Faculty Profiles - HASEGAWA, Yasuhisa

Presentations -

Division display >> ／ All the affair displays 1 - 494 of about 494

起立時の重心移動を支援する可変接地点クラッチの支援効果検証

浦田大誠、伊東椰皓、長谷川泰久、塚原淳

ロボティクス・メカトロニクス講演会 2025 2025.6.5

仮想手と力覚提示による遠隔操作における通信遅延の補償

亀井進之介、山本健人、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2025 2025.6.6

画像ベース触覚センサの接触状態推定に基づいたShared Controlによる遠隔なぞり動作

山下裕生、森田智也、朱陽南、長谷川泰久

ロボティクス・メカトロニクス講演会 2025 2025.6.6

動的物体との衝突回避を考慮した杖型歩行支援ロボットの同伴アルゴリズム

宮地佑樹、長谷川泰久、加藤健治

ロボティクス・メカトロニクス講演会 2025 2025.6.6

末梢神経電極を用いた電気刺激時の筋疲労低減を目的としたN-let刺激

渡瀬耕平、竹内大、佐伯総太、西川惠一郎、平田仁、長谷川泰久

ロボティクス・メカトロニクス講演会 2025 2025.6.5

Design, Modelling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric International conference

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

2025 IEEE International Conference on Robotics and Automation 2025.5.21 IEEE

Development of Multi-Joint Biohybrid Soft Robot by Using Skeletal Muscle Tissue International conference

Eunhye Kim, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda

2025 IEEE International Conference on Robotics and Automation 2025.5.22 IEEE

Enhancing the LLM-Based Robot Manipulation through Human-Robot Collaboration International conference

Haokun Liu, Yaonan Zhu, Kenji Kato, Atsushi Tsukahara, Izumi Kondo, Tadayoshi Aoyama, Yasuhisa Hasegawa

2025 IEEE International Conference on Robotics and Automation 2025.5.21 IEEE

Low-Cost Robot Operation Interface for Simultaneous Hand Position Input and Force Fine-Tuning Using Visual-Based Tactile Sensor International conference

Tomoya Morita, Yuki Yamashita, Yaonan Zhu, Yasuhisa Hasegawa

2025 IEEE/SICE International Symposium on System Integration (SII2025) 2025.1.22 IEEE/SICE

核移植操作者の作業負荷を軽減する人ー機械協調型4本マニピュレータシステム

宮嶋一樹、青山忠義、杷野一輝、高須正規、竹内大、長谷川泰久

第25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 (SI2024) 2024.12.19 計測自動制御学会

反射的操作の補完による遠隔操作の高速化

三輪拓夢、山本健人、森田智也、長谷川泰久

第25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 (SI2024) 2024.12.20 計測自動制御学会

エレベータ特徴点検出による複数エレベータに対応した乗降位置推定

木原琉晴、畑野勝、朱曜南、長谷川泰久

第25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 (SI2024) 2024.12.20 計測自動制御学会

骨格筋バイオアクチュエータの直列・並列配置によるロボット製作

金恩恵、竹内大、長谷川泰久、福田敏男

第25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 (SI2024) 2024.12.19 計測自動制御学会

Nonsquare Wave Output Neurostimulation Device for Improving Direction Selectivity of Excitation Conduction International conference

Koki Inoue, Masaru Takeuchi, Katsuhiro Tokutake, Sota Saeki, Keiichiro Nishikawa, Hitoshi Hirata, Tadayoshi Aoyama and Yasuhisa Hasegawa

IEEE-NANOMED 2024　The 17th IEEE International Conference on Nano/Molecular Medicine & Engineering 2024.12.5

Voice control interface for surgical robot assistants International conference

Ana Davila, Jacinto Colan and Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.24

Field-of-View Effects on Depth Perception in Peripheral Space of Teleoperated Robot International conference

Sho Hatano, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.23

YOLO Detection Enhancement through Latent Space Template Search International conference

Songtao Liu, Yaonan Zhu, Tadayoshi Aoyama, Masayuki Nakaya and Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.23

Head-Movement Controlled Colonoscope Interface with Head-Mounted Display for Simplified the Pan and Tilt Operation International conference

Teruaki Ito, Tadayoshi Aoyama, Kenta Yokoe, Takeshi Yamamura, Mio Hiramatsu, Hiroki Kawashima, Masaru Takeuchi and Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.24

Image Presentation System that Considers Ambiguity in Semantic Segmentation to Facilitate the Detection of Polar Bodies in ICSI International conference

Hayato Hagiwara, Tadayoshi Aoyama, Yuichiro Hayashi, Kensaku Mori, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.24

Implantable Functional Electrical Stimulation (FES) Devices for Joint Motion Control: Enhancing Power Delivery using Coupled Resonant Circuit Theory International conference

Masaru Takeuchi, Koki Nakayama, Katsuhiro Tokutake, Tadayoshi Aoyama, Hitoshi Hirata and Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.24

Development of a Multi-DOFs Biohybrid Robot by using 3D Tissue Engineered Skeletal Muscles International conference

Eunhye Kim, Masaru Takeuchi, Yasuhisa Hasegawa, and Toshio Fukuda

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.24

Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation International conference

Jacinto Colan, Keisuke Sugita, Ana Davila, Yutaro Yamada and Yasuhisa Hasegawa

MHS 2024 35th International Symposium on Micro-NanoMechatronics and Human Science 2024.11.24

Design and Strength Verification of a Compact VGFL for Sit-To-Stand Assistance Robot International conference

Yahiro Ito, Jayant Unde, Sojiro Sugiura, Taisei Urata, Yasuhisa Hasegawa

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2024.11.21

A Hierarchical Framework for Collision Avoidance in Robot-Assisted Minimally Invasive Surgery International conference

Jacinto Colan, Ana Davila, Khusniddin Fozilov, Yasuhisa Hasegawa

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2024.11.20

Gait Cycle Detection by Markerless Tracking and Swing Phase Prediction of Paralyzed Leg for Neurostimulation Control International conference

Kako Okada, Masaru Takeuchi, Katsuhiro Tokutake, Hitoshi Hirata, Tadayoshi Aoyama, Yasuhisa Hasegawa

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2024.11.20

Transition of Peri-Personal Space by Making Robot Hands Transparent and Displaying Virtual Hands to Improve the Accuracy of Position Grasping International conference

Kento Yamamoto, Tadayoshi Aoyama, Yasuhisa Hasegawa

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2024.11.21

RNNPB-Based Shared Control for Maintaining Sense of Agency in Robotic Teleoperation International conference

Tomoya Morita, Simon Armleder, Hiroto Iino, Tadayoshi Aoyama, Gordon Cheng, Yasuhisa Hasegawa

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2024.11.21

Wearable Fabric Actuator Inducing Shoulder Movements for Directional Guidance of Hand MovementsDirectional Guidance of Hand Movements International conference

Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2024.11.21

肩部と肘部の動作を誘発する面状触覚提示を用いた没入型環境における手指位置誘導

横江健太、青山忠義、舟洞佑記、竹内大、長谷川泰久

第42回日本ロボット学会学術講演会 2024.9.4

３次元筋組織を用いた多関節バイオハイブリッドロボットの開発

金恩恵、竹内大、長谷川泰久、福田　敏男

第42回日本ロボット学会学術講演会 2024.9.5

Reducing Physical Load for Desk-Height Tasks by Supporting Kneeling Posture with a Lower Limb Exoskeleton International coauthorship International conference

Yaonan Zhu, Sojiro Sugiura, Jian Huang, Yasuhisa Hasegawa

2024 IEEE International Conference on Mechatronics and Automation (ICMA) 2024.8.4 IEEE

Elbow Angle Guidance System Based on Surface Haptic Sensations Elicited by Lightweight Wearable Fabric Actuator International conference

Yokoe, Kenta, Aoyama, Tadayoshi, Funabora, Yuki, Takeuchi, Masaru, Hasegawa, Yasuhisa

2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2024.7.18

高齢者に対する生活支援ロボット開発 Invited

長谷川　泰久

第66回　日本老年医学会学術集会 2024.6.13 一般社団法人　日本老年医学会

顕微授精における視線誘導に向けたSegmentation Semanticのあいまい性を反映した画像提示

萩原颯人、青山忠義、林雄一郎、森健策、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.31

非矩形波刺激による興奮伝導方向選択性向上を目的とした神経刺激デバイス

井上幸紀、竹内大、徳武克浩、平田仁、青山忠義、長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.30

操作特徴に基づくAI モデル選択による個人差に適合した微細操作支援システム

森涼哉、青山忠義、小林泰介、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.31

HMDを用いた大腸内視鏡のアングル操作インタフェース

伊藤輝亮、青山忠義、横江健太、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.31

肩部動作を誘発させる面状力触覚提示による手指の方向誘導

横江健太、青山忠義、舟洞佑記、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.31

マーカーレストラッキングによる歩行周期検出とそれに同期した麻痺脚への神経刺激生成技術

岡田佳子、竹内大、徳武克浩、平田仁、青山忠義、長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.31

ロボット手術におけるマルチモーダル自己教師あり表現学習に基づくジェスチャー及びスキル認識

山田祐太郎, Jacinto Colan, Ana Davila, 長谷川泰久

ロボティクス・メカトロニクス講演会 2024 2024.5.31

ロボット身体化による遠隔作業の可能性 Invited

長谷川　泰久

FUJI記念講演会産と学の協創によるイノベーションの未来 2024.5.24 株式会社ＦＵＪＩ

Teleoperation System for LLM-Enabled Robot International conference

Haokun Liu, Yaonan Zhu, Kenji Kato, Tadayoshi Aoyama, Yasuhisa Hasegawa

Neuro Revolution -Rehabilitation Robotics and Healthcare Technology- 2024.5.20

RNN-based Shared Control for Maintaining Sense of Agency in Robotic Teleoperation International coauthorship International conference

Tomoya Morita, Simon Armleder, Hiroto Iino, Tadayoshi Aoyama, Gordon Cheng, Yasuhisa Hasegawa

Neuro Revolution -Rehabilitation Robotics and Healthcare Technology- 2024.5.20

Automated Boarding and Alighting System Adaptable to Multiple Elevators in Unknown Environments International conference

Ryusei Kihara, Sho Hatano, Yasuhisa Hasegawa

Neuro Revolution -Rehabilitation Robotics and Healthcare Technology- 2024.5.20

Micromanipulation Assistance Via Motion Guidance to a Spatiotemporal Ideal Trajectory Using GMM and LSTM International conference

Ryoya Mori, Tadayoshi Aoyama, Taisuke Kobayashi, Kazuya Sakamoto, Masaru Takeuchi, Yasuhisa Hasegawa

2024 IEEE International Conference on Robotics and Automation 2024.5.15 IEEE

Autonomous Orientation Control of Forceps Based on Real-Time Action Segmentation in Robotic Surgery International conference

Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

2024 IEEE International Conference on Robotics and Automation 2024.5.14 IEEE

RNN-based Shared Control for Enhanced Sense of Agency in Robotic Teleoperation International coauthorship International conference

Tomoya Morita, Simon Armleder, Hiroto Iino, Tadayoshi Aoyama, Gordon Cheng, Yasuhisa Hasegawa

2024 IEEE International Conference on Robotics and Automation 2024.5.14 IEEE

Real-Time 3D Image-Presentation Micro-Manipulation System with Force Feedback International conference

Kazuya Sakamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

2024 IEEE/SICE International Symposium on System Integration (SII) 2024.1.11 IEEE/SICE

Table Tennis Swing Coaching System Using Human Motion Prediction and a Fabric Actuator Suit International conference

Ryo Matsui, Tadayoshi Aoyama, Kenji Kato, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

2024 IEEE/SICE International Symposium on System Integration (SII) 2024.1.11 IEEE/SICE

Gradient-Based Fine-Tuning Strategy for Improved Transfer Learning on Surgical Images International conference

Ana Davila, Jacinto Colan, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

1st Trial of Hyper Redundant Exoskeletal Manipulator with High Expandability International conference

Yuki Wakayama, Jayant Unde and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

Deformable Object Manipulation Using Human Demonstration Enhanced Deep Deterministic Policy Gradient International conference

Zihao Dong, Jian Huang, Haoyuan Wang, Bo Yang, Dongrui Wu, Yaonan Zhu and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.21

A Neurostimulator for Controlling Muscle Contraction Force through Wireless Bidirectional Communication International conference

Masaru Takeuchi, Takashi Niimi, Katsuhiro Tokutake, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.21

Oocyte Rotation Assistance System Using AI Trained on the Micromanipulations of a Skilled Operator International conference

Ryoya Mori, Tadayoshi Aoyama, Taisuke Kobayashi, Kazuya Sakamoto, Masaru Takeuchi, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.21

Immersive micromanipulation interface for suction/discharge sensation to facilitate cell movement and grasping International conference

Sumiwa Saito, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

Shoulder-Wearable Fabric Actuator for Directional Sensations International conference

Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

Human Preferences and Robot Constraints Aware Shared Control for Smooth Follower Motion Execution International conference

Qibin Chen, Yaonan Zhu, Kay Hansel, Tadayoshi Aoyama, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

LLM-Based Human-Robot Collaboration Framework for Manipulation Tasks International conference

Haokun Liu, Yaonan Zhu, Kenji Kato, Izumi Kondo, Tadayoshi Aoyama, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

Enhancing Gradient-Based Inverse Kinematics with Dynamic Step Sizes International conference

Jacinto Colan, Ana Davila, and Yasuhisa Hasegawa

MHS 2023- 2023 34th International Symposium on Micro-NanoMechatronics and Human Science 2023.11.20

Real-time monitoring system for C2C12 bio-actuator contraction International conference

Xuankai Gao, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, Yasuhisa Hasegawa

The 6th International Conference on Manipulation, Automation and Robotics at Small Scales(MARSS 2023) 2023.10.11 IEEE-RAS and IEEE-NTC

Reconstruction of gait motion synchronized with voluntary movement using a 4-channel neurostimulator International conference

Masaru Takeuchi, N. Ito, K. Tokutake, T. Aoyama, S. Kurimoto, H. Hirata, Y. Hasegawa

The 6th International Conference on Manipulation, Automation and Robotics at Small Scales(MARSS 2023) 2023.10.11 IEEE-RAS and IEEE-NTC

屈曲自由度を有する巻取り型トラス構造の提案

門脇優悟、長谷川泰久

第41回日本ロボット学会学術講演会（RSJ2023） 2023.9.11 日本ロボット学会

Development of Novel Linear Actuator using Articulated Lead Screw Mechanism

Jayant Unde（Nagoya University） Tadayoshi Aoyama（Nagoya University） Yasuhisa Hasegawa

第41回日本ロボット学会学術講演会（RSJ2023） 2023.9.11 日本ロボット学会

遠隔操作における広視野角映像提示による奥行き認識精度の向上

畑野勝（名大）朱曜南（名大）青山忠義（名大）長谷川泰久（名大）

第41回日本ロボット学会学術講演会（RSJ2023） 2023.9.11 日本ロボット学会

布状アクチュエータを用いた肩部への方向提示

横江健太（名大）青山忠義（名大）舟洞佑記（名大）竹内大（名大）長谷川泰久（名大）

第41回日本ロボット学会学術講演会（RSJ2023） 2023.9.11 日本ロボット学会

Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp International conference

Jayant Unde, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

The 32nd IEEE International Conference on Robot and Human Interactive Communication,(IEEE RO-MAN 2023) 2023.8.29 IEEE

Manipulability maximization in constrained inverse kinematics of surgical robots International conference

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

2023 IEEE International Conference on Mechatronics and Automation (ICMA) 2023.8.7 IEEE

Relative-Posture-Fixed Model Predictive Human-Following Control with Visibility Constraints in Obstacle Environments International coauthorship International conference

Yikun Zhang, Jian Huang, Jinqi Yu, Yaonan Zhu, Yasuhisa Hasegawa

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) 2023.7.10 IEEE

医師からの信頼性向上のための確率分布出力に基づいた追加学習

杉田圭祐、Jacinto E. Colan Zaita、青山忠義、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.29

複数カメラによる日常生活における三次元位置計測

王天放、朱曜南、青山忠義、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.29

三次元閉リンク機構による高伸縮多自由度ロボットアームの研究

若山侑生、竹内大、青山忠義、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.30

アンサンブル学習により操作軌道推定の信頼性を可視化した細胞操作支援システム

坂本和哉、青山忠義、小林泰介、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.30

未来視を基盤とした人工筋駆動による卓球のスイング指導システムの開発

松井諒、青山忠義、加藤健治、舟洞佑記、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.29

混合ガウスモデルに基づく理想軌道へ誘導可能な微細操作支援システム

森涼哉、青山忠義、小林泰介、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.29

面状力触覚提示によりVR空間内での吸引感覚を想起させる微細操作インタフェース

齋藤澄和、青山忠義、舟洞佑記、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2023 2023.6.30

人間拡張技術を用いたさらなる遠隔作業の可能性 Invited

長谷川　泰久

「現場」の遠隔化技術と人間拡張技術の応用可能性 2023.4.21 株式会社JIZAIE

Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming International conference

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

2023 8th International Conference on Control and Robotics Engineering (ICCRE) 2023.4.21

Task Segmentation Based on Transition State Clustering for Surgical Robot Assistance International conference

Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

2023 8th International Conference on Control and Robotics Engineering (ICCRE) 2023.4.21

Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation International conference

Yaonan Zhu, Shukrullo Nazirjonov, Bingheng Jiang, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa, Boris Belousov, Kay Hansel, Jan Peters

2022 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2023.3.24

Peripheral Nerve Block and Stimulation for Controlling Rat Ankle Joint Angle using Visual Feedback System International conference

Masaru Takeuchi, Katsuhiro Tokutake, Taichi Miyamoto, Naoki Ito, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

2022 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2023.3.24

没入空間における体幹誘導のための面状力触覚提示

横江健太、青山忠義、舟洞佑記、坂井佑輔、竹内大、長谷川泰久

第28回ロボティクスシンポジア 2023.3.15

複合センシングによる環境認識と画像処理を用いた未知環境におけるエレベータ自動乗降システム

山口信太郎、畑野勝、朱曜南、青山忠義、長谷川泰久

第23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 (SI2022) 2022.12.16

熟練者の操作軌道を模倣学習した AI による細胞の回転操作支援システム

坂本和哉、青山忠義、岐阜大学杷野一輝、高須正規、名古屋大学竹内大、長谷川泰久

第23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 (SI2022) 2022.12.14

Tactile Sensor Based Visual Force Estimation for Force Feedback in Teleoperation International conference

Yaonan Zhu, Shukrullo Nazirjonov, Bingheng Jiang, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa

MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science 2022.11.29

Sensorless grip force estimation of a cable-driven robotic surgical tool based on Gaussian Process Regression International conference

Jacinto Colan and Yasuhisa Hasegawa

MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science 2022.11.29

Wirelessly Powered Neurostimulator with Arbitrary AC Waveforms for High-Frequency Alternating Current Block to a Peripheral Nerve International conference

Naoki Ito, Masaru Takeuchi, Katsuhiro Tokutake, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, and Yasuhisa Hasegawa

MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science 2022.11.29

Control Method of Fabric Actuator Suit for Gaze Guidance in Immersive Spaces International conference

Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Koki Nakagawa, Yusuke Sakai, Masaru Takeuchi and Yasuhisa Hasegawa

MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science 2022.11.29

A Hybrid Tendon Structure Using Cell Density Gradient in Cultured Muscle International conference

Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, and Yasuhisa Hasegawa

MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science 2022.11.29

Intension Reading based Task Outcome Prediction for Operability Improvement of Time-Delayed Teleoperation System International conference

Keisuke Fusano, Yaonan Zhu, Jacinto Enrique Colan Zaita, Tadayoshi Aoyama and Yasuhisa Hasegawa

MHS 2022- 2022 33rd International Symposium on Micro-NanoMechatronics and Human Science 2022.11.29

Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack International coauthorship International conference

Yu Cao, Jian Huang, Xiaolong Li, Mengshi Zhang, Caihua Xiong, Samer Mohammed, Yaonan Zhu, Yasuhisa Hasegawa

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022.10.24

Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation International conference

Yaonan Zhu, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022.10.24

Mixed-Reality-Based Immersive Micromanipulation System for Teleoperation and Collaborative Operation International conference

Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

2022 SICE Annual Conference (SICE2022) 2022.9.9

Two-Finger Tendon Driven Gripper for Safe pHRI

Jayant Unde and Yasuhisa Hasegawa

2022.9.5

細胞の変形度を想起させる面状力触覚提示が可能な微細操作インタフェース

齋藤澄和、青山忠義、舟洞佑記、竹内大、長谷川泰久

第40回日本ロボット学会学術講演会（RSJ2022）日本ロボット学会

無線双方向通信による筋収縮力制御を目的とした電気刺激装置

新美喬士、竹内大、徳武克浩、青山忠義、栗本秀、平田仁、長谷川泰久

第40回日本ロボット学会学術講演会（RSJ2022） 2022.9.8 日本ロボット学会

培養筋肉における細胞密度勾配による腱組織再現手法の研究

野村匠永、竹内大、Eunhye Kim、福田敏男、長谷川泰久

第40回日本ロボット学会学術講演会（RSJ2022） 2022.9.8 日本ロボット学会

オンライン会議アプリケーションZoom を用いたロボット遠隔操作システム

畑野勝、朱曜南、青山忠義、長谷川泰久

ロボティクス・メカトロニクス講演会 2022 2022.6.2

環境認識に基づく協調制御を用いた時間遅れのある遠隔操作システムの操作性向上

房野敬介、朱曜南、Jacinto Colan 、青山忠義、長谷川泰久

ロボティクス・メカトロニクス講演会 2022 2022.6.3

伸縮・屈曲可能な中空多自由度ロボットアームの機構と制御

位田拓未、若山侑生、長谷川泰久

ロボティクス・メカトロニクス講演会 2022 2022.6.3

高速画像計測による動的な力覚動作教示を通したヒトの運動学習に関する調査

松井諒、青山忠義、加藤健治、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2022 2022.6.3

視野拡張顕微鏡とグリップ機能付き力覚提示デバイスを用いたマイクロマニピュレーションシステム

坂本和哉、青山忠義、竹内大、長谷川泰久

ロボティクス・メカトロニクス講演会 2022 2022.6.3

Fabrication of PEDOT: PSS based Soft Sensor for Feedback Control of Modular Bio-actuator International conference

Eunhye Kim, Masaru Takeuchi, Takuto Nomura, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

2022 IEEE International Conference on Robotics and Automation (ICRA) 2022.5.25 IEEE

培養筋圧縮によるバイオアクチュエータの単位断面積あたりの収縮力向上

野村匠永、竹内大、Kim Eunhye、福田敏男、長谷川泰久

第22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 (SI2021) 2021.12.16

LSTM を用いた視野拡張顕微鏡システムにおける呈示画像の自動拡大率調整

原巧也、青山忠義、竹内大、長谷川泰久

第22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 (SI2021) 2021.12.16

布状アクチュエータスーツにより生成される身体感覚を用いた没入型環境下における視線誘導

横江健太、青山忠義、舟洞佑記、中川滉貴、坂井佑輔、竹内大、長谷川泰久

第22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 (SI2021) 2021.12.17

Development of Cultured Muscles with High Cell Density by Centrifugal Force in Three-dimensional Cell Culture International conference

Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, Yasuhisa Hasegawa

MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science 2021.12.8

Bidirectional Tether Less Soft Actuator with Expeditious Position Control International conference

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science 2021.12.7

Accuracy Evaluation of Microinjection Using Real-time 3D Image Presentation System International conference

Toshiki Fujishiro, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science 2021.12.8

Electrical Stimulation of Nerves Synchronized with Voluntary Movements towards Gait Reconstruction International conference

Naoyuki Ito, Masaru Takeuchi, Katsuhiro Tokutake, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

MHS 2021- 2021 32th International Symposium on Micro-NanoMechatronics and Human Science 2021.12.8

Towards Self-Autonomy Evaluation Using Behavior Trees International conference

Khusniddin Fozilov, Kosuke Sekiyama, Yasuhisa Hasegawa

2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC) 2021.10.18 IEEE

Towards Decentralized Multi-Robot Cooperation based on Integrated Task and Motion Planning in Low Entropy Environments

Khusniddin Fozilov, Yasuhisa Hasegawa, Kosuke Sekiyama

2021.9.10

立体培養における遠心力による高細胞密度培養筋の作製

野村匠永, 竹内大, Eunhye Kim, 福田敏男, 長谷川泰久

第39回日本ロボット学会学術講演会（RSJ2021） 2021.9.9 日本ロボット学会

健足の随意運動に同期した患足の神経への電気刺激による歩行再建

伊藤直行, 竹内大, 徳武克浩, 青山忠義, 佐伯聡太, 栗本秀, 平田仁, 長谷川泰久

第39回日本ロボット学会学術講演会（RSJ2021） 2021.9.11 日本ロボット学会

フォロワー手先速度に着目した自己主体感を保つ操作介入手法の考察

森田智也, 長谷川泰久

第39回日本ロボット学会学術講演会（RSJ2021） 2021.9.10 日本ロボット学会

力覚フィードバックを伴う実時間３次元画像呈示微細操作システム

藤城俊希, 青山忠義, 杷野一輝, 高須正規, 竹内大, 長谷川泰久

第39回日本ロボット学会学術講演会（RSJ2021） 2021.9.10 日本ロボット学会

Time Delay Improvement for High-Speed Non-Prehensile Manipulation Based on High-Speed Visual Sensing International conference

Tadayoshi Aoyama, Yuto Asai, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

A Multipolar Cuff Electrode for Alleviating Muscle Fatigue by Selective Stimulation of a Peripheral Nerve International conference

Masaru Takeuchi, Kanta Ishihara, Katsuhiro Tokutake, Tadayoshi Aoyama, Sota Saeki, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

A 4-Channel Neurostimulator for Knee and Ankle Joints Control Using a Visual Feedback and Feedforward Control System International conference

Masaru Takeuchi, Keita Watanabe, Katsuhiro Tokutake, Sota Saeki, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

High-Speed and High-Accuracy Immersive Micro Manipulation System Using 3D Imaging Microscope and Glove-Type Operation Interfaces International conference

Kenta Yokoe, Tadayoshi Aoyama, Toshiki Fujishiro, Masaru Takeuchi, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

A Teleoperated Robotic System with a Movable RCM Constraint for Nasopharyngeal Specimen Collection International conference

Yuma Hironaka, Masaru Takeuchi, Tadayoshi Aoyama, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

Improving the Operability of a Virtual In-Vehicle User Interface through the Embodiment of a Hand Model International conference

Kento Yamamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa, Hiroaki Iwashita(Tokai Rika CO.LTD,), Tomomi Shimizu(Tokai Rika CO.LTD,)

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

Development of Multiple Connectable Bio-Actuator by Tendon Structures International conference

Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Toshio Fukuda, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

First Report of Effect of Shared Control on Sense of Agency During Robotic Teleoperation International conference

Tomoya Morita, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

Teleoperation System That Transcends Inherent Athletic Ability of Human Using Vision-Based Prediction International conference

Tadayoshi Aoyama, Yuto Asai, Kenji Kato, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

Visual Sensing System to Investigate Self-Propelled Motion of Aqueous Droplets Using View-Expansive Microscope International conference

Tadayoshi Aoyama, Shoki Yamada, Nobuhiko Suematsu, Masaru Takeuchi, Yasuhisa Hasegawa

The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts(ARSO2021) 2021.7.9 IEEE

実時間3次元画像呈示顕微鏡とグローブ型操作インタフェースを用いた没入型マイクロマニピュレーションシステム

横江健太, 青山忠義, 藤城俊希, 竹内大, 長谷川泰久

ロボティクス・メカトロニクス講演会 2021 2021.6.7

Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle International conference

Eunhye Kim, Masaru Takeuchi, Ryosuke Ohira, Takuto Nomura, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

2021 IEEE International Conference on Robotics and Automation (ICRA) 2021.6 IEEE

View-Expansive Microscope System with Real-Time High-Resolution Imaging for Simplified Microinjection Experiments International conference

Tadayoshi Aoyama, Sarau Takeno, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

2021 IEEE International Conference on Robotics and Automation (ICRA) 2021.6 IEEE

Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment International conference

Toshiki Fujishiro, Tadayoshi Aoyama, Kazuki Hano, Masaki Takasu, Masaru Takeuchi, Yasuhisa Hasegawa

2021 IEEE International Conference on Robotics and Automation (ICRA) 2021.6 IEEE

スキャフォールドゲル削減による高細胞密度の培養筋の作製

名古屋大学野村匠永、竹内大、名城大学 Kim Eunhye、名古屋大学長谷川泰久、名城大学福田敏男

第21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 (SI2020) 2020.12.16

微細操作における２次元の広域画像と３次元の局所画像を同時呈示する微細操作システム

名古屋大学中岡優樹、青山忠義、藤城俊希、竹内大、長谷川泰久

第21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 (SI2020) 2020.12.16

自己駆動液滴の自律運動解析に向けた広範囲・高解像度画像解析システム

名古屋大学山田翔輝、青山忠義、明治大学末松信彦、名古屋大学竹内大、長谷川泰久

第21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 (SI2020) 2020.12.16

支持基底面を拡張する立ち膝姿勢および移行動作支援機器の試作・効果検証

名古屋大学杉浦宗次朗、長谷川泰久、板寺駿輝、青山忠義

第21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 (SI2020) 2020.12.16

Construction of Multiple Hepatic Lobule Like 3D Vascular Networks by Manipulating Magnetic Tweezers Toward Tissue Engineering International coauthorship International conference

Eunhye Kim, Masaru Takeuchi, Taro Kozuka, Takuto Nomura, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

International Conference on Intelligent Robots and Systems(IROS2020) 2020.10.24

遠隔マニピュレーションにおける自律衝突回避時の触覚オノマトペ提示

SHUNKI ITADERA, MAIKA ANDO, TADAYOSHI AOYAMA, JUN NAKANISHI, YASUHISA HASEGAWA

第38回日本ロボット学会学術講演会 2020.10.9

実時間３次元画像呈示により奥行き方向の視認性を向上させるマイクロマニピュレーションシステム

藤城俊希（名古屋大）青山忠義（名古屋大/JSTさきがけ）杷野一輝（岐阜大）高須正規（岐阜大）竹内大（名古屋大）長谷川泰久（名古屋大）

第38回日本ロボット学会学術講演会 2020.10.9

ワイヤレス給電FESデバイスによる足関節の底背屈運動制御

渡邊敬太（名古屋大学）竹内大（名古屋大学）石原寛大（名古屋大学）宮本太一（名古屋大学）青山忠義（名古屋大学）長谷川泰久（名古屋大学）徳武克浩（名古屋大学）佐伯聡太（名古屋大学）栗本秀（名古屋大学）平田仁（名古屋大学）

第38回日本ロボット学会学術講演会 2020.10.9

Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation International conference

Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

ICRA 2020- International Conference on Robotics and Automation 2020.5.31

細胞操作における奥行き方向の視認性向上に向けた操作対象の実時間３次元画像呈示インターフェース

藤城俊希, 青山忠義, 竹野更宇, 竹内大, 長谷川泰久

ロボティクス・メカトロニクス講演会2020 2020.5.27

鉗子軸把持を基本とした示指による直感的鉗子先端姿勢操作インターフェースの提案

魚住大輔，長谷川泰久，青山忠義，中西淳

ロボティクス・メカトロニクス講演会2020 2020.5.27

自由な視点選択を伴う広範囲・高解像度撮影が可能な倒立顕微鏡を用いた微細操作システム

青山忠義, 竹野更宇, 竹内大, 長谷川泰久, 杷野一輝, 高須正規

ロボティクス・メカトロニクス講演会2020 2020.5.27

遠隔操作における一般物体認識及びビジュアルフィードバック制御による把持アプローチ支援

藤中翼, 板寺駿輝, 青山忠義, 中西淳, 長谷川泰久

ロボティクス・メカトロニクス講演会2020 2020.5.27

Three-dimensional View-expansive Microscope Based on Focal Point Adjustment and Viewpoint Movement

Shoki Yamada, Tadayoshi Aoyama, Sarau Takeno, Masaru Takeuchi, Yasuhisa Hasegawa

MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science

Flower Stick Rotation Manipulation Scheme not Requiring High-speed Robotic Motion

Yuto Asai, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science

Usability Study on Hands-on User Interface for Neurosurgical Articulated Forceps: Joystick and Serial Link based Design

Daisuke Uozumi, Jacinto E. Colan Zaita, Jun Nakanishi,Tadayoshi Aoyama and Yasuhisa Hasegawa

MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science

View-expansive Microscope with Focus Adjustment using Galvanometer Mirror and Electrically Tunable Lens

Sarau Takeno, Tadayoshi Aoyama, Masaru Takeuchi and Yasuhisa Hasegawa

MHS 2019 - 2019 30th International Symposium on Micro-NanoMechatronics and Human Science

常時ライトタッチ可能とする自律同伴型杖ロボットの旋回動作時における同伴性能向上

山本佳和，板寺駿輝，青山忠義，長谷川泰久，相本啓太，加藤健治，近藤和泉

日本機械学会　年次大会 2019

身体拡張拇指の操作によって得られるロボット身体化

長谷川泰久，朱曜南，青山忠義，式田寛，伊藤喬恕

日本機械学会　年次大会 2019

Microscopic tracking system for simultaneous expansive observations of multiple micro-targets based on view-expansive microscope

Aoyama T.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

View Expansion Microscope based on Viewpoint Movement using a Galvano Mirror and Focus Adjustment using an Electrically Tunable Lens

鉗子直接操作機構と鉗子先端屈曲の同時操作を可能とする手の動きを活用した操作インターフェースの開発

魚住大輔，大原圭祐，青山忠義，中西淳，長谷川泰久

ロボティクス・メカトロニクス講演会2019

テレオペレーションにおける拘東状態の身体性変化

朱曜南，青山忠義，長谷川泰久

ロボティクス・メカトロニクス講演会2019

脚に付与された体積による走行への影響

久保田直樹, 長谷川泰久,

第24回ロボティクスシンポジア

高速視線移動により複数の運動性微生物の追跡とそれらの周囲環境の撮影を同時実現する顕微鏡システム

青山忠義, 竹野更宇, 竹内大, 長谷川泰久, 石井抱

第24回ロボティクスシンポジア

HMD表示可能な視野拡張型顕微鏡システムの観察可能範囲の評価

竹野更宇, 青山忠義, 竹内大, 長谷川泰久, 石井抱

第24回ロボティクスシンポジア

Impedance Control Based Assistive Mobility Aid through Online Classification of User's State International conference

216 Shunki Itadera, Taisuke Kobayashi, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa,

2019 IEEE/SICE International Symposium on System Integration (SII 2019)

Cooperative movement in grasping and development of grasping-Training robot

Shotaro Okajima, Fady S Alnajjar, Yasuhisa Hasegawa, Shingo Shimoda

MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Peripheral nerve stimulation device enabling adjustment of stimulation voltage

Takahiro Miyamoto, Masaru Takeuchi, Tadayoshi Aoyama, Yasuhisa Hasegawa, Tomonori Nakano, Shigeru Kurimoto, Hitoshi Hirata,

MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Microscopic image presentation apparatus for micro manipulation based on the view expansion microscope system

Sarau Takeno, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa, Idaku Ishii,

MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Experimental evaluation of haptic visualization interface for robot teleoperation using onomatopoeia in a haptic recognition task

Maika Ando, Jotaro Chiba, Shunki Itadera, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa,

MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Development of a Precision-grip based Interface for 4-DoF Articulated Forceps

Keisuke Ohara, Jacinto E. Colan Zaita, Daisuke Uozumi, Tadayoshi Aoyama, Jun Nakanishi, Yasuhisa Hasegawa,

MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science

Evaluating Shifted Body Representation and Modified Body Schema Using Extra Robotic Thumb International conference

Zhu Y.

2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018

刺激電圧を調整可能とする末梢神経刺激デバイス

宮本恭寛, 竹内大, 青山忠義, 長谷川泰久, 中野智則, 栗本秀, 平田仁

第36回日本ロボット学会学術講演会（RSJ 2018）

母指対立運動のモデル化と自然な把持動作支援機器の開発

岡島正太郎, 長谷川泰久, 下田真吾

第36回日本ロボット学会学術講演会（RSJ 2018）

人工拇指使用後の身体表現転移及び身体図式変化の評価

朱曜南, 式田寛, 青山忠義, 長谷川泰久

第36回日本ロボット学会学術講演会（RSJ 2018）

マイクロ対象の直感的操作に向けた視野拡張型顕微鏡のHMD表示システム

竹野更宇, 青山忠義, 竹内大, 長谷川泰久, 石井抱

第36回日本ロボット学会学術講演会（RSJ 2018）

多自由度能動鉗子操作用ピンチ操作型インターフェースの試作

大原圭祐, Jacinto E. Colan, 魚住大輔, 青山忠義, 中西淳, 長谷川泰久

第36回日本ロボット学会学術講演会（RSJ 2018）

Electric Stimulation based Weight Discrimination for Paraplegic Wearing Exoskeleton International conference

Mengze Li, Xufeng Wang, Tadayoshi Aoyama, Yasuhisa Hasegawa,

2018 International Conference on Intelligence and Safety for Robotics, ISR 2018

Mirror-based microscopic tracking system for expansive micro-observation International conference

Tadayoshi Aoyama, Sarau Takeno, Masaru Takeuchi, Jun Nakanishi, Yasuhisa Hasegawa,

International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS2018)

Cell culture on biodegradable microstructures using on-chip fabrication of photocrosslinkable hydrogel International conference

Masaru Takeuchi, T Kozuka, E Kim, Akihiko Ichikawa, Toshio Fukuda, Yasuhisa Hasegawa,

International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS2018)

Simultaneous Observation of Microorganism and its Surroundings Using View Expanded Tracking Microscope

TAKENO Sarau, AOYAMA Tadayoshi, TAKEUCHI Masaru, NAKANISHI Jun, HASEGAWA Yasuhisa

Development of Training Device for Hand Grasping Including Wrist Joint and Thumb's Movements

Okajima Shotaro, Shimoda Shingo, Hasegawa Yasuhisa

Design and Evaluation of a Gravity Compensation Mechanism for a Hands-on User Interface for Articulated Forceps

UOZUMI Daisuke, NAKANISHI Jun, AOYAMA Tadayoshi, HASEGAWA Yasuhisa

Operational Learning of a Robotic Thumb Using Posterior Auricular Muscle for Internal Model Acquisition of Robotic Limb

SHIKIDA Hiroshi, AOYAMA Tadayoshi, HASEGAWA Yasuhisa

Providing a Sense of Haptic Presence in Robot Teleoperation Using Onomatopoeia

CHIBA Jotaro, ITADERA Shunki, NAKANISHI Jun, AOYAMA Tadayoshi, HASEGAWA Yasuhisa

Light Touch Contact based Postural Sway Reduction using a Cane-type Assistive Robot:Evaluation of Light Touch Contact Effect during Treadmill Walk

ITADERA Shunki, KONDO Izumi, KITAGAWA Youzou, Aoyama Tadayoshi, NAKANISHI Jun, HASEGAWA Yasuhisa, FUKUDA Toshio, AIMOTO Keita, KATO Kenji, TANIMOTO Masanori

Development of Wearable Robotic System for Finger Movement Assistance International conference

Kun Liu, Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosaku Saotome, Yoshiyuki Sankai

World Automation Congress Proceedings (WAC2018)

High-Speed Well-Focused Image-Capturing System for Moving Micro-Objects Based on Histograms of the Luminance International conference

Tadayoshi Aoyama, Motoaki Hanabishi, Takeshi Takaki, Idaku Ishii, Yasuhisa Hasegawa,

Proceedings - IEEE International Conference on Robotics and Automation(ICRA2018)

Grasp-training robot to activate neural control loop for reflex and experimental verification International conference

Shotaro Okajima, Fady Alnajjar, Hiroshi Yamasaki, Matti Itkonen, Alvaro Costa, Yasuhisa Hasegawa, Shingo Shimoda,

Proceedings - IEEE International Conference on Robotics and Automation(ICRA2018)

Wireless power supply device that realizes muscle contraction by peripheral nerve stimulation

MIYAMOTO Takahiro, TAKEUCHI Masaru, AOYAMA Tadayoshi, HASEGAWA Yasuhisa, NAKANO Tomonori, KURIMOTO Shigeru, HIRATA Hitoshi

生活支援ロボットによる移動動作補助を目的とした状態遷移推定

板寺駿輝, 小林泰介, 中西淳, 青山忠義, 長谷川泰久

第18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

Electrical stimulation feedback for gait control of walking simulator

Li M.

IEEE-RAS International Conference on Humanoid Robots

On-chip fabrication of movable toroidal cell structures using photo-crosslinkable biodegradable hydrogel

Takeuchi M.

IEEE International Conference on Intelligent Robots and Systems

Adaptive walking load control for training physical strength using cane-type robot

Itadera S.

IEEE International Conference on Intelligent Robots and Systems

In Vivo Test of Inductively Powered Neurostimulator International conference

Takahiro Miyamoto, Masaru Takeuchi, Tomonori Nakano, Tadayoshi Aoyama, Shigeru Kurimoto, Hitoshi Hirata, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Magnetic self-assembly of Toroidal Microstructures by Shaking International conference

Masaru Takeuchi, Mamoru Hattori, Akihiko Ichikawa, Toshio Fukuda, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

In Vitro Mimic of Hepatic Lobule Tissue using Ca-alginate Cell-containing Hydrogel Modules International conference

Zeyang Liu, Minmin Lu, Masaru Takeuchi, Tao Yue, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Somatosensory Feedback from Fingers Accelerates Body Representation Update International conference

Takayuki Ito, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Auricularis Muscles based Control Interface for Robotic Extra Thumb International conference

Noel Segura Meraz, Yasuhisa Hasegawa, Hiroshi Shikida

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Real-time Microscopic Video Shooting using View Expanded Microscope System International conference

Tadayoshi Aoyama, Mamoru Kaneishi, Takeshi Takaki, Idaku Ishii, Sarau Takeno, Masaru Takeuchi, Jun Nakanishi, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Electrical Stimulation for Compensation of Impaired Lower Limb Sensation International conference

Mengze Li, Tadayoshi Aoyama, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Development of a Novel Wearble MRI-Compatible Finger Assistive Robot International conference

Kun Liu, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Somatosensory Feedback Improves Operability of Extra Robotic Thumb Controlled by Vestigial Muscles International conference

Hiroshi Shikida, Noel Segura Meraz, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

A Concept of a User Interface Capable of Intuitive Operation of 4-DoF Articulated Forceps International conference

Jacinto Enrique Colan Zaita, Jun Nakanishi, Keisuke Ohara, Tadayoshi Aoyama, Yasuhisa Hasegawa,

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017),

Electrical Stimulation Feedback for Gait Control of Walking Simulator International conference

Li Mengze, Yuan Zhaofan, Aoyama Tadayoshi, Hasegawa Yasuhisa

2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS)

Bio-Fabrication of Ca-Alginate Cell Sheets with the Electrodeposition Method for Hepatic Lobule Tissue Reconstracts International conference

Zeyang Liu, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang,

The 21st International Conference on Miniaturized Systems for Chemistry and Life Sciences (MicroTAS 2017)

Electrode selection metric for signal demixing in overdetermined sEMG detection International conference

Noel Segura Meraz, Yasuhisa Hasegawa,

The International Conference on Control, Automation, and Systems (ICCAS 2017)

Acquisition of New Body Representation about Extra Robotic Thumb by Use of Vestigial Muscles International conference

Shikida Hiroshi, Noel Segra-Meraz, Hasegawa Yasuhisa

2017 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS2017)

Adaptive Walking Load Control for Training Physical Strength Using Cane-type Robot International conference

Itadera Shunki, Hasegawa Yasuhisa, Fukuda Toshio, Tanimoto Masanori, Kondo Izumi

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

On-chip Fabrication of Movable Toroidal Cell Structures using Photo-crosslinkable Biodegradable Hydrogel International conference

Takeuchi Masaru, Nakamura Yuki, Ichikawa Akihiko, Hasegawa Akiyuki, Hasegawa Yasuhisa, Fukuda Toshio

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

IMUセンサによる歩行状態推定に基づく歩行者同伴制御

板寺駿輝, 北川陽三，長谷川泰久，福田敏男，谷本正智，近藤和泉

第33回ライフサポート学会大会(LIFE 2017)

Design of an Wearable MRI-Compatible Hand Exoskeleton Robot International conference

Kun Liu, Yasuhisa Hasegawa, Kousaku Saotome, Yosiyuki Sainkai,

The 10th International Conference on Intelligent Robotics and Applications (ICIRA2017)

Fabrication of Multilayered Hepatic Lobule Tissues Using Ca-Alginate Hydrogel Platforms International conference

Liu Zeyang, Lu Minmin, Nakajima Masahiro, Takeuchi Masaru, Hasegawa Yasuhisa, Fukuda Toshio, Huang Qiang

2017 IEEE 17TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO)

Higher Precision Rotational Manipulation of C. elegans by Microchannel International conference

Nakajima Masahiro, Igarashi Yu, Takeuchi Masaru, Hisamoto Nagoki, Hasegawa Yasuhisa, Fukuda Toshio

2017 IEEE 17TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO)

Reversible Actuation of Folded Multilayered Graphene by Electrostatic Forces for Nano-gripper Application International conference

Fujiwara Takafumi, Nakajima Masahiro, Ichikawa Akihiko, Hasegawa Yasuhisa, Fukuda Toshio

2017 IEEE 17TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO)

High-precision microinjection of microbeads into C. elegans trapped in a suction microchannel

Nakajima M.

Proceedings - IEEE International Conference on Robotics and Automation

Acquisition of new body representation about extra robotic thumb by use of vestigial muscles

Shikida H.

2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

High-Precision Microinjection of Microbeads into C. Elegans Trapped in a Suction Microchannel International conference

Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda, Qiang, Huang,

International Conference on Robotics and Automation (ICRA 2017)

Multi-Layered Channel Patterning by Local Heating of Hydrogels International conference

Masaru Takeuchi, Tomoyuki Oya, Akihiko Ichikawa, Akiyuki Hasegawa, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda,

International Conference on Robotics and Automation (ICRA 2017)

A Preliminary Study on Cooperative Force Control based Guidance for Accurate Pre-insertion Positioning of Surgical Instruments

E. COLAN ZAITA Jacinto, SATO Yuichiro, NAKANISHI Jun, HASEGAWA Yasuhisa

Fabrication of Multi-layered Cell Structure using Local Heating of Hydrogel

OYA Tomoyuki, TAKEUCHI Masaru, HASEGAWA Akiyuki, ICHIKAWA Akihiko, NAKAJIMA Masahiro, HASEGAWA Yasuhisa, FUKUDA Toshio

Development of MRI Compatible Tapping Assistive Robot

LIU Kun, HASEGAWA Yasuhisa, SEGURA MERAZ Noel, LI Mengzi

位置覚フィードバックの違いによる身体拡張義肢の位置認識精度の評価

伊藤喬恕, 長谷川泰久

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

末梢神経刺激用の皮下埋め込み無線給電デバイス

宮本恭寛, 佐野正人, 長谷川泰久, 中島正博, 竹内大, 平田仁, 中野智則

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

リハビリテーションにおけるロボットの人への適応および支援手法

岡島正太郎, 下田真吾, 長谷川泰久

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

杖ロボットによる歩行負荷の適応的制御アルゴリズム

板寺駿輝, 長谷川泰久, 福田敏男, 谷本正智, 近藤和泉

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

環境制御型電顕内 CT 装置による骨芽細胞を培養したコラーゲン足場の観察

中島正博, 永尾圭, 竹内大, 八幡早紀, 古澤和也, 長谷川泰久, 福田敏男

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

マイクロチャネル内でのゲルビーズを利用した線虫の高精度回転マニピュレーション

五十嵐悠, 中島正博, 竹内大, 久本直毅, 長谷川泰久, 福田敏男

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

接触感覚を有する能動鉗子直接操作インタフェースの操作性評価

佐藤雄一朗, 中西淳, 長谷川泰久

ロボティクス・メカトロニクス講演会2017 in Fukushima (ROBOMECH 2017)

Retaining structure of micro electrode for rodent models

SANO Masato, NAKAJIMA Masahiro, TAKEUCHI Masaru, HASEGAWA Yasuhisa, NAKANO Tomonori, KURIMOTO Shigeru, HIRATA Hitoshi

Assembly of hepatic lobule-like microtissue with repetitive single-step contact manipulation

Liu Z.

2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016

Hand space change after use of extra robotic thumb

Shikida H.

2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016

Electric stimulation feedback system for lower limb exoskeleton - Evaluation of reaction time to abnormal situation of lower-limb

Wang X.

2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016

Coordinated movement algorithm for accompanying cane robot

Itadera S.

2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016

Conceptual design of a versatile robot for minimally invasive transnasal microsurgery

Marinho M.

2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016

Cell sheets fabrication with mimicking morphology of liver lobule tissue by electrodeposition

Lu M.

2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016

Bio-fabrication of Ca-alginate cell sheets with the electrodeposition method for hepatic lobule tissue reconstructs

Liu Z.

21st International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2017

Design of an wearable MRI-compatible hand exoskeleton robot

Liu K.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

多自由度鉗子の直感的操作可能なユーザインタフェースの設計・試作

佐藤　雄一朗,Jacinto E. Colan Zaita,中西　淳,長谷川　泰久

第17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（SI2016）

装置と脚のずれを防止する走行支援装置の研究開発

久保田直樹,長谷川泰久

第17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（SI2016）

Coordinated Movement Algorithm for Accompanying Cane Robot International conference

Shunki Itadera, Takahiro Watanabe, Yasuhisa Hasegawa, Toshio Fukuda, Masanori Tanimoto, Izumi Kondo

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)

Hand Space Change After Use of Extra Robotic Thumb International conference

Hiroshi Shikida, Yasuhisa Hasegawa

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)

Electric Stimulation Feedback System for Lower Limb Exoskeleton - Evaluation of Reaction Time toAbnormal Situation of Lower-limb- International conference

Xufeng Wang, Mengze Li, Yasuhisa Hasegawa

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)

Cell Sheets Fabrication with Mimicking Morphology of Liver Lobule Tissue by Electrodeposition International conference

Minmin Lu, Zeyang Liu, Masahiro Nakajima, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)

Assembly of Hepatic Lobule-like Microtissue with Repetitive Single-Step Contact Manipulation International conference

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)

Modeling of the High-speed Running Humanoid Robot International conference

Tomoro Ota, Kenichi Ohara, Akihiko Ichikawa, Taisuke Kobayashi, Yasuhisa Hasegawa, Toshio Fukuda

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016)

Self-Assembly of Toroidal Magnetic Microstructures towards in Vitro Cell Structures International conference

M. Takeuchi, M. Hattori, A. Ichikawa, K. Ohara, M. Nakajima, T. Fukuda, Y. Hasegawa, Q. Huang

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

Quasi-Passive Dynamic Autonomous Control to Enhance Horizontal and Turning Gait Speed Control International conference

T. Kobayashi, K. Sekiyama, Y. Hasegawa, T. Aoyama, T. Fukuda

The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

Microencapsulation of culture of hepatic lobule model using shape-controlled alginate-poly-l-lysine (PLL) microcapsules with the electrodeposition method International conference

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang,

The 20 International Conference on Miniaturized Systems for Chemistry and Life Sciences (MicroTAS 2016)

Acquisition of adaptive behavior of robot through bow-tie structure International conference

Okajima Shotaro, Hasegawa Yasuhisa

2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016

Electric Stimulation and Gait Control for Assisting Paraplegic Walk

Zhaofan Yuan(Nagoya Univ.), Mengze Li(Nagoya Univ.), Yasuhisa Hasegawa(Nagoya Univ.)

仮想牽引点との相互作用による安定した加減速を利用したリミットサイクル歩容の自律的３次元的移動

小林泰介（名大），関山浩介（名大），長谷川泰久（名大），青山忠義（広島大），福田敏男（名城大）

第34回日本ロボット学会学術講演会（RSJ 2016）

人の同期現象を含めた外骨格ロボットの動作シミュレーション

岡島正太郎（名大/理研），下田真吾（理研），長谷川泰久（名大）

第34回日本ロボット学会学術講演会（RSJ 2016）

吸引型マイクロチャネルによる線虫への高精度マイクロインジェクション

中島正博（名大），綾村友貴（名大），竹内大（名大），久本直毅（名大），長谷川泰久（名大），福田敏男（名城大学）

第34回日本ロボット学会学術講演会（RSJ 2016）

重心動揺抑制により安全・安心な歩行訓練を支援する同伴型杖ロボット

板寺駿輝（名大），渡邊貴弘（名大），長谷川泰久（名大），福田敏男（名城大），谷本正智（国立長寿研），近藤和泉（国立長寿研）

第34回日本ロボット学会学術講演会（RSJ 2016）

身体拡張義肢による身体図式変化の評価

式田寛，長谷川泰久（名大）

第32回ライフサポート学会大会，第16回日本生活支援工学会大会，日本機械学会福祉工学シンポジウム2016 (LIFE 2016)

Self-assembly of magnetized microstructures for in vitro cell systems International conference

M. Hattori, A Ichikawa, K .Ohara, T. Fukuda, M. Takeuchi, M. Nakajima, Y. Hasgawa, Q. Huang

2016 IEEE International Conference on Mechatronics and Automation (ICMA2016)

Wearable assistive device for physical load reduction of caregiver-adaptive to caregiver's motion during transferring support International conference

Y. Hasegawa, T. Hoshino, A. Tsukahara

World Automation Congress (WAC 2016)

PDAC 規範リミットサイクル歩容における移動速度制御を用いた目標地点への自律的３次元移動

小林泰介，関山浩介，長谷川泰久（名大），青山忠義（広島大），福田敏男（名城大）

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

磁気トロイダルカプセルによる自己組織的3 次元構造体の組み立て

服部守（名城大），竹内大（名大），市川明彦，大原賢一（名城大），中島正博，長谷川泰久（名大），福田敏男（名城大）

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

並列バネによる走行時の立脚期における脚部負荷軽減

久保田直樹，長谷川泰久

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

局所的熱融解による生体親和性ゲルの選択的チャネルパターニング

大矢智之（名城大），竹内大（名大），大原賢一，市川明彦（名城大），中島正博，長谷川泰久（名大），福田敏男（名城大）

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

同伴型杖ロボットの協調移動アルゴリズム

板寺駿輝，長谷川泰久（名大），福田敏男（名城大），谷本正智，近藤和泉（国立長寿医療研究センター）

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

ツールフィーデイングシステムによるナノマニピュレーションの効率化

永尾圭，中島正博，竹内大，長谷川泰久（名大），福田敏男（名城大）

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

生物規範型情報処理構造のロボット歩行制御に与える機能の実験的検証

岡島正太郎（名大/ 理研），下田真吾（理研），長谷川泰久（名大）

ロボティクス・メカトロニクス講演会2016 in Yokohama (ROBOMECH 2016)

Unified bipedal gait for walking and running by dynamics-based virtual holonomic constraint in PDAC International conference

T. Kobayashi, Y. Hasegawa, K. Sekiyama, T. Aoyama, T. Fukuda

2016 IEEE International Conference on Robotics and Automation (ICRA2016)

Novel In situ nanomanipulation integrated with SEM-CT imaging system International conference

M. Nakajima, M. Takeuchi, N. Hisamoto, T. Fukuda, Y. Hasegawa, Q. Huang

2016 IEEE International Conference on Robotics and Automation (ICRA2016)

仮想拘束最適化による2足歩行・走行の連続的な遷移

小林泰介, 長谷川泰久, 関山浩介, 青山忠義, 福田敏男

ロボティクスシンポジア予稿集 2016.3.17

折り目を利用したマルチグラフェンの折り曲げナノ加工

藤原崇文(名城大学)中島正博(名古屋大学)市川明彦(名城大学)大原賢一(名城大学)長谷川泰久(名古屋大学)福田敏男(名城大学)

第16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

移乗支援装置の後方転倒防止機能及び体重免荷効果の確認

長谷川泰久(名古屋大学)星野崇(筑波大学)

第16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

PDACの仮想拘束最適化による２足歩容の性能向上

小林泰介(名古屋大学)関山浩介(名古屋大学)長谷川泰久(名古屋大学)青山忠義(広島大学)福田敏男(名城大学)

第16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

杖型歩行補助ロボットを用いた歩行臨床訓練における体力増進評価

板寺駿輝(名古屋大学)長谷川泰久(名古屋大学)福田敏男(名城大学)谷本正智(国立長寿医療研究センター)近藤和泉(国立長寿医療研究センター)

第16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

触覚フィードバックを用いた身体拡張義指操作

佐藤雄一朗(名古屋大学)傍嶋將文(名古屋大学)王旭峰(名古屋大学)長谷川泰久(名古屋大学)

第16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

フォトリソグラフィを用いたポリイミドベースのマウス末梢神経刺激用マイクロ電極の作製

佐野正人(名古屋大学)中島正博(名古屋大学)竹内大(名古屋大学)長谷川泰久(名古屋大学)栗本秀(名古屋大学)中野智則(名古屋大学)新開宏明(名古屋大学)平田仁(名古屋大学)

第16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

ゲルファイバーモールドによる血管様チャネルの作製

竹内大(名古屋大学)中島正博(名古屋大学)福田敏男(名古屋大学／名城大学)長谷川泰久(名古屋大学)

第16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

磁気ビーズ内包スフェロイドによる自己組織的細胞構造体の組み立て

服部守(名城大学)竹内大(名古屋大学)市川明彦(名城大学)大原賢一(名城大学)中島正博(名古屋大学)長谷川泰久(名古屋大学)福田敏男(名城大学)

第16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

Local Guiding of C. Elegans Inside Micro-Channel for Injection Operation (I) International conference

Yuki Ayamura, Masahiro Nakajima, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda

2015 IEEE/SICE International Symposium on System Integration (SII 2015)

Improvement of Operability of Extra Robotic Thumb Using Tactile Feedback by Electrical Stimulation International conference

Masafumi Sobajima, Yuichiro Sato, Wang Xufeng, and Yasuhisa Hasegawa

2015 International Symposium on Micro Nano Mechatronics and Human Science (MHS 2015)

Microchannels fabrication by alginate fiber molding method International conference

M. Takeuchi, M. Nakajima, T. Fukuda, Y. Hasegawa

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

Local melting of hydrogel for microchannels fabrication in cell structures International conference

T. Oya, M. Takeuchi, A. Ichikawa, K. Ohara, M. Nakajima, Y. Hasegawa, T. Fukuda

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

Dynamics-based virtual holonomic constraint for PDAC running International conference

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

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

Fabrication of hepatic lobule model based on electrodeposition International conference

Z. Liu, M. Takeuchi, M. Nakajima, T. Fukuda, Y. Hasegawa, Q. Huang

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

Japanese syllabary identification using myoelectric potential of neck muscles International conference

K. Suzuki, Y. Hasegawa

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

Wearable input device by fingertip motion International conference

O. Asai, Y. Hasegawa

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

On-chip fabrication of bio-degradable microstructures International conference

Ryota Sakakibara, Masaru Takeuchi, Akihiko Ichikawa, Kenichi Ohara, Masahiro Nakajima, Yasuhisa Hasegawa and Toshio Fukuda

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

In situ nanomanipulation with 3D SEM-CT observation inside environmental SEM International conference

Masahiro Nakajima, Masaru Takeuchi, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

2015 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2015)

Fabrication of micro flexible electrode to stimulate peripheral nerve for rodent model International conference

Masato Sano, Masahiro Nakajima, Masaru Takeuchi, Yasuhisa Hasegawa, Shigeru Kurimoto, Tomonori Nakano, Hiroaki Shinkai, and Hitoshi Hirata

2015 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2015)

Bending of multi-graphene by nanomanipulation assisted with electron beam irradiation for box structure International conference

T. Fujiwara, M. Nakajima, A. Ichikawa, K. Ohara, Y. Hasegawa, T. Fukuda

41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015)

Shape-controlled production of alginate hydrogel-poly-L-lysine microcapsules based on electrodeposition method: Shape-controlled microcapsules International conference

Z. Liu, M. Takeuchi, M. Nakajima, Y. Hasegawa, T. Fukuda, Q. Huang

41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015)

SHAPE-CONTROLLED PRODUCTION OF ALGINATE-POLY-L-LYSINE(PLL) MICROCAPSULES FOR 3D CELL STRUCTURES FABRICATION BASED ON ELECTRODEPOSITION METHOD International conference

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda, and Qiang Huang

The 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences (microTAS 2015)

Electric Stimulation Feedback for Gait Control of Walking Robot International conference

Yasuhisa Hasegawa, Keisuke Nakayama, Kohei Ozawa and Mengze Li

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS2015)

Electrodeposition of Cell-Laden Alginate-PLL Hydrogel Structures for Spatially Selective Entrapment International conference

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS2015)

Survival Micro injection into C. elegans with In vivo Observation based on Micromanipulation International conference

Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS2015)

共振モードを利用した倒立振子の外乱に対する安定領域の拡大

岡島正太郎(名大/理研) 下田真吾(理研) 長谷川泰久(名古屋大学)

第33回ロボット学会学術講演会 (RSJ 2015)

電気刺激を用いた位置覚提示における随意運動の貢献

大原崇義(名大) 長谷川泰久(名大)

第33回ロボット学会学術講演会 (RSJ 2015)

ダイナミクス規範型仮想拘束を用いたPDACによる２足走行

小林泰介(名大) 青山忠義(広島大) 長谷川泰久(名大) 関山浩介(名大) 福田敏男(名城大)

第33回ロボット学会学術講演会 (RSJ 2015)

生体親和性ゲルの局所的熱融解によるマイクロチャネル作製

大矢智之(名城大) 竹内大(名大) 市川明彦(名城大) 大原賢一(名城大) 中島正博(名大) 長谷川泰久(名大) 福田敏男(名城大)

第33回ロボット学会学術講演会 (RSJ 2015)

ハイドロゲルファイバーモールドを用いた細胞構造体作製

竹内大(名大) 中島正博(名大) 福田敏男(名城大) 長谷川泰久(名大)

生体電位と加速度に基づいた走行状態の推定手法

久保田直樹(名大) 長谷川泰久(名大)

第33回ロボット学会学術講演会 (RSJ 2015)

含水状態での環境制御型電顕内SEM-CT撮影

中島正博(名大) 永尾圭(名大) 竹内大(名大) 久本直毅(名大) 長谷川泰久(名大) 福田敏男(名城大・名大)

第33回ロボット学会学術講演会 (RSJ 2015)

インジェクションのための走電性を利用したマイクロチャネル内での線虫への位置決め

綾村友貴(名大) 中島正博(名大) 竹内大(名大) 久本直毅(名大) パストゥホフストラヒル(名大) 長谷川泰久(名大) 福田敏男(名城大・名大)

第33回ロボット学会学術講演会 (RSJ 2015)

Virtual Friction Model for Control of Cane Robot International conference

Shotaro Nakagawa, Shunki Itadera, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda, Pei Di, Jian Huang, and Qiang Huang

24th IEEE International Symposium on Robot and Human Interactive Communication

3D microchannel networks by melting alginate hydrogel fibers for cell structures International conference

Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda

2015 IEEE 15th International Conference on Nanotechnology (IEEE-NANO 2015)

Multi-graphene cubic structure fabricated by nanomanipulation International conference

T. Fujiwara, M. Nakajima, A. Ichikawa, K. Ohara, Y. Hasegawa, T. Fukuda

2015 IEEE 15th International Conference on Nanotechnology (IEEE-NANO 2015)

Aqueous imaging by SEM-CT system inside environmental-SEM International conference

M. Nakajima, M. Takeuchi, K. Shimazaki, N. Hisamoto, Y. Hasegawa, T. Fukuda, Qiang Huang

2015 IEEE 15th International Conference on Nanotechnology (IEEE-NANO 2015)

MRI Compatibility of Lower-extremity Motion Simulator: LoMS International conference

Takahiro Ikeda, Akira Matsushita, Kousaku Saotome, Yasuhisa Hasegawa, Akira Matsumura, Yoshiyuki Sankai, Toshio Fukuda

2015 IEEE International Conference on Robotics and Automation (ICRA 2015)

Tandem Stance Avoidance Using Adaptive and Asymmetric Admittance Control for Fall Prevention International conference

Shotaro Nakagawa, Pei Di, Yasuhisa Hasegawa, Toshio Fukuda, Izumi Kondo, Masanori Tanimoto, Jian Huang

2015 IEEE International Conference on Robotics and Automation (ICRA 2015)

Optimal Use of Arm-Swing for Bipedal Walking Control International conference

Taisuke Kobayashi, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, Toshio Fukuda

2015 IEEE International Conference on Robotics and Automation (ICRA 2015)

Thin and Active Fixture to Hold Finger for Easy Attachment and Comfort of Grasping Support Exoskeleton International conference

Yasuhisa Hasegawa and Takeshi Suzuki

2015 IEEE International Conference on Robotics and Automation (ICRA 2015)

Lab in a Droplet (LiD): Self-assembly of Micro-nano Structures inside a Droplet using Surface Tension International conference

Masaru Takeuchi, Akihiko Ichikawa, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

2015 IEEE International Conference on Robotics and Automation (ICRA 2015)

指先動作による装着型入力装置

長谷川泰久（名大）、浅井修（筑波大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

芝刈りロボットの自動化のためのテクスチャ認識に基づく芝の刈取境界認識

福川智哉、関山浩介、長谷川泰久（名大）、福田敏男（名城大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

頸部電位を用いた五十音の識別手法の提案

長谷川泰久（名大）、鈴木健太郎（筑波大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

振動モード空間への Tacit learning の適用によるロボットの運動

岡島正太郎（名大/ 理研）、Maxime Tournier、下田真吾（理研）、長谷川泰久（名大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

ヒューマノイドロボットによる高速走行制御に関する研究

太田智郎、大原賢一、市川明彦（名城大）、小林泰介、長谷川泰久（名大）、福田敏男（名城大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

環境制御型電顕内でのSEM-CT による含水観察

中島正博、嶋崎功也、竹内大、久本直毅、長谷川泰久（名大）、福田敏男（名城大/ 名大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

線虫への局所マイクロインジェクションにおける生存率の評価

綾村友貴、中島正博、竹内大、久本直毅、ストラヒルパストゥホフ、長谷川泰久（名大）、福田敏男（名城大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

アルギン酸ハイドロゲルファイバーモールドによるマイクロチャネル作製

竹内大、中島正博（名大）、福田敏男（名城大）、長谷川泰久（名大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

生分解性材料を用いたマイクロ構造体のオンチップ作製

榊原涼太（名城大）、竹内大（名大）、市川明彦、大原賢一（名城大）、中島正博、長谷川泰久（名大）、福田敏男（名城大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

局所的熱制御による生体親和性ゲル内での細胞パターニング

大矢智之（名城大）、竹内大（名大）、市川明彦、大原賢一（名城大）、中島正博、長谷川泰久（名大）、福田敏男（名城大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

ナノマニピュレーションによるグラフェン立方体の作製

藤原崇文（名城大）、中島正博（名大）、市川明彦、大原賢一（名城大）、長谷川泰久（名大）、福田敏男（名城大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

小型化アレイ電極を用いた電気刺激による股関節角度提示インタフェース

長谷川泰久（名大）、小澤剛平（筑波大）、大原崇義（名大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

生体電位による支援装置の制御方法の設計および走行支援装置への適応

長谷川泰久、久保田直樹（名大）

ロボティクス・メカトロニクス講演会2015 in Kyoto (ROBOMECH 2015)

２足歩行のための腕振りを用いた最適な重心追従補助制御

小林泰介，関山浩介(名古屋大学)，青山忠義(広島大学)，長谷川泰久(名古屋大学)，福田敏男(名城大学)

第20回ロボティクスシンポジア

ナノマニピュレーションによるグラフェンの折り曲げ加工

藤原崇文(名城大学)中島正博(名古屋大学)市川明彦(名城大学)大原賢一(名城大学)長谷川泰久(名古屋大学)福田敏男(名城大学)

第15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

マイクロ流体チップ内での生分解性材料を用いた微小構造体組み立て

榊原涼太(名城大学)竹内大(名古屋大学)市川明彦(名城大学)大原賢一(名城大学)中島正博(名古屋大学)長谷川泰久(名古屋大学)福田敏男(名城大学)

第15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

表面張力を利用したマイクロ構造体の自己組織的組み立て

竹内大(名古屋大学)市川明彦(名城大学)中島正博(名古屋大学)福田敏男(名城大学)長谷川泰久(名古屋大学）

第15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

芝刈りロボットのためのカメラ画像に基づく刈取境界認識

福川智哉(名古屋大学)関山浩介(名古屋大学)長谷川泰久(名古屋大学)福田敏男(名城大学)

第15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

Local Microinjection near Nerve Axon of C. elegans with Hydro-gel Beads Based on Micromanipulation International conference

Masahiro Nakajima, Yuki Ayamura, Masaru Takeuchi, Naoki Hisamoto, Pastuhov Strahil, Yasuhisa Hasegawa, Toshio Fukuda

2014 IEEE/SICE International Symposium on System Integration (SII2014)

Pseudo-somatosensory Feedback about Joint's Angle International conference

Yasuhisa Hasegawa, Kohei Ozawa

2014 IEEE/SICE International Symposium on System Integration (SII2014)

Support of COG Trajectory Tracking by Arm-Swing with Bipedal Walking International conference

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

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Development of Wrist Support Mechanism for Muscle Weakness Person to Work on Desk Work International conference

Yasuhisa Hasegawa, Satoshi Shimada, Kiyoshi Eguchi

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Force Range Extension and High Force Accuracy with Pintching Support Device by Presenting Haptic Sense Based on Fingerthip Sensitivity International conference

Yasuhisa Hasegawa, Junichi Muto

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Wearable Assistive Device for Lower Limbs of Caregiver on Transferring Support International conference

Yasuhisa Hasegawa, Takashi Hoshino

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Gait Control of Powered Exoskeleton with Finger-mounted Walk Controller for Paraplegic Patient International conference

Yasuhisa Hasegawa, Keisuke Nakayama

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Electrodeposition of Alginate Hydrogel for Spatially Selective Entrapment of Biological Cells International conference

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

On-chip Fabrication of Bio-degradable Microstructures for 3D Cell Assembly International conference

Ryota Sakakibara, Masaru Takeuchi, Akihiko Ichikawa, Kenichi Ohara, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

SEM-CT Observation of Bone from Mice using Environmental-SEM International conference

Masahiro Nakajima, Masaru Takeuchi, Taisuke Masuda, Takshisa Anada, Osamu Suzuki, Toshio Fukuda, Qiang Huang, Yasuhisa Hasegawa

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Microassembly of Spheroids by Thermoresponsive Gel Probe International conference

Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa

2014 International Symposium on Micromechatronics and Human Science (MHS 2014)

Three Dimensional Multi-Cell Spheroids Assembly Using Thermoresponsive Gel Probe International conference

Takeuchi, Masaru, Nakajima, Masahiro, Fukuda, Toshio, Hasegawa, Yasuhisa

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014)

Pneumatic Tubular Body Fixture for Wearable Assistive Device - Analysis and Design of Active Cuff to Hold Upper Limb International conference

Hasegawa, Yasuhisa, Hasegawa, Takaaki, Eguchi, Kiyoshi

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014)

ヒューマノイドロボットの腕振りと股関節回旋を用いた歩行効率向上及び安定化

小林泰介(名大) 関山浩介(名大) 青山忠義(広島大) 長谷川泰久(名大) 福田敏男(名城大)

第32回日本ロボット学会学術講演会（RSJ2014）

外骨格型走行支援装置のための走行状態推定に基づく支持脚支援機構の開発

長谷川泰久(名古屋大学) 久保田直樹(名古屋大学) 小倉慶一(筑波大学)

第32回日本ロボット学会学術講演会（RSJ2014）

SEM-CTによる線虫の３次元観察とナノマニピュレーション応用

中島正博(名大) 竹内大(名大) 久本直毅(名大) 福田敏男(名城大・名大) 長谷川泰久(名大)

第32回日本ロボット学会学術講演会（RSJ2014）

線虫への局所マイクロインジェクションと体内でのゲルビーズ観察

綾村友貴(名大) 中島正博(名大) 竹内大(名大) 久本直毅(名大) 長谷川泰久(名大) 福田敏男(名城大・名大)

第32回日本ロボット学会学術講演会（RSJ2014）

感熱応答性ゲルによる細胞スフェロイドの組み立て

竹内大(名大) 中島正博(名大) 福田敏男(名城大) 長谷川泰久(名大)

第32回日本ロボット学会学術講演会（RSJ2014）

Cross-sectional imaging of C. elegans by SEM-CT using Environmental SEM for nanomanipulation International conference

Nakajima, M.; Takeuchi, M.; Hisamoto, N.; Fukuda, T.; Hasegawa, Y.; Qiang Huang

2014IEEE 14th International Conference on Nanotechnology (IEEE-NANO)

Lab in a Droplet (LiD): Self-assembly method of microstructures inside a Droplet International conference

Takeuchi, M.; Ichikawa, A.; Nakajima, M.; Fukuda, T.; Hasegawa, Y.; Qiang Huang

2014IEEE 14th International Conference on Nanotechnology (IEEE-NANO)

Local cell stiffness measurement using probes deformation International conference

Takeuchi, M.; Bin Ahmad, M.R.; Nakajima, M.; Fukuda, T.; Umeshima, H.; Kengaku, M.; Hasegawa, Y.; Qiang Huang

2014IEEE 14th International Conference on Nanotechnology (IEEE-NANO)

Finger-mounted walk controller of powered exoskeleton for paraplegic patient's walk International conference

Yasuhisa Hasegawa and Keisuke Nakayama

World Automation Congress 2014 (WAC2014)

Exoskeletal Meal Assistance System (EMAS III) for Progressive Muscle Dystrophy Patient International conference

Yasuhisa HASEGAWA, Tomoaki KIKAI, Kiyoshi EGUCHI, and Satoshi SHIMADA

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

Advantage of variable stiffness of human fingers for key insertion task International conference

Yasuhisa HASEGAWA and Ojiro KITAMURA

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

指操作型インタフェースによる歩行支援ロボットの歩行操作

長谷川泰久(筑波大) ○ 中山恵介（筑波大）

ロボティクス・メカトロニクス講演会2014

上肢支援機器の装着性向上を目的としたアクティブカフの基本性能評価

長谷川泰久（筑波大）長谷川誉晃（筑波大）島田智（筑波大）江口清（筑波大）

ロボティクス・メカトロニクス講演会2014

筋力低下者の上肢および手首支援機構の研究開発

長谷川泰久(筑波大) 　○ 島田智(筑波大) 江口清（筑波大学病院）

ロボティクス・メカトロニクス講演会2014

把持支援機器の容易な着脱を目的とした薄型能動装着機構の提案

長谷川泰久(筑波大学)鈴木豪志(筑波大学)長谷川誉晃(筑波大学)

第14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

First Report on Passive Exoskeleton for Easy Running: PEXER IV International conference

Yasuhisa Hasegawa and Keiichi Ogura

IEEE International Symposium on Micro-Nano Mechatronics and Human Science

Preliminary report of brain activities during active and passive gait-like motion International conference

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

6th Annual International IEEE EMBS Conference on Neural Engineering

Use of Simulated Inertia to Improve the Performance of a BEP Human-Computer Interface International conference

Noel Segura-Meraz, Yasuhisa Hasegawa

2013 IEEE International Conference on Systems, Man, and Cybernetics (SMC2013)

歩行模擬動作提示時のfMRI計測予備実験

池田貴公,松下明,五月女康作,長谷川泰久,山海嘉之(筑波大)

第31回日本ロボット学会学術講演会（RSJ2013）

上肢支援機器の装着性を向上させるアクティブカフの設計

長谷川泰久(筑波大) 長谷川誉晃(筑波大)

第31回日本ロボット学会学術講演会（RSJ2013）

Wearable Lower-Limb Assistive Device for Physical Load Reduction of Caregiver on Transferring Support International conference

Yasuhisa Hasegawa and Masataka Muramatsu

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2013)

伸張反射が与える随意運動強度への影響評価

長谷川泰久(筑波大) ○ 藤澤俊宏(筑波大) 上林清孝(筑波大)

ロボティクス・メカトロニクス講演会2013

物体把持作業における指先可変剛性の有用性評価

長谷川泰久（筑波大） ○ 北村央士朗（筑波大）岩城匡広（筑波大）

ロボティクス・メカトロニクス講演会2013

外骨格型把持力支援システム使用時における指先力精度の優位性

長谷川泰久(筑波大) ○ 武藤淳一(筑波大)

ロボティクス・メカトロニクス講演会2013

Superiority of Pinching Force Accuracy Augmented by Exoskeletal Support System International conference

Yasuhisa Hasegawa, Junichiro Muto

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Experimental validation of optimal load-allocation control in pace gait ladder decent motion for Multi-Locomotion Robot (MLR)

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

2012 IEEE International Conference on Information and Automation, ICIA 2012 2012.9.28

Event date： 2012.9

Language：English Presentation type：Oral presentation (general)

This paper presents an experimental validation of optimal load-allocation control in pace gait ladder decent motion for a Multi-Locomotion Robot (MLR). Since a closed chain is formed by the robot links and the vertical ladder, if using position control, a large change of internal stress will be generated inside the closed chain due to the unavoidable position errors between end effectors and their target rungs on the ladder. The internal stress has no contribution to equilibrate the robot load, however it influences a lot of the energy cost of joints inside the closed chain. Thus, an optimal load-allocation control is proposed for multi-contact robot motions by adjusting the internal stress using one or some important joints. Compared with the simulation results introduced in a previous work [1], in this paper, the robustness and effectiveness of the optimal load-allocation control is experimentally verified by the MLR in a predesigned pace gait ladder decent motion. © 2012 IEEE.

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MRI適合性を有する下肢動作提示システムの基本性能評価

池田貴公,松下明,五月女康作,長谷川泰久,山海嘉之(筑波大)

第30回日本ロボット学会学術講演会（RSJ2012）

From Brachiation robot to assistive robot International conference

Yasuhisa Hasegawa

2012 International Symposium on Multi-scale Intelligent Systems

装着型ピアノ演奏教示装置の研究・開発～手首・手指駆動機構の設計・製作～

長谷川泰久(筑波大) ○ 副島英明(筑波大)　正山海嘉之(筑波大) 上林清孝(筑波大)

ロボティクス・メカトロニクス講演会2012　

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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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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PDACに基づく3次元歩行の環境適応性の解析

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

外骨格型前腕支援システム

日本ロボット工業会第12回建設ロボットシンポジウム 2010

上肢支援システムの親和性向上に関する研究

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

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

外骨格型上肢作業支援システムの研究開発 -上肢麻痺患者の足操作による卓上作業支援の実現-

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

PDAC-based Underactuated 3D Bipedal Walking –Stabilization of PDAC Constants and Walking Direction Control-

IEEEProc. of the 2009 IEEE International Conference on Robotics and Automation 2009

Transition Motion from Ladder Climbing to Brachiation for Multi-Locomotion Robot

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

2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper describes a transition motion from ladder climbing to brachiation for the multi-locomotion robot (MLR). Though the transition motion is as complicated as human doing, the robot shoulder degrees of freedom (only 2 DOFs) are less than human. The paper presents how to make the robot complete complicated motion with limited freedoms. In order to prevent the motors overload, a soft adaption control which can change its style automatically according to the contact situation is used in the turning waist motion for error adjustment. Experimental results show that the MLR realize the transition motion from ladder climbing to brachiation stably and smoothly.

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Standing-Up Motion Support for Paraplegic Patient with Robot Suit HAL

Atsushi Tsukahara, Yasuhisa Hasegawa, Yoshiyuki Sankai

2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2 2009 IEEE

Event date： 2009

Language：English Presentation type：Oral presentation (general)

This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using an exoskeletal assistive system "Robot Suit HAL" supports the wearer's weight during his/her standing-up motion so that he/she can stand up without any physical efforts. Besides, the support system controls the patient's posture for his/her stability to avoid falling down during the standing-up motion. The system also estimates his/her intention to stand up based on a preliminary motion of his/her upper body. The patient therefore starts the standing-up without any operations, just by bending his/her upper body forward as the preliminary motion. First, the system performance with respect to the weight-bearing and the balance control was confirmed through the experiment, by supporting a mannequin's standing-up. Then, the proposed system including the intention estimation algorithm was provided for a complete paraplegic patient in order to verify the performance of the total system. In consequence, we confirmed that the proposed system safely supported his standing-up according to his intention.

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PDACに基づく安定化制御を用いた3次元動歩行

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

把持力増幅システムの開発と基本性能評価

日本知能情報ファジィ学会第25回ファジィシステムシンポジウム講演論文集 2009

２足歩行における人とシステムの協調制御

日本機械学会福祉工学シンポジウム2009 2009

装着型歩行支援システムの制御を目的とした指装着型コントローラの研究開発

計測自動制御学会第10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 2009

装着型指動作教示システムの研究開発

計測自動制御学会第10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 2009

斜面の３次元認識に基づく二足－四足歩行間遷移を用いた歩行安定化

日本機械学会ロボティクス・メカトロニクス講演会2009 2009

把持機能を有する上肢支援システム

第１４回ロボティクスシンポジア 2009

把持力支援における人の適応性

計測自動制御学会第10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 2009

Analysis of Relationship between Limb Length and Joint Load in Quadruped Walking on the slope

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint acceleration in walking motion, and hence to reduce energy consumption. Numerical simulation analyzed joint torques in each limb length and slope angle under walking on a slope. The optimal rate of rear leg length (RRL) is derived by the simulation as the physical structure. Our analysis suggests that the joint torque will increase as the slope angle becomes steeper in the case that the rear legs are shorter than forelegs. On the other hand, the joint torque will decrease as the slope angle is declined in the case that the forelegs am shorter than the rear legs. Experimental results validated the simulation analysis.

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Five-fingered assistive hand with mechanical compliance of human finger

Yasuhisa Hasegawa, Yasuyuki Mikami, Kosuke Watanabe, Yoshiyuki Sankai

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

This paper introduces an exoskeleton assistive hand that supports human hand and wrist activities by using user's bioelectric potential to control the exoskeleton movement. The exoskeleton has three active joints for an index finger, three active joints for combination of a middle finger, a ring finger and a little finger and two active joints for a thumb. It also has two passive joints between the index finger part and the combined part of the three fingers. Our proposed poly-articular tendon drive mechanism simulates a mechanical compliance of a human finger so that the exoskeleton could realize comfortable and stable grasping. This paper proposes a new mechanism "dual sensing system" and a new control algorithm "bioelectric potential-based switching control" so that the exoskeleton could synchronize wearer's hand activities without any force sensor. A tendon-driven mechanism and a dual sensing system enable wearer's fingers to move freely when they does need power assist but precise position control or force control. A bioelectric potential-based switching control enables the exoskeleton to augment their grasping force only when wearer's fingers generate a relatively large grasping force. A five-parallel-link mechanism is used to assist wrist activities of a wearer. Through experiments it is confirmed that the exoskeleton does not disturb a wear's pinch of a small object and that it augments grasping force for a heavy work.

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PDAC Constant に基づく3 次元動歩行の安定化

日本ロボット学会第26回日本ロボット学会学術講演会 2008

Vertical Ladder Climbing Motion with Posture Control for Multi-Locomotion Robot

Hironari Yoneda, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

This paper introduces a vertical ladder climbing of the humanoid robot only by the posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because a yawing of the robot body around the axis connecting a supporting gripper and foot on the ladder is not fixed. To solve this problem, the momentum around AOY caused by the gravity is used to control the yaw motion of the body so that the various gait such as pace gait and trot gait could be realized in a ladder climbing maneuver. The algorithm of ladder climbing with recovery motion is experimentally verified by using "Multi-Locomotion Robot(MLR)" which is developed to achieve various types of locomotion such as biped, quadruped walking and brachiation.

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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2008 2008

外骨格型手作業支援システム

日本機械学会ロボティクス・メカトロニクス講演会2008 2008

Finger Stiffness Control Using Poly-articular Tendon Drive

SOFTProc. of Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems 2008

傾斜面上の4足歩行における脚のリンク長の比率と関節負荷の関係

日本機械学会ロボティクス・メカトロニクス講演会2008 2008

倒立振子モデルに基づく2 足歩行軌道生成に関する考察

日本ロボット学会第26回日本ロボット学会学術講演会 2008

マルチロコモーションロボットの角運動量考慮による垂直梯子登り動作

日本ロボット学会第26回日本ロボット学会学術講演会 2008

Wearable Handling Support System for Paralyzed Patient

Yasuhisa Hasegawa, Yasuyuki Mikami, Kosuke Watanabe, Zeinab Firouzimehr, Yoshiyuki Sankai

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 2008 IEEE

Event date： 2008

Language：English Presentation type：Oral presentation (general)

This paper introduces a new wearable handling support system for a person who has trouble in motor capability of his or her upper limb. The support system is used as not only a support system to make his upper limb active in daily life but also a rehabilitation system to reduce manual loads of physical therapists. The system measures three rotation angles of patient's head: pitch, roll and yaw to control three degrees of freedom of the support system; angle of elbow joint, angle of wrist joint and hand close/open, respectively. Hemiplegia patient who has paralysis of one half of the patient body can use both arms cooperatively by wearing the handling support system on the paralysis side. In our experiments, the system helps pouring task from POP bottle to a glass, while an upper limb on paralysis side of a user grasps the POP bottle and the other upper limb grasps the glass.

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腱駆動型把持支援システム

日本ロボット工業会第11回建設ロボットシンポジウム 2008

重力モーメント考慮の姿勢制御によるマルチロコモーションロボットを用いての垂直梯子登り運動

日本機械学会ロボティクス・メカトロニクス講演会2008 2008

Adaptive Locomotion Transition based on Recognition of an Upslope

関山浩介, 古城美貴子, 青山忠義, 長谷川泰久, 福田敏男

日本ロボット学会学術講演会予稿集(CD-ROM) 2007.9.13

Quadruped Walking on the Slope focused on Torso Posture and Jont Torque

関山浩介, 青山忠義, 長谷川泰久, 福田敏男

日本ロボット学会学術講演会予稿集(CD-ROM) 2007.9.13

Design method of brachitation controller based on virtual holonomic constraint

Toshio Fukuda, Shigetaka Kojima, Kosuke Sekiyama, Yasuhisa Hasegawa

2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 2007 IEEE

Event date： 2007

Language：English Presentation type：Oral presentation (general)

This paper describes an energy-efficient swing-back control for the brachiation robot. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional swing-back control does not consider energy efficiency. Thus, a novel method to achieve an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

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Biorhythm-based awakening timing modulation

Yuki Wakuda, Akiko Noda, Kosuke Sekiyama, Yasuhisa Hasegawa, Toshio Fukuda

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2007 IEEE

Event date： 2007

Language：English Presentation type：Oral presentation (general)

The purpose of the present study is to control human biological rhythm and life cycle by optimization of awakening timing. We developed a wearable interface for controlling awakening time named "BRAC (Biological Rhythm based Awakening timing Controller)". BRAC could estimate bio-rhythm by pulse wave from finger tip and send awake signal to user.
An ordinary alarm clock operates according to set times that have to be set in advance. However, humans have a rhythm in their sleep, which affects one's sleep depth and wake-up timing. We consider the simplest way to control or reset human's biorhythm or life style is to optimize the awakening timing and the sleeping hours.
We examined the relationship between controlling awakening timing based on autonomous nerve rhythm and equilibrium function. Our findings suggest indicate that the prototype "BRAC" could evaluate user's biological rhythm and awakes user at the time optimized for physical function of equilibrium.

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Design method of brachiation controller based on virtual holonomic constraint

Toshio Fukuda, Shigetaka Kojima, Kosuke Sekiyama, Yasuhisa Hasegawa

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 2007 IEEE

Event date： 2007

Language：English Presentation type：Oral presentation (general)

This paper describes a control for the brachiation robot with holonomic constraint. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion and gripping the target ladder with another arm. However, the conventional control can not apply brachiation in irregular ladder. And the convetional control was not consider energy efficiency. Thus, a novel method to achieve brachiation in irregular ladder and an energy-efficient brachiation by exacting a swing-back during locomotion is proposed. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

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Stability proof of biped walking control based on point-contact

Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 2007 IEEE

Event date： 2007

Language：English Presentation type：Oral presentation (general)

As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

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Environment-Adaptive Antipersonnel Mine Detection System -Advanced Mine Sweeper-

Toshio Fukuda, Yasuhisa Hasegawa, Kazuhiro Kosuge, Kiyoshi Komoriya, Fumihisa Kitagawa, Tomohiro Ikegami

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 2006.10.9 IEEE

Automatic land-mine detection system using adaptive sensing with vector CPR

Toshio Fukuda, Yasuhisa Hasegawa, Yasuhiro Kawai, Shinsuke Sato, Zyada Zakariya, Takayuki Matsuno

IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 2006 IEEE

Event date： 2006

Language：English Presentation type：Oral presentation (general)

Ground Penetrating Radar (GPR) is a promising sensor for landmine detection, but there are two major problems to overcome. One is the non-planer(e.g. rough and/or undulating) ground surface. It remains irremovable clutters on a sub-surface image output from GPR. Geography adaptive scanning is useful to image objects beneath non-planer ground surface. The other problem is the distance between the antennas of GPR. When imaging the small objects such as an anti-personnel landmine close to antennas, it increases the nonlinearity of the relationship between the time for propagation and the depth of a buried object. In this paper, we modify Kirchhoff migration so as to account for not only the variation of height and pose of the sensor head, but also the antennas alignment of the vector radar. The validity of this method is discussed through application to the signals acquired in experiments.

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Motion control of landmine detection vehicle equipped with low-ground-pressure tires

Toshio Fukuda, Shinsuke Sato, Yasuhisa Hasegawa, Takayuki Matsuno, Zakarya Zyada

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE 2006 IEEE

Event date： 2006

Language：English Presentation type：Oral presentation (general)

Most of landmine detection robots proposed before have been strongly restricted to locomote because they have not been able to enter the minefield. So we have proposed a mine detection vehicle which can enter minefield with low-ground-pressure tires and scan landmines directly using GPR. Low-ground-pressure tire decrease ground contact pressure. And we are intended to make accurate map that point out the position where landmines are buried. The position of the vehicle is able to be observed with internal sensors (for the posture measurement) and external sensors (for the position measurement). However, when controlling the vehicle, the sampling time of external sensors and communication time from external sensors to the vehicle cannot be disregarded. Exact position of the vehicle must be predicted with dynandcal model of the vehicle. We therefore propose dynamical model of the vehicle for low-ground-pressure vehicle. Based on experimental results, the dynamical model for low-ground-pressure vehicle is in consistency with acutual behavior of it.

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Multi-locomotion robot - Energy-based motion control for dexterous brachiation

Toshio Fukuda, Yasuhisa Hasegawa, Masahiro Doi, Yoshihiko Asano

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS 2006 IEEE

Event date： 2006

Language：English Presentation type：Oral presentation (general)

This paper introduces a multi-locomotion robot which has multiple types of locomotion. The robot is developed to achieve a bipedal walk, a quadrupedal walk and a brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. In this paper we focus on brachiation mode and propose a control algorithm to realize stable and efficient continuous brachiation while the ultimate purpose of this study is to develop a unified control architecture which realize multiple types of dexterous locomotion like an animal as well as motion stability and efficiency. Swing control of brachiation according to the total energy of the system is one of key issues in order to realize the continuous brachiation, because the brachiation can be modeled as a pendulum-like motion and the amplitude of the oscillation determines whether the robot can grasp the target ladder or not. We propose an energy-based control algorithm and install it into the swing action controller. Experimental results show that the robot can successfully achieve smooth and continuous brachiation.

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Proposal of smooth biped walking control by means of heel-off motion

Masahiro Doi, Takayuki Matsuno, Yasuhisa Hasegawa, Toshio Fukuda

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 2006 IEEE

Event date： 2006

Language：English Presentation type：Oral presentation (general)

This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We adopt the approximate 1-mass model in both planes and derive the dynamics based on these models. It is assumed that the lateral motion is relevant to heel-off motion. On the other hand, in the sagittal plane, there are two phases: 1) the center of rotation (contact point) is ankle joint. 2) the center of rotation is toe. In phase 2), heel-off motion is designed to diminish the impact shock at foot-contact. By applying PDAC to the dynamics, phase around the contact point can be derived. By means of this phase of dynamics, it is possible to inspect heel-off motion analytically. We design the stabilizing controller for each plane and confirm the convergency of dynamics with the numerical simulation.

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Energy efficient swing-back control for brachiation robot

Toshio Fukuda, Shigetaka Kojima, Kousuke Sekiyama, Yasuhisa Hasegawa

2006 IEEE INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE 2006 IEEE

Event date： 2006

Language：English Presentation type：Oral presentation (general)

In this paper, we propose an energy efficient swing-back control for the brachiation robot. In the previous work, brachiation controller was composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite robot so as to achieve locomotion successfully. While locomotion action is to move forward by releasing a brunk with arm in moving direction and griping the target brunch with other arm. However, energy efficiency has not been considered in the previous swing-back control, hence we propose a novel method to achieve energy-effecient brachiation by exacting a swing-back during locomotion. Experimental results show that the proposed method can improve the locomotion action as much as over 30% in energy consumption.

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3D dynamic walking based on the inverted pendulum model with two degree of underactuation

M Doi, Y Hasegawa, T Fukuda

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 2005 IEEE

Event date： 2005

Language：English Presentation type：Oral presentation (general)

In this paper, the new control method to realize 3D natural dynamic walking based on the 3D robot inherent dynamics is proposed. The proposed method describes robot dynamics by use of a 3D inverted pendulum model and applies Passive Dynamic Autonomous Control(PDAC) to it. By utilizing the polar coordinate system to express the robot state around the contact-point between robot and the ground and applying PDAC, it is possible to express the 3-dimensional dynamics as 1-dimensional autonomous system. Due to autonomy, this ID dynamics has the conservative quantity named PDAC Constant. We build the stabilizing controller by means of PDAC Constant and analyze the walking based on the ID dynamics. Finally the proposed method is tested by experiment.

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Realization of 3-dimensional dynamic walking based on the assumption of point-contact

M Doi, Y Hasegawa, T Fukuda

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 2005 IEEE

Event date： 2005

Language：English Presentation type：Oral presentation (general)

In this paper, we develop the lateral motion control based on Passive Dynamic Autonomous Control (PDAC) in order to solve two following problem in previous paper: 1) the steplength control in the sagittal plane results in the delay of tine step cycle since walking period is not controlled taking the sagittal control effect into consideration 2) error of the lateral dynamics is big since the effect of the sagittal motion on the lateral dynamics is neglected. At first, the walking period is controlled, by adjusting the amplitude of side-to-side rocking motion. Secondly, the value to lengthen the lateral inverted pendulum is decided according to the sagittal motion effect on it By means of this new lateral control in addition to sagittal steplength control, the 3-dimensional stable dynamic walking based on the robot inherent dynamics is realized.

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Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback

T Matsuno, T Fukuda, Y Hasegawa

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 2004 IEEE

Event date： 2004

Language：English Presentation type：Oral presentation (general)

In this paper we propose a method to insert a long peg into a tandem shallow hole using search trajectory generation without force feedback. Automation of the assembly in a factory progressed in recent years. However the many processes where workers should assemble products by themselves still remain now. We call these processes "difficult assembly". The difficult assembly has the feature that a mating part has a unique shape. The RCC (Remote Center Compliance) is an effective method for assembly, but it is no longer useful on the condition that mating parts are complex. The RCC device has no durability since it is a product made from rubber, in addition a force sensor is expensive. If a robot could accomplish the assembly task without using those devices there is a advantage in terms of expense and durability. In our approach, the manipulator system inserts a long peg into the hole with switching the trajectory generation methods depending on the task condition.

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Passive trajectory control of the lateral motion in bipedal walking

M Doi, Y Hasegawa, T Fukuda

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS 2004 IEEE

Event date： 2004

Language：English Presentation type：Oral presentation (general)

This paper proposes Passive Trajectory Control (PTC), a new control method of Acrobot, and discusses its application to biped walking robots. PTC makes the first joint passive and makes the point contact between the whole robot system and the ground, then actuates other joints according to the motion of the passive joint. Due to this interlock, the whole robot system becomes autonomous and the controller is independent of time. Hence, PTC makes it possible to design the robot motion based on not the trajectory of time, but the dynamics around the contact point. In this paper, we design the lateral motion of bipedal walking by means of PTC and realize the dynamic stable motion.

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Perspective of robotics technology

T Fukuda, Y Hasegawa

PROCEEDINGS OF THE TENTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS 2004 ACTA PRESS

Supermedia-enhanced Internet-based telerobotics International coauthorship

Elhajj, I, N Xi, WK Fung, YH Liu, Y Hasegawa, T Fukuda

PROCEEDINGS OF THE IEEE 2003.3 IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Event date： 2003.3

Language：English

This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay cause's instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. this modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic, laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.

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Development of character robots for human-robot mutual communication

F Arai, D Tachibana, MJ Jung, T Fukuda, Y Hasegawa

RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

This paper describes a robot-head system as a communication device,for human robot interaction. Most robotic systems with natural modalities have facial expression functions, since facial expressiveness is regarded as a key component, to develop personal attachment along with prosodic expressiveness. Most of the conventional facial robots has adopted Ekman's FACS. However, due to some mechanical constraints, there are some limitations to adopt FACS model completely in facial robots. In the first part of this paper, we introduce a character robot - CRF2 that have richer facial expressions than the first prototype character robot -CRF1 since the facial design of CRF2 implements eyelids' mechanism and it is based on the 3D deformation model. However due to the fact that the recognition rate of some expressions such as disgust and fear was not improved very much, we concluded that Character Robot needs other communication channels such as voice to convey robot's emotional states properly to the user in addition to renovating mechanical facial part. As a result we developed a renovated character robot -CRF3. In addition to facial expressiveness, CRF3 is implemented speech synthesis and neck motions. Further CRF3 has visual, auditory and tactile. sensors and expanded configuration that can connect additional sensor or actuator modules to the system. To evaluate the applications of CRF, we applied CRF3 to home environments as a home network manager which selects a task based on robot mood.

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From intelligent robot to multi-agent robotic system

T Fukuda, Takagawa, I, Y Hasegawa

INTERNATIONAL CONFERENCE ON INTEGRATION OF KNOWLEDGE INTENSIVE MULTI-AGENT SYSTEMS 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

The robot technology last decade had two streams of research, such as single but very intelligent robot and multiple agent type of robots. The robot research has been aimed at going to make a robot more flexible and more intelligent, using learning, adaptive and evolutionary capabilities. The work is mainly focused on the modeling and control enhanced by the computational intelligence, so that we can have robots how flexible and wide range of operation robot can engage in with less instructions. Sensor technology has also been improved to reduce the uncertainty, while actuator technology was assured to make the controller work as exactly as desired.
On the other hand, the multiple autonomous robotic system has also been studied for cooperative/competitive works in the frame work of a group robotics, network robots, swarm intelligent robotic system or collective intelligent robotic system, believing that more robots, better work. One example is soccer robots. There are also lots of works in reality which might be carried out by multiple robots but single robots. But there are not many works which shows many intelligent robots work together in the real world. There are clearly many good works in both single and multi-agent type of robots but apparently something missing in between them. Why is it difficult to make multi-agent type of intelligent robots? in this paper, we discuss this issue and show some future problems.

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Object manipulation coordinating multiple primitive motions

Y Hasegawa, M Higashiura, T Fukuda

2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

This paper proposes an algorithm to coordinate multiple primitive motions in order to manipulate an object effectively. This algorithm enables a fingered hand to manipulate an object in realtime, because a searching space is reduced by using previously designed primitive motions. Besides this approach can embed dexterous motions in manipulation work as a primitive motion so that a hand system could manipulate an object effectively. In this paper, we experimentally show that four-fingered hand can effectively rotate a rectangular object by using the primitive motions and compare its performance with that of EP-based algorithm.

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Multi-directional assembly of tunnel segments using a force controlled parallel link robot with fuzzy compensation

Z Zyada, Y Hasegawa, T Fukuda

SICE 2003 ANNUAL CONFERENCE, VOLS 1-3 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

Achieving assembly in different inclination angles for tunnel construction would be a difficult task because of gravity forces changing and hence actuators' friction forces. In this paper, we introduce the experimental results for multi-directional segments assembly of a shield tunnel excavation using a hydraulic parallel link robot. A force/motion control algorithm with model-based actuators' forces fuzzy compensation is implemented in different inclination angles.

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Mechatronics from system integration viewpoint

T Fukuda, Y Hasegawa

ICOM 2003: INTERNATIONAL CONFERENCE ON MECHATRONICS 2003 PROFESSIONAL ENGINEERING PUBLISHING LTD

Study on brachiation controller for the multi-locomotion robot - Redesigning behavior controllers

H Kajima, M Doi, Y Hasegawa, T Fukuda

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 2003 IEEE

Event date： 2003

Language：English Presentation type：Oral presentation (general)

The goal of our research is to achieve a dynamic and skillful motion by a real robot. We have previously developed a brachiation controller that can achieve two kinds of brachiation motions: overhand and side-hand motions. In this paper, we redesign behavior controllers in order to achieve a stable continuous brachiation without a break. We make the behavior controllers that can be controlled by the angle around a catching bar because the angle is the most dominant parameters of the brachiation motions. In addition, we introduce the action of bending elbow joints in order to realize a pendulum motion and to reduce the impact of the moment of catching a bar. Finally, we show the experimental result that the robot could successfully achieve continuous brachiation.

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Flexible control of a grasping object with posture error

Y Hasegawa, M Higashiura, T Fukuda

PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

This paper proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

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Generation method of regrasing motion using EP - Adjusting methods for posture error of grasping object

Y Hasegawa, M Higashiura, T Fukuda

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

This paper proposes adjusting methods of a re. grasping strategy according to position and posture errors of a grasping object. We had already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

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Fuzzy Modeling of a hydraulic parallel link manipulator actuators' forces

Z Zyada, Y Hasegawa, G Vachkov, T Fukuda

SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

We present a fuzzy-logic based model for every hydraulic actuator of a parallel link manipulator. Construction of a fuzzy model rule base is composed of two stages; the first stage is: learning rules from examples. for the acquired input/output data; while the second stage is: completing the unknown fuzzy rules from heuristics and experience. The algorithm of fuzzy-rule base modeling as well as the actuators' forces results from models and experiments, for a 6 DOF Stewart Platform, are presented.

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Study on brachiation controller - Adjustment method of strength and timing parameters

H Kajima, Y Hasegawa, T Fukuda

2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS 2002 IEEE

Event date： 2002

Language：English Presentation type：Oral presentation (general)

In this paper, we firstly introduce new concept of multi-locomotion robot inspired by an animal and a developed robot "Gorilla Robot II", which can select a better locomotion from biped locomotion, quadruped locomotion and brachiation, according to an environment. We consider "Brachiation" which is one of the most dynamic motions in animal motions. Then we propose an enhanced-control method for the robot in order to achieve a brachiation motion, adjusting the timing of local behaviors. We show that the developed robot successfully perform two kinds of brachiation motions.

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Continuous locomotion of brachiation robot by behavior phase shift

Y Hasegawa, H Tanahashi, T Fukuda

JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5 2001 IEEE

Event date： 2001

Language：English Presentation type：Oral presentation (general)

In this paper, we propose an extension of a hierarchical behavior controller which achieve dynamically dexterous behavior by shifting behavior phase. A controller for a dynamically dexterous behavior is hard to be designed by using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space and its complexity, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller and adaptation algorithm for scaling of behavior outputs. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. The robot however does not locomote from branch to branch stably, by adjusting amplitude of two behavior controllers. A hybrid adjusting algorithm with amplitude scaling and phase shifting of behavior outputs is proposed in this paper. Numerical simulations demonstrate that the obtained controller can successfully generate the stably continuous locomotion.

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Behavior coordination of brachiation robot based on Behavior phase shift

Y Hasegawa, H Tanahashi, T Fukuda

IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 2001 IEEE

Event date： 2001

Language：English Presentation type：Oral presentation (general)

In this paper, we propose a new method to acquire hierarchical behavior controller which is achieved by shifting phase between local behaviors. Complex behavior is hardly obtained using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. Numerical simulations demonstrate that the obtained controller can successfully achieve continuous locomotion.

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Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

WG Wu, Y Hasegawa, T Fukuda

SICE 2001: PROCEEDINGS OF THE 40TH SICE ANNUAL CONFERENCE, INTERNATIONAL SESSION PAPERS 2001 IEEE

Event date： 2001

Language：English Presentation type：Oral presentation (general)

A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented in this paper. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.

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Behavior modification for continuous locomotion of Brachiation-type mobile robot

Y Hasegawa, T Fukuda, Y Ito

SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5 2000 IEEE

Event date： 2000

Language：English Presentation type：Oral presentation (general)

In this paper, we propose an adaptation and learning algorithm to adjust behavior coordinator against small changes of the objective task or new one. This method measures the relation between the each local behavior and the global behavior, and then determines the direction of change of the activation values from the behavior coordinator based on the measurements. Monkey-typed locomotion robot, Brachiator III, has 13 links and 12 joints and be able to take a motions like a real ape in a three-dimensional space. The controller is designed for a primitive case. The proposed algorithm is used when the branch interval is changed and when the continuous locomotion is desired. We show the effectiveness of the proposed algorithm through the experiments using the Brachiator III.

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Acquisition method of regrasping motion with tolerance for object size

Y Hasegawa, J Matsuno, T Fukuda

IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 2000 IEEE

Event date： 2000

Language：English Presentation type：Oral presentation (general)

Me have studied generation method of regrasping motion for four-fingered robot using Evolutionary Programming. EP has advantage of finding the alley of optimal numerical values but it requires much iteration to find it. This obtained regrasping strategy can not be applied to the other shaped-object except an object used in finding process. Therefore the generated regrasping strategy by EP should be reused for other sized-object. In this paper, we proposed the adaptation algorithm for different size of grasping object, We show the effectiveness of the method with the experimental results.

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Position and elasticity control for biomimetic robot finger

K Kawanishi, H Hashizumi, Y Oki, Y Nakano, T Fukuda, G Vachkov, F Arai, Y Hasegawa

IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4 2000 IEEE

Event date： 2000

Language：English Presentation type：Oral presentation (general)

In this paper, a robot finger with a small mass and elasticity has been proposed to develop a human-friendly robot that can coexist in the same environment as the human area. The tendon-driven mechanism has an advantage of being able to control the fingertip elasticity by adjusting the tensions of each tendon. However, the tendon-driven mechanism can not achieve a precise position control of the fingertip. This is because the posture of finger is stable at the equilibrium point of each tendon tension that mainly depends on the friction force. In addition to this, the relation between the elasticity and the tendon tensions is non-linear one. Therefore, we use a fuzzy controller to control the fingertip position and the elasticity using fuzzy map that is tuned by, a local learning algorithm. The obtained experimental results have been analyzed and discussed front a viewpoint of further improvement.

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Learning predictive control for GHP

Yasuhisa Hasegawa, Takuro Nakano, Toshio Fukuda, Takafumi Komori, Keiji Matsumoto, Koji Shimojima

IECON Proceedings (Industrial Electronics Conference) 1999.12.1

Event date： 1999.12

Language：English Presentation type：Oral presentation (general)

GHP (Gas Heat Pump) is the attractive air-conditioning system that realizes save energy and low emission, from ecological viewpoint. However it has some difficult characteristics to be controlled, that is the system response is very slow and the dead time is large because of large system. In addition, system dynamics is easily changed by the installation and the ambient conditions. Therefore it is difficult to adapt to these changes by conventional control methods. In this paper, we proposed a learning predictive control, which can control the variable system, identifying the system dynamics in on-line process. We show the effectiveness of the proposed algorithm through the computer simulations and experiment.

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Behaviour adaption on behavior-based controller for brachiation robot

Y Hasegawa, Y Ito, T Fukuda

ADVANCES IN ARTIFICIAL LIFE, PROCEEDINGS 1999 SPRINGER-VERLAG BERLIN

Event date： 1999

Language：English Presentation type：Oral presentation (general)

This paper proposes novel adaptation method for a behavior-based locomotion robot. Utilization of hierarchical behavior controller makes the controller designing process easier and shorter, because the designer can deal with behavior controllers for simple behaviors independently, and coordinate those behavior controllers in order for a robot to perform the objective behavior after finishing the design of the fundamental behavior controllers. Some problems are still remaining. One is how to adjust the behavior coordinator when the objective behavior or robot parameters are slightly changed. We propose the novel method to adjust the behavior coordinator against some changes. This method measures the effects of the fundamental behavior controllers to the total behavior, and changes the activation values for them in less trials. This proposed method is applied to the real brachiation robot control. This brachiation robot has redundant mechanism to locomote from branch to branch with 14 actuators like a long-armed ape.

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Learning method for hierarchical behavior controller

Y Hasegawa, T Fukuda

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 1999 IEEE

Event date： 1999

Language：English Presentation type：Oral presentation (general)

Complex behavior is hardly obtained using an; unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space, a hierarchical behavior structure is effective. In this paper, we proposed the hierarchical behavior controller, which consists of three types of modules, behavior coordinator, behavior controller and feedback controller. We also propose a new learning algorithm for the behavior coordinator and the behavior controller that consists of some sub-coordinators and some sub-controllers, respectively. This algorithm selects a deficient one by evaluating each sub-coordinator or sub-controller using multiple regression analysis based on previously obtained evaluation values. This can reduce the searching area and the learning rimes by avoiding the necessary of trying to tune good sub-coordinators or sub-controllers. The hierarchical behavior controller is applied to the problem of controlling a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body.

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Robot hand manipulation by evolutionary programming

T Fukuda, K Mase, Y Hasegawa

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS 1999 IEEE

Event date： 1999

Language：English Presentation type：Oral presentation (general)

In this paper, we propose a searching method of the grasping and manipulating an object in the three-dimensional space by using a four-fingered robot hand which is applicable to the real robot hand. Recently there are many researches about multi-fingered robot hand. To manipulate some object, it is need to teach contact points and forces of fingertip. But it is difficult to optimize each parameter for natural grasping. So this paper shows the manipulation using EP (Evolutionary Programming) to optimize the motion of the fingers. In this case, EP determines not only when and where the fingers are molted but also which finger is operated to the next contact point as the grasping attitude is changed Moreover the coding of individual is unique, which makes easy to optimize the parameter: The result examines the effective in computer simulation in this paper but it would be applicable to a real robot hand.

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Hierarchical control system based on unsupervised fuzzy-neuro system

Koji Shimojima, Toshio Fukuda, Yasuhisa Hasegawa

IEEE International Conference on Neural Networks - Conference Proceedings 1995.12.1

Event date： 1995.12

Language：English Presentation type：Oral presentation (general)

Recently, fuzzy systems are applied to various systems. However, lack of learning ability, the determination of most fuzzy rules and membership function was made by human experts. In this paper, we propose a hierarchical control system based on the unsupervised RBF Fuzzy system. The learning algorithm of the fuzzy system is based on Genetic Algorithms. This hierarchical control system has the skill database, which manages the some of the fuzzy controllers acquired through the unsupervised learning process. Thus, the proposed system can use the acquired fuzzy controller effectively and it leads to reduce the iteration time for a new object. The effectiveness of the proposed method is shown through the simulations of the cart-pole problem.

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Reinforcement learning method for generating fuzzy controller

Toshio Fukuda, Yasuhisa Hasegawa, Koji Shimojima, Fuminori Saito

Proceedings of the IEEE Conference on Evolutionary Computation 1995.12.1

Event date： 1995.12

Language：English Presentation type：Oral presentation (general)

In this paper, we propose a new reinforcement learning algorithm for generating a fuzzy controller. The algorithm generates a range of continuous real-valued actions, and reinforcement signal is self-scaled. This prevents the weights from overshooting when the system gets a very large reinforcement value. The proposed method is applied to the problem of controlling the brachiation robot, which moves dynamically from branch to branch like a gibbon swinging its body in a pendulum fashion(Fig. 1).

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RBF-fuzzy system with GA based unsupervised/supervised learning method

Koji Shimojima, Toshio Fukuda, Yasuhisa Hasegawa

IEEE International Conference on Fuzzy Systems 1995.1.1

Event date： 1995.1

Language：English Presentation type：Oral presentation (general)

Fuzzy systems are used in many fields and places so far. In order to apply the fuzzy systems to the various fields and places, the tuning and optimizing method of the fuzzy system is the key issue. And the optimization of structure of fuzzy system (the number of membership function, the number of rules) is also very important to simplify the fuzzy systems. Some self-tuning methods have been proposed so far. However these conventional self-tuning methods do not have sufficient capability of learning. In this paper, we propose new unsupervised/supervised self-tuning fuzzy system, which consists of some membership functions expressed by the radial basis function with insensitive region. Learning are based on the genetic algorithms. The descent method is also utilized for tuning the shapes of membership function and consequent parts in case of supervised learning. The effectiveness of the proposed methods is shown by some numerical examples and simulations.

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STRUCTURE ORGANIZATION OF HIERARCHICAL FUZZY MODEL USING BY GENETIC ALGORITHM

T FUKUDA, Y HASEGAWA, K SHIMOJIMA

PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I-IV 1995 I E E E

Hierarchical fuzzy reasoning - adaptive structure and rule by genetic algorithms

Toshio Fukuda, Yasuhisa Hasegawa, Koji Shimojima

IEEE Conference on Evolutionary Computation - Proceedings 1994.12.1

Event date： 1994.12

Language：English Presentation type：Oral presentation (general)

This paper proposes a self-tuning hierarchical fuzzy reasoning that uses the Genetic Algorithm and back-propagation method. If a fuzzy system has a number of inputs, the number of membership functions and rules will be exploded. Therefore, it is necessary to reduce the number of membership functions. One method to do so is to make a hierarchical structure of fuzzy inference units that have a few inputs. However the hierarchical structure cannot be made without considering the relationship among inputs. The proposed method is based on the Genetic Algorithm with a strategy that favors systems with fewer rules and membership functions, and obtains the optimal structure. The proposed method is applied to multi-dimentional function approximation problems in order to show the effectiveness.

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Advantage of variable stiffness of human fingers for key insertion task

Yasuhisa HASEGAWA, Ojiro KITAMURA

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2014.7.8

Bio-Fabrication of Ca-Alginate Cell Sheets with the Electrodeposition Method for Hepatic Lobule Tissue Reconstracts

Zeyang Liu, Masaru Takeuchi, Yasuhisa Hasegawa, Toshio Fukuda, Qiang Huang

The 21st International Conference on Miniaturized Systems for Chemistry and Life Sciences (MicroTAS 2017) 2017.10.24

Auricularis Muscles based Control Interface for Robotic Extra Thumb

Noel Segura Meraz, Yasuhisa Hasegawa, Hiroshi Shikida

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2017), 2017.12.4

Assembly of Hepatic Lobule-like Microtissue with Repetitive Single-Step Contact Manipulation

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2016) 2016.11.28

HMD表示可能な視野拡張型顕微鏡システムの観察可能範囲の評価 International conference

竹野更宇, 青山忠義, 竹内大, 長谷川泰久, 石井抱

第24回ロボティクスシンポジア 2019.3.14

Peripheral Nerve Stimulation Device Enabling Adjusment of Stimulation Voltage

Takahiro Miyamoto, Masaru Takeuchi, Tadayoshi Aoyama, Yasuhisa Hasegawa, Tomonori Nakano, Shigeru Kurimoto, Hitoshi Hirata

2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS 2018) 2018.12.10

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