研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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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 12 巻 ( 1 ) 2025年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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 査読有り国際誌

Sho Hatano, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 10 巻 ( 4 ) 頁： 3502 - 3509 2025年2月

Kinematic analysis and experimental verification of transforming planar linkage mechanism 査読有り国際誌

Jayant Unde, Yahiro Ito, Jacinto Colan, Yasuhisa Hasegawa

ROBOMECH Journal 12 巻 ( 3 ) 頁： 1 - 16 2025年2月

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

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

SoftwareX 29 巻 2025年2月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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

Scopus

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism

Unde J., Colan J., Hasegawa Y.

IEEE Robotics and Automation Letters 10 巻 ( 2 ) 頁： 1369 - 1376 2025年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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

Scopus

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

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

IEEE Robotics and Automation Letters 2025年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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 1 s 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

Open Access

Scopus

Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space 査読有り国際誌

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

IEEE Transactions on Haptics 頁： 1 - 11 2024年12月

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism 査読有り国際誌

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 10 巻 ( 2 ) 頁： 1369 - 1376 2024年12月

Tactile Feedback in Robot‐Assisted Minimally Invasive Surgery: A Systematic Review 査読有り国際誌

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

The International Journal of Medical Robotics and Computer Assisted Surgery 2024年12月

Real-time motion force-feedback system with predictive-vision for improving motor accuracy 国際誌 Open Access

Matsui R., Aoyama T., Kato K., Hasegawa Y.

Scientific Reports 14 巻 ( 1 ) 頁： 2168 - 2168 2024年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Scientific Reports

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

Colan J., Davila A., Hasegawa Y.

International Journal of Medical Robotics and Computer Assisted Surgery 20 巻 ( 6 ) 2024年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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 査読有り国際誌

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

Software X ( 29 ) 頁： 101979 2024年11月

RNN-Based Visual Guidance for Enhanced Sense of Agency in Teleoperation With Time-Varying Delays 査読有り国際共著国際誌

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

IEEE Robotics and Automation Letters 頁： 1 - 8 2024年11月

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 13 巻 ( 10 ) 2024年10月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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 査読有り国際誌

Kento Yamamoto, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

Robotics 13 巻 ( 10 ) 頁： 143 2024年9月

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

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

Sensors 24 巻 ( 18 ) 頁： 6050 2024年9月

Design, Modelling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabricdressing 査読有り国際誌

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 頁： 1 - 8 2024年9月

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 24 巻 ( 18 ) 2024年9月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：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

Enhancing the LLM-Based Robot Manipulation Through Human-Robot Collaboration 国際誌

Liu H., Zhu Y., Kato K., Tsukahara A., Kondo I., Aoyama T., Hasegawa Y.

IEEE Robotics and Automation Letters 9 巻 ( 8 ) 頁： 6904 - 6911 2024年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Robotics and Automation Letters

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This letter proposes a novel approach to enhance the performance of LLM-based autonomous manipulation through Human-Robot Collaboration (HRC). The approach involves using a prompted GPT-4 language model to decompose high-level language commands into sequences of motions that can be executed by the robot. The system also employs a YOLO-based perception algorithm, providing visual cues to the LLM, which aids in planning feasible motions within the specific environment. Additionally, an HRC method is proposed by combining teleoperation and Dynamic Movement Primitives (DMP), allowing the LLM-based robot to learn from human guidance. Real-world experiments have been conducted using the Toyota Human Support Robot for manipulation tasks. The outcomes indicate that tasks requiring complex trajectory planning and reasoning over environments can be efficiently accomplished through the incorporation of human demonstrations.

DOI： 10.1109/LRA.2024.3415931

Scopus

Development of a compliant gripper for safe robot-assisted trouser dressing-undressing 査読有り国際誌

Jayant Unde, Takumi Inden, Yuki Wakayama, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

Advanced Robotics 頁： 1 - 17 2024年7月

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論文 - 長谷川　泰久