研究者詳細 - 長谷川　泰久

講演・口頭発表等 - 長谷川　泰久

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Generic Bioelectrical Potential Signal Human-computer Interface with Electrostimulation Feedback 国際会議

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 国際会議

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 国際会議

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 国際会議

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 国際会議

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- 国際会議

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 国際会議

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 国際会議

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年 IEEE

開催年月日： 2012年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2012年

記述言語：英語会議種別：口頭発表（一般）

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年3月14日

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年 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年 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年 IEEE

開催年月日： 2011年

記述言語：英語会議種別：口頭発表（一般）

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年 IEEE

開催年月日： 2011年

記述言語：英語会議種別：口頭発表（一般）

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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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年

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年 IEEE

開催年月日： 2011年

記述言語：英語会議種別：口頭発表（一般）

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年

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

Yasuhisa Hasegawa, Saori Oura

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

開催年月日： 2011年

記述言語：英語会議種別：口頭発表（一般）

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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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年

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講演・口頭発表等 - 長谷川 泰久

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講演・口頭発表等 - 長谷川　泰久