Faculty Profiles - HASEGAWA, Yasuhisa

An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation Reviewed

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

ROBOMECH Journal Vol. 9 ( 1 ) page： 16 2022.6

Intuitive Remote Robotic Nasal Sampling by Orientation Control with Variable RCM in Limited Space Reviewed International journal

Masaru Takeuchi, Yuma Hironaka, Tadayoshi Aoyama, Yasuhisa Hasegawa

IEEE Transactions on Medical Robotics and Bionics Vol. 4 ( 3 ) page： 646 - 655 2022.5

Human-Following Control of Cane-Type Walking-Aid Robot Within Fixed Relative Posture International coauthorship International journal

Qingyang Yan, Jian Huang, Zhaohui Yang, Yasuhisa Hasegawa, Toshio Fukuda

IEEE/ASME Transactions on Mechatronics Vol. 27 ( 1 ) page： 537 - 548 2022.2

Intelligent Gait Analysis and Evaluation System Based on Cane Robot Open Access

Yan Q., Huang J., Wu D., Yang Z., Wang Y., Hasegawa Y., Fukuda T.

IEEE Transactions on Neural Systems and Rehabilitation Engineering Vol. 30 page： 2916 - 2926 2022

Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Transactions on Neural Systems and Rehabilitation Engineering

Gait analysis and evaluation are vital for disease diagnosis and rehabilitation. Current gait analysis technologies require wearable devices or high-resolution vision systems within a limited usage space. To facilitate gait analysis and quantitative walking-ability evaluation in daily environments without using wearable devices, a mobile gait analysis and evaluation system is proposed based on a cane robot. Two laser range finders (LRFs) are mounted to obtain the leg motion data. An effective high-dimensional Takagi-Sugeno-Kang (HTSK) fuzzy system, which is suitable for high-dimensional data by solving the saturation problem caused by softmax function in defuzzification, is proposed to recognize the walking states using only the motion data acquired from LRFs. The gait spatial-temporal parameters are then extracted based on the gait cycle segmented by different walking states. Besides, a quantitative walking-ability evaluation index is proposed in terms of the conventional Tinetti scale. The plantar pressure sensing system records the walking states to label training data sets. Experiments were conducted with seven healthy subjects and four patients. Compared with five classical classification algorithms, the proposed method achieves the average accuracy rate of 96.57%, which is improved more than 10%, compared with conventional Takagi-Sugeno-Kang (TSK) fuzzy system. Compared with the gait parameters extracted by the motion capture system OptiTrack, the average errors of step length and gait cycle are only 0.02 m and 1.23 s, respectively. The comparison between the evaluation results of the robot system and the scores given by the physician also validates that the proposed method can effectively evaluate the walking ability.

DOI： 10.1109/TNSRE.2022.3213823

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

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

2022 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2022 2022

Supernumerary Robotic Limbs: A Review and Future Outlook Reviewed International coauthorship

Yang B., Huang J., Chen X., Xiong C., Hasegawa Y.

IEEE Transactions on Medical Robotics and Bionics Vol. 3 ( 3 ) page： 623 - 639 2021.8

Authorship：Last author Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Transactions on Medical Robotics and Bionics

Wearable robots have become a prevalent method in the field of human augmentation and medical rehabilitation. Typical wearable robots mainly include exoskeletons and prostheses. However, their functions are limited due to dedicated design. In recent years, Supernumerary Robotic Limbs (SRLs) have become a hot spot in the field of wearable robots. Different from exoskeletons and prostheses, SRLs compensate and strengthen human abilities by providing extra limbs. This advantage allows SRLs to assist users in a novel way, rather than substituting missing limbs or enhancing existing limbs. However, finding a trade-off between wearability, efficiency, and usability of those SRLs is still an issue. This paper presents the state of the art in SRLs and discusses some open questions about SRLs’ design and control for further research. This review covers the following areas: (1) Basic concepts and classifications of SRLs; (2) The literature retrieval methodology; (3) Design functions of different types of SRLs, including their positive and negative aspects; (4) Different control strategies of SRLs, including positive and negative aspects, and some improvement methods in applying SRLs; (5) The impact on human body schema while using SRLs; (6) Open challenges and suggestions for future development. This review will help researchers understand the current state of SRLs and provide comprehensive knowledge foundations for them.

DOI： 10.1109/TMRB.2021.3086016

Web of Science

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

Development of cultured muscles with tendon structures for modular bio-actuators Reviewed International coauthorship

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

Micromachines Vol. 12 ( 4 ) page： 379 2021.4

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

IEEE Robotics and Automation Letters Vol. 6 ( 2 ) page： 4025 - 4031 2021.4

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

The microinjection technique, in which DNA is injected into cells, is widely applied in fields such as biology, medicine, and pharmacy. However, the implementation of the microinjection process requires skill and, thus, it is necessary to improve the operability. To this end, this study proposes a microinjection system that improves depth visibility through real-time 3D image presentation. An algorithm to estimate 3D position and size of micro-targets using a focal position adjustment mechanism is implemented to the system. In addition, a calibration method to adjust relative position and orientation between a target object and micromanipulators is developed. Then, the system presents reconstructed 3D images of a target and micromanipulators. Finally, the effectiveness of the proposed system is verified through manipulation experiments involving porcine embryos.

DOI： 10.1109/LRA.2021.3067857

Optimization-based constrained trajectory generation for robot-assisted stitching in endonasal surgery Reviewed

難治性麻痺克服を目指した多チャンネル機能的電気刺激デバイスの開発

徳武克浩, 佐伯総太, 浅見雄太, 栗本秀, 竹内大, 長谷川泰久, 平田仁

日本手外科学会雑誌 Vol. 38 ( 1 ) page： O4 - 03 2021.4

Colan J., Nakanishi J., Aoyama T., Hasegawa Y.

Robotics Vol. 10 ( 1 ) page： 1 - 24 2021.2

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

The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system.

DOI： 10.3390/robotics10010027

Towards physical interaction-based sequential mobility assistance using latent generative model of movement state

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

Advanced Robotics Vol. 35 ( 1 ) page： 64 - 79 2021

Micromanipulation System That Improves Depth Visibility via Real-time 3D Image Presentation Reviewed

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

Journal of the Robotics Society of Japan Vol. 39 ( 5 ) page： 467 - 470 2021

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Robotics Society of Japan

<p>This study proposes a micromanipulation system that improves depth visibility through real-time 3D image presentation. A calibration method to adjust relative position and orientation between a target object and micromanipulators is implemented to the system; then the system presents reconstructed 3D images of a target and micromanipulators. The effectiveness of the proposed system is demonstrated through manipulation of an embryo. </p>

DOI： 10.7210/jrsj.39.467

CiNii Research

Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism Reviewed International journal

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021 2021

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

In this paper, we present a mechanism that can facilitate soft actuator position control, bidirectional actuation, and getting rid of tether/hose. We proposed a simplistic piston pump as a source of actuation fluid for driving fluidic soft actuators instead of the traditional compressor-based approach to establish an expeditious position control for soft actuators. We explored the conceptual design of a bi-directional soft actuator and the piston pump thoroughly and calculated design and operating parameters. Further, deriving the mathematical model for the proposed system in terms of the position of the piston inside the piston pump and the angular position of the soft actuator. Subsequently, we discuss potential applications of the proposed mechanism.

DOI： 10.1109/MHS53471.2021.9767140

Multilayered artificial dura-mater models for a minimally invasive brain surgery simulator Open Access

Masaru Takeuchi, Shusaku Hayakawa, Akihiko Ichikawa, Akiyuki Hasegawa, Yasuhisa Hasegawa, Toshio Fukuda

Applied Sciences (Switzerland) Vol. 10 ( 24 ) page： 1 - 14 2020.12

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

In this study, new artificial dura-mater models were developed using a multilayered structure of a rubber material (represent an elastic component of a dura-mater) and a fiber sheet (represent fiber component of a dura-mater). The artificial dura-mater models were prepared for use in a brain surgery simulator, especially for transnasal pituitary surgery. The mechanical characteristics of the artificial dura-mater models were tested to check the similarities with porcine dura-mater. Tensile stress, viscoelasticity, and the cutting force generated by microscissors were tested to evaluate the fabricated models. Neurosurgeons also assessed the dura-mater models to evaluate their characteristics. The results indicate that these models made of two different non-woven fiber sheets emulated accurately the actual dura-mater.

DOI： 10.3390/app10249000

Gait modification for improving walking stability of exoskeleton assisted paraplegic patient Reviewed

Mengze Li and Tadayoshi Aoyama and Yasuhisa Hasegawa

ROBOMECH Journal Vol. 7 ( 1 ) page： 1 - 12 2020.12

Towards the development of an intuitive teleoperation system for human support robot using a VR device Reviewed Open Access

Jun Nakanishi, Shunki Itadera, Tadayoshi Aoyama, Yasuhisa Hasegawa

Advanced Robotics Vol. 34 ( 19 ) page： 1239 - 1253 2020.10

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

This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated whole-body motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement.

DOI： 10.1080/01691864.2020.1813623