA Akira, SAOTOME Kosaku, HASEGAWA Yasuhisa and SANKAI Yoshiyuki

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)

Compatibility on Lower-extremity Motion and Sensory Simulator to fMRI International conference

Takahiro IKEDA, Akira MATSUSHITA, Kosaku SAOTOME, Yasuhisa HASEGAWA and Yoshiyuki SANKAI

Proceedings of the IASTED International Conference Biomedical Engineering

Alternative Interface System by Using Surface Electromyogram from Unusual Muscles Contraction International conference

Junji TAKAHASHI, Satoru SUEZAWA, Yasuhisa HASEGAWA and Yoshiyuki SANKAI

2012 IEEE International Conference on Robotics and Automation

Optimal Load Allocation Control in Ladder Environment with Contact Stiffness Considered

Zhiguo Lui, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS) 2012 IEEE

Event date： 2012

Language：English Presentation type：Oral presentation (general)

This paper proposes an optimal load allocation control in ladder environment with environmental stiffness considered. The optimal load allocation control focuses on how to allocate the total load of the robot to the joints on supporting limbs. Since the supporting force is influenced by the stiffness of contact system and the deformation of rungs and robot links. We maintain the optimized supporting force by setting the request deformation to the contact system. The stiffness of contact system is predicted automatically in our control method. The planned motion is modified in real time by compensating for the deformations caused by the supporting forces. The proposed control algorithm is verified by the simulation results.

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Pilot study of floor-reactive-force generator mounted on MRI compatible lower-extremity motion simulator

Takahiro Ikeda, Akira Matsushita, Kosaku Saotome, Yasuhisa Hasegawa, Yoshiyuki Sankai

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 2012 IEEE

Event date： 2012

Language：English Presentation type：Oral presentation (general)

This paper describes a novel motion simulator for the lower extremities of human in a magnetic resonance imaging (MRI) environment. This motion simulator provides a wearer with physical supports to move their lower extremities or physical constrains as well as floor reactive force on bottoms of their feet during gait-like motion in an MRI room so that brain activities could be simultaneously measured. An MRI is one of the most powerful tools to measure activities in any part of brain but a device attached on a subject is limited because the material used for the device should be nonmagnetic. This paper shows the compatibility of the motion simulator that consists of Mckibben-type pneumatic artificial muscles and nonmagnetic materials. Also this paper shows the performance of the floor-reactive-force generator mounted on the soles of the motion simulator.

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PDACに基づく両脚支持期を用いた3次元2足歩行

青山忠義, 関山浩介, 長谷川泰久, 福田敏男

ロボティクスシンポジア予稿集 2011.3.14

3-D biped walking using double support phase based on the assumption of point-contact.

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

International Symposium on Micro-NanoMechatronics and Human Science, MHS 2011, Nagoya, Japan, November 6-9, 2011 2011 IEEE

Alternative interface system by using surface EMG of residual muscles for physically challenged person.

Junji Takahashi, Noel Segura Meraz, Satoru Suezawa, Yasuhisa Hasegawa, Yoshiyuki Sankai

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011 2011 IEEE

Active air mat for comfortable and easy to wear a forearm support system

Yasuhisa Hasegawa, Munenori Tayama, Takefumi Saito, Yoshiyuki Sankai

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2011 IEEE

Event date： 2011

Language：English Presentation type：Oral presentation (general)

This paper proposes an active air mat that improves comfortableness and easiness to wear an exoskeleton on a forearm. They are ones of important factors for the system performance evaluation in addition to physical support functions of the system. The active air mat which is installed in interface parts of the exoskeleton enables a wearer to attach and release the exoskeleton in an easy way and a short time by quickly inflating the air chambers to hold a human arm or deflating them to release. The air mat adaptively fills a gap between a human arm of various sizes and an exoskeleton. In addition, the air mat minimizes constriction of blood flow by changing contacting areas with a human arm from the periphery to the trunk. The exhaust air from the deflating air chamber is used to ventilate around skin surface so that humidity of the skin could keep low by the ventilation. The active air mat is evaluated through some experiments from the viewpoint of pressure distribution, blood flow, wearing time, releasing time, body-holding rigidity, and temperature and humidity of a human skin in resting and working states.

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