Faculty Profiles - HASEGAWA, Yasuhisa

Passive Lower Limb Exoskeleton for Kneeling and Postural Transition Assistance With Expanded Support Polygon Open Access

Real-time inverse kinematics for robotic manipulation under remote center-of-motion constraint using memetic evolution Reviewed International journal

Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

Journal of Computational Design and Engineering Vol. 11 ( 3 ) page： 248-264 2024.5

Multimodal semi-supervised learning for online recognition of multi-granularity surgical workflows Reviewed International journal

Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

International Journal of Computer Assisted Radiology and Surgery Vol. 19 ( 6 ) page： 1075 - 1083 2024.4

Sojiro Sugiura, Yaonan Zhu, Jian Huang, Yasuhisa Hasegawa

IEEE/ASME Transactions on Mechatronics Vol. 29 ( 2 ) page： 1193 - 1204 2024.4

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

Robotic exoskeletons, which assist in stand-to-kneel and kneel-to-stand (STK-KTS) movements and static kneeling postures are in great demand in the nursing field. This movement involves continuous adjustment of the center of gravity without a sufficient support polygon, which enhances the required joint effort of the ankle and knee. This study proposes a novel passive lower limb exoskeleton to support the movement. The exoskeleton was attached to the right leg and comprised a gas spring. The design followed an assistive strategy of the expanded support polygon. During the STK-KTS, the gas spring provided extra contact with the ground, thereby expanding the support polygon to increase motion stability and propping the knee to provide torque to the leg. The effectiveness of the gas spring was analyzed using a Lagrange dynamics-based simulation. Moreover, it was confirmed that the support polygon was expanded due to the proposed exoskeleton in real-world experiments. Further, experiments with seven healthy subjects showed that the exoskeleton reduced the time-integrated myoelectric potentials of the legs during STK-KTS (13.6%) and static posture (37.9%). These results imply that the proposed exoskeleton has the potential to reduce physical loads and provide a comfortable working environment for nursing workers.

DOI： 10.1109/TMECH.2023.3294255

Intuitive Cell Manipulation Microscope System with Haptic Device for Intracytoplasmic Sperm Injection Simplification Reviewed

Latent regression based model predictive control for tissue triangulation Reviewed

Songtao Liu, Jacinto Colan, Yaonan Zhu, Taisuke Kobayashi, Kazunari Misawa, Masaru Takeuchi, Yasuhisa Hasegawa

Advanced Robotics Vol. 38 ( 5 ) page： 283 - 306 2024.3

Real-Time Spatiotemporal Assistance for Micromanipulation Using Imitation Learning Reviewed International journal

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

IEEE Robotics and Automation Letters Vol. 9 ( 4 ) page： 3506 - 3513 2024.2

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

Ryo Matsui, Tadayoshi Aoyama, Kenji Kato, Yasuhisa Hasegawa

Scientific Reports Vol. 14 ( 1 ) page： 2168 2024.1

Kazuya Sakamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

Sensors Vol. 24 ( 2 ) page： 711 2024.1

Variable Grounding Flexible Limb Tracking Center of Gravity for Sit-to-Stand Transfer Assistance International journal Open Access

Sojiro Sugiura, Jayant Unde, Yaonan Zhu, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters Vol. 9 ( 1 ) page： 175 - 182 2024.1

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

Wearable robotic limbs support sit-to-stand (STS) transfer with increased stability while maintaining a compact size, as well as providing body weight support. This paper proposes a new robotic limb, Variable Grounding Flexible Limb (VGFL). The VGFL achieved a novel strategy in which its grounding point tracks the forward shift of the wearer's center of gravity (CoG) during STS. Since the strategy keeps the distance between the grounding point and the CoG close, an upward force can efficiently work for the STS assistance. To implement the strategy, this paper utilized the High-Strength and Flexible Mechanism (HSFM). The HSFM can change its grounding point while being capable of lifting body weight with one motor. Owing to these unique characteristics, the VGFL can realize the strategy without multiple actuators and complex controllers. Furthermore, real-world experiments confirmed that the grounding point of the VGFL accurately tracked the forward shift of the CoG during the STS assistance. Moreover, experiments conducted with three healthy subjects showed that the VGFL reduced the surface myoelectricity of the lower limbs during STS transfer. The VGFL could demonstrate high support performance in STS with the CoG tracking strategy.

DOI： 10.1109/LRA.2023.3328449

Intuitive Cell Manipulation Microscope System with Haptic Device for Intracytoplasmic Sperm Injection Simplification Open Access

Kazuya Sakamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

Sensors Vol. 24 ( 2 ) page： 711 - 711 2024.1

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

In recent years, the demand for effective intracytoplasmic sperm injection (ICSI) for the treatment of male infertility has increased. The ICSI operation is complicated as it involves delicate organs and requires a high level of skill. Several cell manipulation systems that do not require such skills have been proposed; notably, several automated methods are available for cell rotation. However, these methods are unfeasible for the delicate ICSI medical procedure because of safety issues. Thus, this study proposes a microscopic system that enables intuitive micropipette manipulation using a haptic device that safely and efficiently performs the entire ICSI procedure. The proposed system switches between field-of-view expansion and three-dimensional image presentation to present images according to the operational stage. In addition, the system enables intuitive pipette manipulation using a haptic device. Experiments were conducted on microbeads instead of oocytes. The results confirmed that the time required for the experimental task was improved by 52.6%, and the injection error was improved by 75.3% compared to those observed in the conventional system.

DOI： 10.3390/s24020711

Design, Modeling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric Open Access

Assistive System for Microinjection by Presenting Cell Deformation as Surface Tactile Sensation Open Access

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

IEEE Access Vol. 12 page： 3874 - 3880 2024

Unde J., Colan J., Hasegawa Y.

IEEE Robotics and Automation Letters Vol. 9 ( 11 ) page： 9335 - 9342 2024

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

This letter presents a novel approach to fabric manipulation through the development and optimization of a single-actuator-driven roller gripper. Focused on addressing the challenges inherent in handling fabrics with diverse thicknesses and materials, our gripper employs a passive adaptable mechanism driven by springs, enabling effective manipulation of fabrics ranging from 0.1 mm to 2.25 mm in thickness. We analyze gripper-fabric interaction forces to identify the parameters that influence successful grasping. We then optimize the gripper's normal forces and the roller's tangential force using the proposed model. Systematic evaluations demonstrated the gripper's capability to separate individual layers from fabric stacks, achieving a 94.9% success rate across multiple fabric types. Overall, this research offers a compact, cost-effective solution with broad applicability in diverse industrial automation contexts, providing valuable insights for advancing robotic fabric handling systems.

DOI： 10.1109/LRA.2024.3461550

Wearable Fabric Actuator Inducing Shoulder Movements for Directional Guidance of Hand Movements

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

2024 IEEE International Conference on Cyborg and Bionic Systems (CBS) page： 255 - 258 2024

RNN-Based Visual Guidance for Enhanced Sense of Agency in Teleoperation With Time-Varying Delays Open Access

Morita T., Armleder S., Zhu Y., Iino H., Aoyama T., Cheng G., Hasegawa Y.

IEEE Robotics and Automation Letters Vol. 9 ( 12 ) page： 11537 - 11544 2024

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

Intuitive teleoperation enables operators to embody remote robots, providing the sensation that the robot is part of their own body during control. The sense of agency (SoA), i.e., the feeling of controlling the robot, contributes to enhanced motivation and embodiment during teleoperation. However, the SoA can be diminished by time-varying communication delays associated with teleoperation. We propose a visual guidance system to assist operations while maintaining a high SoA when teleoperating robots with time-varying delays, thereby improving positioning accuracy. In the proposed system, a recurrent neural network (RNN) model, trained on the pouring tasks of skilled operators, predicts the input position 500 ms ahead of the input from the novice operator and visually presents it in real-time as the end-effector target position. Experiments with time-varying delays confirmed that the proposed method provides a visual representation of the target position interpolated in time and space from the real-time input of the operator, guiding the operator to align with the trajectory of the skilled operator. The proposed method significantly improves task performance even under time-varying delays while maintaining a high SoA compared with other conditions. Applying the prediction system developed in this study to human-robot collaborative control may enable interventions that maintain the SoA.

DOI： 10.1109/LRA.2024.3495591

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

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

2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) page： 1447 - 1454 2024

Development of a compliant gripper for safe robot-assisted trouser dressing-undressing

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

Advanced Robotics Vol. 38 ( 19-20 ) page： 1424 - 1440 2024

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

In recent years, many countries, including Japan, have rapidly aging populations, making the preservation of seniors' quality of life a significant concern. For elderly people with impaired physical abilities, support for toileting is one of the most important issues. This paper details the design, development, experimental assessment, and potential application of the gripper system, with a focus on the unique requirements and obstacles involved in aiding elderly or hemiplegic individuals in dressing and undressing trousers. The gripper we propose seeks to find the right balance between compliance and grasping forces, ensuring precise manipulation while maintaining a safe and compliant interaction with the users. The gripper's integration into a custom-built robotic manipulator system provides a comprehensive solution for assisting hemiplegic individuals in their dressing and undressing tasks. Experimental evaluations and comparisons with existing studies demonstrate the gripper's ability to successfully assist in both dressing and dressing of trousers in confined spaces with a high success rate. This research contributes to the advancement of assistive robotics, empowering elderly, and physically impaired individuals to maintain their independence and improve their quality of life.

DOI： 10.1080/01691864.2024.2376024

A Neurostimulator with Wireless Bidirectional Communication for Controlling Muscle Contraction Force using Electromyography

Takeuchi M., Niimi T., Tokutake K., Kurimoto S., Aoyama T., Hirata H., Hasegawa Y.

IEEE International Conference on Nano Molecular Medicine and Engineering Nanomed page： 104 - 107 2024

Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE International Conference on Nano Molecular Medicine and Engineering Nanomed

This paper presents a wirelessly powered neurostimulator with wireless bidirectional communication to control muscle contraction. The transmitter device sends the information about neural stimulation to the receiver device, while the receiver device sends the measured electromyography (EMG) inside a body to the transmitter device. Based on the measured EMG, the neural stimulation was adjusted to achieve the target EMG. The muscle contraction force can be controlled by EMG control. The EMG estimation error by the developed device was less than 2% when the muscle activity was active. This study can contribute to force control of paralyzed patients' bodies.

DOI： 10.1109/NANOMED64244.2024.10946046