研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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Development of High-Cell-Density Tissue Method for Compressed Modular Bioactuator 査読有り国際共著

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

Micromachines 13 巻 ( 10 ) 頁： 1725 2022年10月

A Wirelessly Powered 4-Channel Neurostimulator for Reconstructing Walking Trajectory 査読有り

Takeuchi M., Tokutake K., Watanabe K., Ito N., Aoyama T., Saeki S., Kurimoto S., Hirata H., Hasegawa Y.

Sensors 22 巻 ( 19 ) 頁： 7198 2022年9月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors

A wirelessly powered four-channel neurostimulator was developed for applying selective Functional Electrical Stimulation (FES) to four peripheral nerves to control the ankle and knee joints of a rat. The power of the neurostimulator was wirelessly supplied from a transmitter device, and the four nerves were connected to the receiver device, which controlled the ankle and knee joints in the rat. The receiver device had functions to detect the frequency of the transmitter signal from the transmitter coil. The stimulation site of the nerves was selected according to the frequency of the transmitter signal. The rat toe position was controlled by changing the angles of the ankle and knee joints. The joint angles were controlled by the stimulation current applied to each nerve independently. The stimulation currents were adjusted by the Proportional Integral Differential (PID) and feed-forward control method through a visual feedback control system, and the walking trajectory of a rat’s hind leg was reconstructed. This study contributes to controlling the multiple joints of a leg and reconstructing functional motions such as walking using the robotic control technology.

DOI： 10.3390/s22197198

Scopus

Visual Sensing System to Investigate Self-Propelled Motion and Internal Color of Multiple Aqueous Droplets 査読有り

Aoyama T., Yamada S., Suematsu N.J., Takeuchi M., Hasegawa Y.

Sensors 22 巻 ( 16 ) 頁： 6309 2022年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors

This study proposes a visual sensing system to investigate the self-propelled motions of droplets. In the visual sensing of self-propelled droplets, large field-of-view and high-resolution images are both required to investigate the behaviors of multiple droplets as well as chemical reactions in the droplets. Therefore, we developed a view-expansive microscope system using a color camera head to investigate these chemical reactions; in the system, we implemented an image processing algorithm to detect the behaviors of droplets over a large field of view. We conducted motion tracking and color identification experiments on the self-propelled droplets to verify the effectiveness of the proposed system. The experimental results demonstrate that the proposed system is able to detect the location and color of each self-propelled droplet in a large-area image.

DOI： 10.3390/s22166309

Scopus

A Therapeutic Strategy for Lower Motor Neuron Disease and Injury Integrating Neural Stem Cell Transplantation and Functional Electrical Stimulation in a Rat Model 国際誌

Tokutake K., Takeuchi M., Kurimoto S., Saeki S., Asami Y., Onaka K., Saeki M., Aoyama T., Hasegawa Y., Hirata H.

International Journal of Molecular Sciences 23 巻 ( 15 ) 頁： 8760 - 8760 2022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：International Journal of Molecular Sciences

Promising treatments for upper motor neuron disease are emerging in which motor function is restored by brain–computer interfaces and functional electrical stimulation. At present, such technologies and procedures are not applicable to lower motor neuron disease. We propose a novel therapeutic strategy for lower motor neuron disease and injury integrating neural stem cell transplantation with our new functional electrical stimulation control system. In a rat sciatic nerve transection model, we transplanted embryonic spinal neural stem cells into the distal stump of the peripheral nerve to reinnervate denervated muscle, and subsequently demonstrated that highly responsive limb movement similar to that of a healthy limb could be attained with a wirelessly powered two-channel neurostimulator that we developed. This unique technology, which can reinnervate and precisely move previously denervated muscles that were unresponsive to electrical stimulation, contributes to improving the condition of patients suffering from intractable diseases of paralysis and traumatic injury.

DOI： 10.3390/ijms23158760

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

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

ROBOMECH Journal 9 巻 ( 1 ) 頁： 16 2022年6月

Intuitive Remote Robotic Nasal Sampling by Orientation Control With Variable RCM in Limited Space 査読有り国際誌

Takeuchi M., Hironaka Y., Aoyama T., Hasegawa Y.

IEEE Transactions on Medical Robotics and Bionics 4 巻 ( 3 ) 頁： 646 - 655 2022年5月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Medical Robotics and Bionics

When performing polymerase chain reaction testing, collecting nasopharyngeal swabs from patients is necessary. Hence, the development of a noncontact specimen collection system is desired to avoid the risk of secondary infection from direct contact between the medical personnel and patients. This study aims to develop a master-follower-type remote specimen collection system to achieve infection protection through adequate isolation. A teleoperated robot is used for specimen collection work instead of a human; the teleoperated robot moves remotely, and a cotton swab is grasped and inserted into the nostril by the robot. A remote center of motion (RCM) mechanism was implemented to prevent the cotton swabs from making excessive contact with the nostril during specimen collection. Further, a variable RCM constraint that combines safety and operability is proposed as the conventional RCM control modification. The evaluation results indicated that the variable RCM restraint allowed a quicker and safer collection of specimens than the conventional RCM constraint.

DOI： 10.1109/TMRB.2022.3176100

Scopus

Human-Following Control of Cane-Type Walking-Aid Robot Within Fixed Relative Posture 国際共著国際誌

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

IEEE/ASME Transactions on Mechatronics 27 巻 ( 1 ) 頁： 537 - 548 2022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：IEEE/ASME Transactions on Mechatronics

Assisting and supervising daily long-durational walking is very crucial for patients with lower extremity dysfunction, especially in the stage of recovery toward a state of walking independently. However, due to the shortage of caregivers and high cost of nursing, long-term manual assistance and supervision is costly. Thus, in this article, we propose a cane-type walking-aid robot to follow a human user for the safety and supervision of independent walking during rehabilitation training. Strongly motivated by clinical suggestions and user experiences, the human-following rule that the robot should follow the user in the required position within a fixed relative posture (keeping a certain distance in front of the user, 15-20 cm lateral to the healthy side, and 0° to the user's orientation) is established. To guarantee a reliable following, a quantitative human walking intention estimation method is proposed using the on-board laser ranger finder and Kalman filter. To effectively monitor the user's walking, a finite-time control method for the cane robot is also proposed to ensure its human-following performance. Experiments were conducted to demonstrate the effectiveness of the proposed system and methods. The experimental results show that the proposed system can obtain satisfactory performance of human following and can be made available for different users in different walking modes.

DOI： 10.1109/TMECH.2021.3068138

Scopus

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 30 巻頁： 2916 - 2926 2022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 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

Open Access

Scopus

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年

Supernumerary Robotic Limbs: A Review and Future Outlook 査読有り国際共著

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

IEEE Transactions on Medical Robotics and Bionics 3 巻 ( 3 ) 頁： 623 - 639 2021年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE 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

Scopus

Development of cultured muscles with tendon structures for modular bio-actuators 査読有り国際共著

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

Micromachines 12 巻 ( 4 ) 頁： 379 2021年4月

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

Fujishiro T., Aoyama T., Hano K., Takasu M., Takeuchi M., Hasegawa Y.

IEEE Robotics and Automation Letters 6 巻 ( 2 ) 頁： 4025 - 4031 2021年4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

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

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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 38 巻 ( 1 ) 頁： O4 - 03 2021年4月

Optimization-based constrained trajectory generation for robot-assisted stitching in endonasal surgery 査読有り

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

Robotics 10 巻 ( 1 ) 頁： 1 - 24 2021年2月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Robotics

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

Scopus

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

Itadera S., Kobayashi T., Nakanishi J., Aoyama T., Hasegawa Y.

Advanced Robotics 35 巻 ( 1 ) 頁： 64 - 79 2021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：Advanced Robotics

In this paper, we address sequential mobility assistance for daily elderly care through physical human–robot interaction. The goal of this work is to develop a robotic assistive system to provide physical support in daily life such as movement transition, e.g. sit-to-stand and walking. Using a mobile human support robotic platform, we propose an unsupervised learning-based approach to providing desirable physical support through an adaptive impedance parameter selection strategy according to the recognized user's movement state in an online manner. Using a latent generative model with a long short-term memory-based variational autoencoder, we first estimate the probability of the user's current movement state based on the sensory information in a low dimensional latent space. Then, the desired impedance parameters are selected adaptively according to the estimated movement state. One of the benefits of such an unsupervised learning approach is that no labeling is necessary in the training phase. Furthermore, our proposed framework is capable of detecting possible novel states such as falling over based on the obtained latent space. In order to demonstrate the proof of concept of our proposed approach, we present the experimental results of performance evaluations of online movement state recognition as well as novel movement detection.

DOI： 10.1080/01691864.2020.1844797

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実時間三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査読有り

藤城俊希, 青山忠義, 杷野一輝, 高須正規, 竹内大, 長谷川泰久

日本ロボット学会誌 39 巻 ( 5 ) 頁： 467 - 470 2021年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人日本ロボット学会

<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 査読有り国際誌

Unde J., Colan J., Hasegawa Y.

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

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021

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

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

Takeuchi M., Hayakawa S., Ichikawa A., Hasegawa A., Hasegawa Y., Fukuda T.

Applied Sciences (Switzerland) 10 巻 ( 24 ) 頁： 1 - 14 2020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：Applied Sciences (Switzerland)

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

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Gait modification for improving walking stability of exoskeleton assisted paraplegic patient 査読有り

Li M., Aoyama T., Hasegawa Y.

ROBOMECH Journal 7 巻 ( 1 ) 頁： 1 - 12 2020年12月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：ROBOMECH Journal

The currently available exoskeleton for assisting the paraplegic patient in walking usually adapts a pre-programmed gait that involves the patient following an exoskeleton lead. The system allows the patient to hold a pair of canes in order to keep balance, and does not contribute to keeping balance without the patient’s action. This paper proposes an algorithm based on the zero moment point (ZMP) to modify the gait generated through human walking synergy for paraplegic patients who make use of the exoskeleton system and hold their canes. The proposed ZMP will enable the paraplegic patient to keep balance during walking and also reduce the burden in maintaining balance. First, a pair of cane is used as an interface to control the user’s walking and then, the synergy between legs and canes is used to synchronize the user’s walking intention during the exoskeleton movement. The walking synergy is extracted from the able-bodied subject walking with a pair of canes and analyzed using principal component analysis (PCA). In order to improve the walking stability, the hip joint angle on stance leg during walking was modified based on ZMP. Furthermore, a nonlinear inverted pendulum (NIP) model was utilized in order to generate a gait with a fully stretched knee joint angle that is similar to human gait. The proposed method was verified via the Gazebo simulation using a walking robot to simulate a patient wearing an exoskeleton. The experiment results show that the walking stability was highly improved after gait modification.

DOI： 10.1186/s40648-020-00169-y

Scopus

Towards the development of an intuitive teleoperation system for human support robot using a VR device 査読有り

Nakanishi J., Itadera S., Aoyama T., Hasegawa Y.

Advanced Robotics 34 巻 ( 19 ) 頁： 1239 - 1253 2020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：Advanced Robotics

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

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