Faculty Profiles - HASEGAWA, Yasuhisa

Presentations -

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下半身麻痺患者と歩行支援システムの協調歩行制御 -小型ロボットを用いた協調歩行制御の確認-

日本機械学会ロボティクス・メカトロニクス講演会2010 2010

マッキベン型空気圧人工筋を用いた指先剛性制御

計測自動制御学会FANシンポジウム 2010

マッキベン型空気圧人工筋を用いた把持支援システムの研究開発

日本機械学会ロボティクス・メカトロニクス講演会2010 2010

Study on wearable system for daily life support using McKibben pneumatic artificial muscle

Masahiro Iwaki, Yasuhisa Hasegawa, Yoshiyuki Sankai

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 2010 IEEE

Event date： 2010

Language：English Presentation type：Oral presentation (general)

This paper proposes the basic technologies in order to develop a wearable hand assistive system for daily life support. Current prosthetics have some problems for wearability. We focus on the load caused by weight of wearable system. The actuator is one of the heaviest parts in wearable systems. Therefore we propose to use the McKibben pneumatic artificial muscle which is lightweight and compact in size. At first, we propose a new method to control air pressure of artificial muscle without pressure sensor in order to reduce the size of system. Second, we investigate variable stiffness of human finger to perform human finger dexterity and simulate it by using our proposed polyarticular tendon drive system.

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Performance evaluations of hand and forearm support system

Yasuhisa Hasegawa, Kosuke Watanabe, Yoshiyuki Sankai

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 2010 IEEE

Event date： 2010

Language：English Presentation type：Oral presentation (general)

This paper reports support effects of an exoskeleton system for activities of a hand and an upper limb of a healthy person. The support system augments human forces of a hand, a wrist joint and an elbow joint based on bioelectric potential of each muscle so that the upper limb could be assisted by the exoskeleton with a certain rate of wearer's force. Actuators in the assistive system are replaced with powerful ones to supports human hand, wrist and elbow activities with larger force and torque. Through experiments it was confirmed that a wearer receives physical support from the system for activities of a hand, a wrist and an elbow joint and then we evaluate rate of assistance by comparing the magnitude of the bioelectric potential between under a supported phase and under an unsupported phase.

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Performance evaluation of hand and forearm support system

IEEEThe 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010

拮抗筋の生体電位パタンに基づく追加的意図の推定

日本ロボット学会第28回日本ロボット学会学術講演会 2010

装着型支援システムの操作インタフェース

計測自動制御学会第11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 2010

筋力低下患者への食事支援システムの開発

日本機械学会ロボティクス・メカトロニクス講演会2010 2010

移乗介護者の身体負荷軽減を目的とした装着型下肢支援システム

計測自動制御学会第11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 2010

異なる外骨格形状における指先力精度の評価

日本ロボット学会第28回日本ロボット学会学術講演会 2010

環境情報と内部状態に基づく二足-四足歩行間遷移を用いた歩行安定化

日本機械学会第15回ロボティクスシンポジア 2010

点接触仮定と仮想コンプライアンス制御に基づく3次元2足歩行

日本機械学会ロボティクス・メカトロニクス講演会2010 2010

Vertical ladder climbing motion of pace gait with body motion control for a multi-locomotion robot

Zhiguo Lu, Tadayoshi Aoyama, Hironari Yoneda, Kosuke Sekiyama, Toshio Fukuda, Yasuhisa Hasegawa

2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration 2009.12.1

Event date： 2009.12

Language：English Presentation type：Oral presentation (general)

This paper introduces the effectiveness of the body motion for the pace gait of vertical ladder climbing. The pace gait is a symmetrical motion of left side and right side to climb the ladder. As a previous work, we realized the vertical ladder climbing motion; however, it is not stable since the external disturbance is not considered. We add a body motion as an improvement. The external disturbance can be reflected in the feedback of gyro sensor which is attached at the robot torso. By controlling the body motion according to the feedback, the robot can climb the ladder more stably. The climbing motion with body motion control is experimentally verified with a multi-locomotion robot (MLR) which is developed to go through various environments such as biped walking on a flat terrain, quadruped walking on a rough terrain, brachation on a ladder and so on. ©2009 IEEE.

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Cooperative walk control of paraplegia patient and assistive system

Yasuhisa Hasegawa, Junho Jang, Yoshiyuki Sankai

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper introduces a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as a timings to start and stop walking, walking speed and waking direction. Using this algorithm an exoskeletal walking support system could help a paraplegia patient walking comfortablly. At first, a pair of gloves with several DOFs is developed to convey a wearer's intention to the walking support system. He/she swings both his/her index fingers as to simulate foot motions of his/her walking. The amplitude and period of the swing corresponds to a step length and period of the walk, respectively. Pronation/supination of the wrist joint of his/her right arm corresponds to a walk direction. The cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable walking pattern that satisfies the intention expressed by the wearer's hand motion and then the designed walking pattern is executed in realtime by the walking support system. As the first trial, a small humanoid robot "HRP-2m" is used for safety as a control target that will be a combination of a wearer and the walking support system in the final situation. Through some experiments we confirm that our proposed algorithm enables the humanoid robot to start and stop stable walk with variable step length in the desired walking direction according to operator's intentions.

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Experimental Verification of 3D Bipedal Walking based on Passive Dynamic Autonomous Control

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, 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 convergence algorithm based on conservative quantities named "PDAC constant" was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot "Multi-locomotion Robot"; then the performance and the efficiency of the proposed control algorithm are verified by experiments.

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PDAC constantの適応制御に基づく3次元動歩行の高速安定化

日本ロボット学会第27回日本ロボット学会学術講演会 2009

Fingertip stiffness control using antagonistic pairs of polyarticular tendons drive system

Masahiro Iwaki, Yasuhisa Hasegawa, Yoshiyuki Sankai

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper proposes a tendon driven system with antagonistic pairs of polyarticular tendons to simulate a variable stiffness of a human fingertip. The stiffness of a robot finger should be adjusted according to a situation that includes large position errors or collisions, because it tolerates errors of object positions and dimensions in assembly task and absorbs collision energy in hitting or catching task. The variable stiffness therefore contributes to stable grasping and dexterous manipulation. Besides, a stiffness of a human fingertip can be controlled by consciously contracting antagonist muscles when it does not contact anything such as in a preshaping phase.
This study simplifies a tendon driven system of a human finger and then searches feasible parameter settings of the tendon driven system with antagonistic pairs of polyarticular tendons through numerical simulations. Finally it is experimentally confirmed that the proposed tendon driven system has similar stiffness to a human finger.

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Pdac-based underactuated 3d bipedal walking - Stabilization of pdac constants and walking direction control

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

Proceedings - IEEE International Conference on Robotics and Automation 2009

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named "PDAC constant", that determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constant converge to arbitrary value, so that walking velocity and direction is controllable. Numerical simulation results validate proposed algorithm. © 2009 IEEE.

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多関節拮抗筋を用いた指先剛性制御

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

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<HASEGAWA, Yasuhisa>

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