Faculty Profiles - HASEGAWA, Yasuhisa

Papers - HASEGAWA, Yasuhisa

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Kinematic analysis and experimental verification of transforming planar linkage mechanism Open Access

Unde J., Ito Y., Colan J., Hasegawa Y.

Robomech Journal Vol. 12 ( 1 ) 2025.12

Language：English Publishing type：Research paper (scientific journal) Publisher：Robomech Journal

This paper explores the kinematic characteristics of a novel transforming planar linkage mechanism characterized by a coiling and uncoiling motion pattern. Unlike traditional deployable structures that depend on scaling transformations, this mechanism utilizes a four-bar linkage system that rotates collectively to achieve the desired transformation with a single degree of freedom. The study provides a comprehensive analysis of the mechanism’s properties, highlighting its singularity points, trajectory variations, and transformation capabilities contingent on the fixed frame’s position. These properties are validated through simulations and experimental tests, supporting the analytical findings. Furthermore, a tendon-driven actuation method tailored for this mechanism is introduced and validated using a physical prototype. The results contribute significantly to understanding this innovative planar linkage mechanism, offering valuable insights for designing novel mechanical systems and applications.

DOI： 10.1186/s40648-025-00289-3

Open Access

Scopus

Improved Availability of Mobile Network Teleoperation by Employing a Video Conferencing Application With Audio-Embedded Commands Reviewed International journal

Sho Hatano, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters Vol. 10 ( 4 ) page： 3502 - 3509 2025.2

Kinematic analysis and experimental verification of transforming planar linkage mechanism Reviewed International journal

Jayant Unde, Yahiro Ito, Jacinto Colan, Yasuhisa Hasegawa

ROBOMECH Journal Vol. 12 ( 3 ) page： 1 - 16 2025.2

IST-ROS: A flexible object segmentation and tracking framework for robotics applications Open Access

Fozilov K., Yamada Y., Colan J., Zhu Y., Hasegawa Y.

Softwarex Vol. 29 2025.2

Language：English Publishing type：Research paper (scientific journal) Publisher：Softwarex

Object detection and tracking are crucial components in the development of various applications and research endeavors within the computer science and robotics community. However, the diverse shapes and appearances of real-world objects, as well as dynamic nature of the scenes, may pose significant challenges for these tasks. Existing object detection and tracking methods often require extensive data annotation and model re-training when applied to new objects or environments, diverting valuable time and resources from the primary research objectives. In this paper, we present IST-ROS, Interactive Segmentation and Tracking for ROS, a software solution that leverages the capabilities of the Segment Anything Model (SAM) and semi-supervised video object segmentation methods to enable flexible and efficient object segmentation and tracking. Its graphical interface allows interactive object selection and segmentation using various prompts, while integrated tracking ensures robust performance even under occlusions and object interactions. By providing a flexible solution for object segmentation and tracking, IST-ROS aims to facilitate rapid prototyping and advancement of robotics applications.

DOI： 10.1016/j.softx.2024.101979

Open Access

Scopus

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism Open Access

Unde J., Colan J., Hasegawa Y.

IEEE Robotics and Automation Letters Vol. 10 ( 2 ) page： 1369 - 1376 2025

Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Robotics and Automation Letters

This letter introduces a novel linear actuator with a high extension ratio, achieved through a unique planar transforming linkage mechanism (TLM) that serves as an articulated lead screw. This mechanism forms a rigid beam when extended and compactly coils when not in use, eliminating the need for an interlocking mechanism and thereby enhancing durability and reducing maintenance costs. The paper also discusses the comprehensive design of the linear actuator, including the articulated lead screw and driving transformation mechanism, leveraging the kinematic properties of the planar TLM. A proof-of-concept prototype is manufactured and assessed for its load capacity, accuracy, repeatability, and efficiency. Unlike conventional actuators constrained by a lower extension ratio, the proposed actuator's compactness and transverse load resilience make it ideal for space-constrained applications such as medical devices, space robotics, and factory automation. Overall, the proposed linear actuator represents a significant advancement in the field of linear actuators and has the potential to enable a wide array of applications that were previously unfeasible with conventional designs.

DOI： 10.1109/LRA.2024.3521682

Open Access

Scopus

Improved Availability of Mobile Network Teleoperation by Employing a Video Conferencing Application With Audio-Embedded Commands

Hatano S., Zhu Y., Aoyama T., Hasegawa Y.

IEEE Robotics and Automation Letters Vol. 10 ( 4 ) page： 3502 - 3509 2025

Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Robotics and Automation Letters

This study proposed an innovative teleoperation system utilizing video conferencing applications to enhance availability and operability in mobile networks. The proposed system accomplished this by transmitting video through screen sharing and embedding control signals into audio signals by converting them into sine waves whose amplitudes correspond to control values. Compared with conventional VPN-based approaches, our approach reduced communication delay over mobile data networks by more than 1s and, in evaluation experiments using Toyota's Human Support Robot, demonstrated improved operational accuracy. The proposed method expanded the operational range beyond Wi-Fi or cable limitations, enabling outdoor remote control via mobile data communication. This advancement opens new possibilities in hazardous environment operations, elderly care, and data collection for AI model training. Our approach improved the flexibility of teleoperation systems, paving the way for widespread adoption across various industries and research domains. Future improvements in video conferencing applications and next-generation mobile networks could further enhance system performance.

DOI： 10.1109/LRA.2025.3544092

Scopus

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

Morita T., Yamashita Y., Zhu Y., Hasegawa Y.

2025 IEEE SICE International Symposium on System Integration Sii 2025 page： 157 - 158 2025

Language：English Publishing type：Research paper (scientific journal) Publisher：2025 IEEE SICE International Symposium on System Integration Sii 2025

We propose a low-cost robot operation interface that combines a mixed-reality device and vision-based tactile sensor for simultaneous grip force fine-tuning and position control. In a paper creasing demonstration, we confirm that the proposed system dynamically reproduces a small force input by the operator to the controller as the grasping force of a robot gripper.

DOI： 10.1109/SII59315.2025.10871020

Scopus

Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space Open Access

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

IEEE Transactions on Haptics Vol. 18 ( 1 ) page： 244 - 254 2025

Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space Reviewed International journal

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

IEEE Transactions on Haptics page： 1 - 11 2024.12

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism Reviewed International journal

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters Vol. 10 ( 2 ) page： 1369 - 1376 2024.12

Tactile Feedback in Robot‐Assisted Minimally Invasive Surgery: A Systematic Review Reviewed International journal

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

The International Journal of Medical Robotics and Computer Assisted Surgery 2024.12

Real-time motion force-feedback system with predictive-vision for improving motor accuracy. International journal Open Access

Ryo Matsui, Tadayoshi Aoyama, Kenji Kato, Yasuhisa Hasegawa

Scientific reports Vol. 14 ( 1 ) page： 2168 - 2168 2024.12

Language：English Publishing type：Research paper (scientific journal)

Many haptic guidance systems have been studied over the years; however, most of them have been limited to predefined guidance methods. Calculating guidance according to the operator's motion is important for efficient human motor adaptation and learning. In this study, we developed a system that haptically provides guidance trajectory by sequential weighting between the operator's trajectory and the ideal trajectory calculated from a predictive-vision system. We investigated whether motion completion with a predictive-vision system affects human motor accuracy and adaptation in time-constrained goal-directed reaching and ball-hitting tasks through subject experiments. The experiment was conducted with 12 healthy participants, and all participants performed ball-hitting tasks. Half of the participants get forceful guidance from the proposed system in the middle of the experiment. We found that the use of the proposed system improved the operator's motor performance. Furthermore, we observed a trend in which the improvement in motor performance using this system correlated with that after the washout of this system. These results suggest that the predictive-vision system effectively enhances motor accuracy to the target error in dynamic and time-constrained reaching and hitting tasks and may contribute to facilitating motor learning.

DOI： 10.1038/s41598-024-52811-z

Tactile Feedback in Robot-Assisted Minimally Invasive Surgery: A Systematic Review Open Access

Colan J., Davila A., Hasegawa Y.

International Journal of Medical Robotics and Computer Assisted Surgery Vol. 20 ( 6 ) 2024.12

Language：English Publishing type：Research paper (scientific journal) Publisher：International Journal of Medical Robotics and Computer Assisted Surgery

Background: Robot-assisted systems have predominantly relied on teleoperation, where visual feedback is the primary source of information. However, advances in tactile sensing and displays offer new opportunities to enhance surgical transparency, efficiency, and safety. Methods: A PRISMA-guided search was conducted across PubMed, IEEE Xplore, Scopus, and Web of Science databases to identify relevant studies. Results: Out of 645 screened articles, 98 met the inclusion criteria, and 33 were included in the final review. The review discusses various tactile feedback stimulus types, applications, and challenges in the context of robot-assisted minimally invasive surgery. Conclusion: While kinaesthetic feedback has been extensively explored to restore the natural interaction between the surgeon and the surgical environment, tactile feedback remains largely confined to research settings. This is due to significant challenges in integrating tactile feedback into robotic systems and current limitations of sensing technologies.

DOI： 10.1002/rcs.70019

Scopus

IST-ROS: A flexible object segmentation and tracking framework for robotics applications Reviewed International journal

Khusniddin Fozilov, Yutaro Yamada, Jacinto Colan, Yaonan Zhu, Yasuhisa Hasegawa

Software X ( 29 ) page： 101979 2024.11

RNN-Based Visual Guidance for Enhanced Sense of Agency in Teleoperation With Time-Varying Delays Reviewed International coauthorship International journal

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

IEEE Robotics and Automation Letters page： 1 - 8 2024.11

Virtual Hand Deformation-Based Pseudo-Haptic Feedback for Enhanced Force Perception and Task Performance in Physically Constrained Teleoperation Open Access

Yamamoto K., Zhu Y., Aoyama T., Hasegawa Y.

Robotics Vol. 13 ( 10 ) 2024.10

Language：English Publishing type：Research paper (scientific journal) Publisher：Robotics

Force-feedback devices enhance task performance in most robot teleoperations. However, their increased size with additional degrees of freedom can limit the robot’s applicability. To address this, an interface that visually presents force feedback is proposed, eliminating the need for bulky physical devices. Our telepresence system renders robotic hands transparent in the camera image while displaying virtual hands. The forces applied to the robot deform these virtual hands. The deformation creates an illusion that the operator’s hands are deforming, thus providing pseudo-haptic feedback. We conducted a weight comparison experiment in a virtual reality environment to evaluate force sensitivity. In addition, we conducted an object touch experiment to assess the speed of contact detection in a robot teleoperation setting. The results demonstrate that our method significantly surpasses conventional pseudo-haptic feedback in conveying force differences. Operators detected object touch 24.7% faster using virtual hand deformation compared to conditions without feedback. This matches the response times of physical force-feedback devices. This interface not only increases the operator’s force sensitivity but also matches the performance of conventional force-feedback devices without physically constraining the operator. Therefore, the interface enhances both task performance and the experience of teleoperation.

DOI： 10.3390/robotics13100143

Open Access

Scopus

Virtual Hand Deformation-Based Pseudo-Haptic Feedback for Enhanced Force Perception and Task Performance in Physically Constrained Teleoperation Reviewed International journal

Kento Yamamoto, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

Robotics Vol. 13 ( 10 ) page： 143 2024.9

Latent Space Search-Based Adaptive Template Generation for Enhanced Object Detection in Bin-Picking Applications Reviewed

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

Sensors Vol. 24 ( 18 ) page： 6050 2024.9

Design, Modelling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabricdressing Reviewed International journal

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters page： 1 - 8 2024.9

Latent Space Search-Based Adaptive Template Generation for Enhanced Object Detection in Bin-Picking Applications Open Access

Liu S., Zhu Y., Aoyama T., Nakaya M., Hasegawa Y.

Sensors Vol. 24 ( 18 ) 2024.9

Language：English Publishing type：Research paper (scientific journal) Publisher：Sensors

Template matching is a common approach in bin-picking tasks. However, it often struggles in complex environments, such as those with different object poses, various background appearances, and varying lighting conditions, due to the limited feature representation of a single template. Additionally, during the bin-picking process, the template needs to be frequently updated to maintain detection performance, and finding an adaptive template from a vast dataset poses another challenge. To address these challenges, we propose a novel template searching method in a latent space trained by a Variational Auto-Encoder (VAE), which generates an adaptive template dynamically based on the current environment. The proposed method was evaluated experimentally under various conditions, and in all scenarios, it successfully completed the tasks, demonstrating its effectiveness and robustness for bin-picking applications. Furthermore, we integrated our proposed method with YOLO, and the experimental results indicate that our method effectively improves YOLO’s detection performance.

DOI： 10.3390/s24186050

Open Access

Scopus

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Papers - HASEGAWA, Yasuhisa