Faculty Profiles - HASEGAWA, Yasuhisa

Presentations -

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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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Evaluation of fingertip force accuracy in different support conditions of exoskeleton

Yasuhisa Hasegawa, Junichiro Tokita, Kiyotaka Kamibayashi, Yoshiyuki Sankai

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2011 IEEE

Event date： 2011

Language：English Presentation type：Oral presentation (general)

This paper investigates force accuracy of a human finger in three types of support conditions of an exoskeleton. The exoskeleton augments pinching force of a wearer's index finger in proportion to it based on surface electromyography. Three supporting manners of the pinching force are evaluated by switching a fingertip part of the exoskeleton. One is that the assistive force is applied to the wearer's finger so that the force could be sensible by the wearer. Another case is that the assistive force is directly delivered to a grasping object without a wearer's fingertip. The other is that a part of the force directly affects the object and the rest affects the wearer's finger. Through pilot experiments, transitions of the accuracy through training in these cases are compared each other.

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Gait Support for Complete Spinal Cord Injury Patient by Synchronized Leg-Swing with HAL

Atsushi Tsukahara, Yasuhisa Hasegawa, Yoshiyuki Sankai

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

Event date： 2011

Language：English Presentation type：Oral presentation (general)

Biped walking improves the circulation of blood as well as bone density of the lower limbs, thereby enhancing the quality of life (QOL). It is significant not only to healthy people but also to physically challenged persons such as complete spinal cord injury (SCI) patients. The purpose of this paper is to propose an estimation algorithm that infers the intention related to the forward leg-swing in order to support the gait for complete SCI patients wearing an exoskeleton system called a Hybrid Assistive Limb (HAL), and to verify the effectiveness of the proposed algorithm through a clinical trial. The proposed algorithm infers the patient's intention in synchronization with the deviation of the center of the ground reaction force (CoGRF) that is observed immediately before a person starts walking. The patient conveys this intention by inducing the deviation of the CoGRF, using crutches or handrails with both of his/her arms. In the clinical trial, we confirmed that the algorithm inferred the patient's intention to swing the leg forward, and achieved a smooth gait in synchronization with it. As a result, the gait speed and cadence of the SCI patient with HAL during the 10-meter walking test increased to 6.67 [m/min] and 20 [steps/min], respectively after several trials.

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Exoskeleton meal assistance system(EMAS II) for progressive muscle dystrophy patient

IEEEProc. of the 2011 IEEE International Conference on Rehabilitation Robotics 2011

Exoskeletal Meal Assistance System (EMAS II) for Progressive Muscle Dystrophy Patient

Yasuhisa Hasegawa, Saori Oura

2011 IEEE INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR) 2011 IEEE

Event date： 2011

Language：English Presentation type：Oral presentation (general)

This paper introduces a 4-DOFs exoskeletal meal assistance system (EMAS II) for progressive muscle dystrophy patient. It is generally better for the patient to use his/her hands by himself in daily life because active works maintain level of residual functions, health and initiative of him/her. The EMAS II that has a new joystick-type user interface device and three-DOFs on a shoulder part is enhanced for an easier operation and more comfortable support on eating, as the succeeding model of the previous system that has two-DOFs on a shoulder. In order to control the 4-DOFs system by the simple user interface device, the EMAS II simulates upper limb motion patterns of a healthy person. The motion patterns are modeled by extracting correlations between the height of a user's wrist joint and that of the user's elbow joint at the table. Moreover, the EMAS II automatically brings user's hand up to his/her mouth or back to a table when he/she pushes a preset switch on the interface device. Therefore a user has only to control a position of his/her wrist to pick or scoop foods and then flip the switch to start automatic mode, while a height of the elbow joint is automatically controlled by the EMAS II itself. The results of experiments, where a healthy subject regarded as a muscle dystrophy patient eats a meal with EMAS II, show that the subject finished her meal in a natural way in 18 minutes 40 seconds which was within a recommended time of 30 minutes.

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PDACを用いた３次元倒立振子モデルに基づく２足歩行制御

日本機械学会ロボティクス・メカトロニクス講演会2011 2011

外骨格による把持力支援時の指先力精度の改善

計測自動制御学会第54回自動制御連合講演会 2011

下肢完全麻痺患者に対する歩行支援システムの開発ー歩行安定性の向上を目的とした杖運用支援方法の提案ー

計測自動制御学会第12回計測自動制御学会システムインテグレーション部門講演会 2011

マッキベン型空気圧人工筋を用いた多関節腱駆動機構による指先剛性制御

日本機械学会ロボティクス・メカトロニクス講演会2011 2011

指操作型力覚インタフェースによる小型ヒューマノイドの歩行制御

日本機械学会ロボティクス・メカトロニクス講演会2011 2011

高磁場環境下における下肢動作提示システムの提案

日本機械学会ロボティクス・メカトロニクス講演会2011 2011

遊脚収縮運動を用いた点接触仮定に基づく３次元２足歩行

日本ロボット学会第29回日本ロボット学会学術講演会 2011

舌運動による生活支援装置のための操作インタフェースの提案

日本機械学会ロボティクス・メカトロニクス講演会2011 2011

空気圧アクチュエータによる指先剛性制御

日本ロボット学会第29回日本ロボット学会学術講演会 2011

支援機器操作を目的とした超音波による口腔内舌位置の検出

計測自動制御学会第12回計測自動制御学会システムインテグレーション部門講演会 2011

Dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot

Zhiguo Lu, Tadayoshi Aoyama, Kousuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010 2010.12.1

Event date： 2010.12

Language：English Presentation type：Oral presentation (general)

This paper describes a dynamic transition motion from ladder climbing to brachiation for a multi-locomotion robot (MLR). In our previous works, the static transition motion from ladder climbing to barchiation has been developed. However, the motion is based on stable static model. It is difficult to realize the flexible and fast movement. To solve these problems, a new dynamic transition motion is proposed to simplify the action steps and increase the motion speed. The gravity is used to adjust the speed of turning body motion when the left hand and left foot are considered, and a pendulum model is used in the motion planning for the MLR to catch the second horizontal bar. The motion step is simplified and the motion speed is increased significantly by using the proposed method. The simulation result is realized by using the open dynamic engine (ODE) software. ©2010 IEEE.

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Three-dimensional bipedal walking control based on adaptation of PDAC constants

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

Event date： 2010.12

Language：English Presentation type：Oral presentation (general)

This paper proposes an adaptation control method of the PDAC constants that facilitates stabilization. Previously, we proposed a three-dimensional biped walking control based on Passive Dynamic Autonomous Control (PDAC). The robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergent controller based on the conservative quantities named "PDAC constant" was proposed, so that walking velocity and direction are controllable. However, the controller has a problem of slow convergent speed. In order to solve this problem, we develop the previous stabilizing method and propose an adaptation control method of the PDAC constants that adjusts parameters suitably every step. The proposed algorithm is verified by the numerical simulation. ©2010 IEEE.

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Cooperative control of exoskeletal assistive system for paraplegic walk - Transferring between sitting posture and standing posture, and going up and down on stairs

Yasuhisa Hasegawa, Junho Jang, Yoshiyuki Sankai

2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 2010

Event date： 2010

Language：English Presentation type：Oral presentation (general)

This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower limb in accordance with a patient wishes when a patient indicates his/her wishes by using residual functions such as motions of an upper limb. In our project, a pair of gloves with several DOFs was developed to convey wearer's wishes to the walking support system. The gloves measure his/her index fingers' swing that simulates foot motions of his/her walking and measure flexion or deviation of his/her wrist joint. The cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable motions that satisfy the wishes expressed by the wearer's hand and wrist motions and then the designed motions are executed in realtime by the walking support system. As the first trial, a small humanoid robot is used for safety as a control target that corresponds to a combination of the patient body and the walking support system in an actual situation. Through some experiments it is confirmed that our algorithm enables the humanoid robot to start and stop stable walk with variable step length in the desired walking direction from a seated position and that it enables the robot to step aside and to go up and down stairs. © 2010 IEEE.

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