Faculty Profiles - HASEGAWA, Yasuhisa

Papers - HASEGAWA, Yasuhisa

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Magnetic self-assembly of toroidal hepatic microstructures for micro-tissue fabrication Reviewed

Masaru Takeuchi, Masaki Iriguchi, Mamoru Hattori, Eunhye Kim, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

Biomedical Materials (Bristol) Vol. 15 ( 5 ) 2020.9

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

In this study, we developed a procedure for assembling hepatic microstructures into tube shapes using magnetic self-assembly for in vitro 3D micro-tissue fabrication. To this end, biocompatible hydrogels, which have a toroidal shape, were made using the micro-patterned electrodeposition method. Ferrite particles were used to coat the fabricated toroidal hydrogel microcapsules using a poly-L-lysine membrane. The microcapsules were then magnetized with a 3 T magnetic field, and assembled using a magnetic self-assembly process. During electrodeposition, hepatic cells were trapped inside the microcapsules, and they were cultured to construct tissue-like structures. The magnetized toroidal microstructures then automatically assembled to form tube structures. Shaking was used to enhance the assembly process, and the shaking speed was experimentally optimized to achieve the high-speed assembly of longer tube structures. The flow velocity inside the dish during shaking was measured by particle image velocimetry. Hepatic functions were evaluated to check for side-effects of the magnetized ferrite particles on the microstructures. Collectively, our findings indicated that the developed method can achieve the high-speed assembly of a large number of microstructures to form tissue-like hepatic structures.

DOI： 10.1088/1748-605X/ab8487

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Adaptive Proxy-Based Robust Control Integrated with Nonlinear Disturbance Observer for Pneumatic Muscle Actuators Reviewed International coauthorship International journal

Yu Cao, Jian Huang, Cai Hua Xiong, Dongrui Wu, Mengshi Zhang, Zhijun Li, Yasuhisa Hasegawa

IEEE/ASME Transactions on Mechatronics Vol. 25 ( 4 ) page： 1756 - 1764 2020.8

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

In pneumatic muscle actuators (PMAs)-driven robotic applications, there might exist unpredictable shocks which lead to the sudden change of desired trajectories and large tracking errors. This is dangerous for physical systems. In this article, we propose a novel adaptive proxy-based robust controller (APRC) for PMAs, which is effective in realizing a damped response and regulating the behaviors of the PMA via a virtual proxy. Moreover, the integration of the APRC and the nonlinear disturbance observer further handles the system uncertainties/disturbances and improves the system robustness. According to the Lyapunov theorem, the tracking states of the closed-loop PMA control system are proven to be globally uniformly ultimately bounded through two motion phases. Extensive experiments are conducted to verify the superior performance of our approach, in multiple tracking scenarios.

DOI： 10.1109/TMECH.2020.2997041

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A cooperative human-robot interface for constrained manipulation in robot-assisted endonasal surgery Reviewed International journal Open Access

Jacinto Colan, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa

Applied Sciences (Switzerland) Vol. 10 ( 14 ) page： 4809 2020.7

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

Endoscopic endonasal surgery (EES) is a minimally invasive technique for removal of pituitary adenomas or cysts at the skull base. This approach can reduce the invasiveness and recovery time compared to traditional open surgery techniques. However, it represents challenges to surgeons because of the constrained workspace imposed by the nasal cavity and the lack of dexterity with conventional surgical instruments. While robotic surgical systems have been previously proposed for EES, issues concerned with proper interface design still remain. In this paper, we present a cooperative, compact, and versatile bimanual human-robot interface aimed to provide intuitive and safe operation in robot-assisted EES. The proposed interface is attached to a robot arm and holds a multi-degree-of-freedom (DOF) articulated forceps. In order to design the required functionalities in EES, we consider a simplified surgical task scenario, with four basic instrument operations such as positioning, insertion, manipulation, and extraction. The proposed cooperative strategy is based on the combination of force based robot control for tool positioning, a virtual remote-center-of-motion (VRCM) during insertion/extraction tasks, and the use of a serial-link interface for precise and simultaneous control of the position and the orientation of the forceps tip. Virtual workspace constraints and motion scaling are added to provide safe and smooth control of our robotic surgical system. We evaluate the performance and usability of our system considering reachability, object manipulability, and surgical dexterity in an anatomically realistic human head phantom compared to the use of conventional surgical instruments. The results demonstrate that the proposed system can improve the precision, smoothness and safety of the forceps operation during an EES.

DOI： 10.3390/app10144809

Open Access

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Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation Reviewed

Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters Vol. 5 ( 2 ) page： 2981 - 2986 2020.4

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

Robotic teleoperation with force feedback has been studied extensively since it was first developed in the 1940 s. Time delay is a common problem of bilateral teleoperation systems. Although many efforts on optimizing the control architectures have been made, there is always a trade-off between transparency and stability for bilateral systems, and the perfect transparency and stability can only be achieved simultaneously in ideal situations. In this letter, we propose a novel approach to compensate for the degraded transparency while using the conventional passivity-based approach to maintain system stability under time-delay. The proposed approach is based on visual feedback and enhances the transparency by displaying different kinds of onomatopoeia according to contact force detected on the slave side. The basic performance is evaluated by conducting a stiffness classification task under constant round trip time delays (0 ms, 500 ms and 1000 ms). The preliminary results indicate that the subjects have higher accuracy for classifying the stiffness of a remote object by using onomatopoeia enhanced force feedback compared with the conventional passivity-based position-force feedback.

DOI： 10.1109/LRA.2020.2972896

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Visual feedback control of a rat ankle angle using a wirelessly powered two-channel neurostimulator Reviewed International journal Open Access

Masaru Takeuchi, Keita Watanabe, Kanta Ishihara, Taichi Miyamoto, Katsuhiro Tokutake, Sota Saeki, Tadayoshi Aoyama, Yasuhisa Hasegawa, Shigeru Kurimoto, Hitoshi Hirata

Sensors (Switzerland) Vol. 20 ( 8 ) page： 2210 2020.4

Head-mounted display-based microscopic imaging system with customizable field size and viewpoint Reviewed International journal Open Access

Tadayoshi Aoyama, Sarau Takeno, Masaru Takeuchi, Yasuhisa Hasegawa

Sensors (Switzerland) Vol. 20 ( 7 ) page： 1967 2020.4

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

In recent years, the use of microinjections has increased in life science and biotechnology fields; specific examples include artificial insemination and gene manipulation. Microinjections are mainly performed based on visual information; thus, the operator needs high-level skill because of the narrowness of the visual field. Additionally, microinjections are performed as the operator views a microscopic image on a display; the position of the display requires the operator to maintain an awkward posture throughout the procedure. In this study, we developed a microscopic image display apparatus for microinjections based on a view-expansive microscope. The prototype of the view-expansive microscope has problems related to the variations in brightness and focal blur that accompany changes in the optical path length and amount of reflected light. Therefore, we propose the use of a variable-focus device to expand the visual field and thus circumvent the above-mentioned problems. We evaluated the observable area of the system using this variable-focus device. We confirmed that the observable area is 261.4 and 13.9 times larger than that of a normal microscope and conventional view-expansive microscopic system, respectively. Finally, observations of mouse embryos were carried out by using the developed system. We confirmed that the microscopic images can be displayed on a head-mounted display in real time with the desired point and field sizes.

DOI： 10.3390/s20071967

On-chip fabrication of cell-attached microstructures using photo-cross-linkable biodegradable hydrogel Reviewed International coauthorship

Masaru Takeuchi, Taro Kozuka, Eunhye Kim, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda

Journal of Functional Biomaterials Vol. 11 ( 1 ) page： 18 2020.3

Construction of Hepatic-Lobule-Like 3-D Vascular Network in Cellular Structure by Manipulating Magnetic Fibers Reviewed

Eunhye Kim and Masaru Takeuchi and Akiyuki Hasegawa and Akihiko Ichikawa and Yasuhisa Hasegawa and Qiang Huang and Toshio Fukuda

IEEE/ASME Transactions on Mechatronics Vol. 25 ( 1 ) page： 477 - 486 2020.2

Admittance control based robotic clinical gait training with physiological cost evaluation Reviewed

Shunki Itadera and Jun Nakanishi and Yasuhisa Hasegawa and Toshio Fukuda and Masanori Tanimoto and Izumi Kondo

Robotics and Autonomous Systems Vol. 123 page： 103326 2020.1

Development of sense of self-location based on somatosensory feedback from finger tips for extra robotic thumb control Reviewed

Yaonan Zhu, Takayuki Ito, Tadayoshi Aoyama, Yasuhisa Hasegawa

ROBOMECH Journal Vol. 6 ( 1 ) 2019.12

A clinical pilot study on posture stabilization via light contact with cane-type companion robot Reviewed

Shunki Itadera and Tadayoshi Aoyama and Yasuhisa Hasegawa and Keita Aimoto and Kenji Kato and Izumi Kondo

ROBOMECH Journal Vol. 6 ( 1 ) page： 17 2019.12

Smart Arm

Hasegawa Yasuhisa, E. Colan Zaita Jacinto, Uozumi Daisuke, Aoyama Tadayoshi, Nakanishi Jun

SYSTEMS, CONTROL AND INFORMATION Vol. 63 ( 10 ) page： 424 - 430 2019.10

Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance Reviewed International coauthorship

Shunki Itadera, Emmanuel Dean-Leon, Jun Nakanishi, Yasuhisa Hasegawa, Gordon Cheng

IEEE Robotics and Automation Letters Vol. 4 ( 4 ) page： 3609 - 3616 2019.10

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

© 2019 IEEE. In this letter, we introduce our approach to walking assistance for elderly adults through predictive optimization of gait assistive force. We focus on providing supportive interaction force to the user during walking with a robotic assistive device with an admittance controlled mobile base. Appropriate physical human-robot interaction (pHRI) could be beneficial in reducing the risk associated with immobility such as disuse syndrome by encouraging physical activities with proper assistance. We propose an optimization algorithm based on a model predictive control approach in order to provide desirable assistive forces according to the estimated user's state during walking. Using a simplified human gait model with a linear inverted pendulum, we formulate the optimization of the assistive forces as a linear quadratic programming problem that can be suitable for real-time pHRI. Numerical simulations and experimental results demonstrate the feasibility of our gait support strategy in achieving appropriate compliant interactions during walking, fall prevention, and suitable positioning for user companion.

DOI： 10.1109/LRA.2019.2928770

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Delays in perception and action for improving walk–run transition stability in bipedal gait Reviewed

Kobayashi T., Aoyama T., Sekiyama K., Hasegawa Y., Fukuda T.

Nonlinear Dynamics Vol. 97 ( 2 ) page： 1685 - 1698 2019.7

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Nonlinear Dynamics

This paper focuses on a transition motion between bipedal walking and running, whose characteristics have been revealed through numerous biological experiments. Although hysteresis in walk-to-run and run-to-walk transitions, the amount of which is proportional to the magnitude of acceleration/deceleration, is observed, it has not been elucidated yet. This is due to difficulty to conduct any biological experiments without the hysteresis in locomotion. From the viewpoint of nonlinear dynamics, the hysteresis is caused by dependency of the state history. Delays in perception and action for the walk–run transition can be assumed as the cause of the hysteresis. This paper therefore investigates i) whether the delays really cause the hysteresis in the walk–run transition, and ii) how they contribute to locomotion performance. To this end, in numerical simulations, we employ a controller for bipedal gait, named unified bipedal gait (UBG), which has capabilities of walking, running, and transitions between them like bipeds do. UBG is first optimized in pursue of biologically plausible controller with the same characteristics about the transition motion for reliable investigation. This optimized UBG reveals that the delays in perception and action actually cause the hysteresis with linearity of its amount and the magnitude of acceleration/deceleration. In addition, the delays play the key role of a bridge between latent representations of walking and running, thereby improving the success rate of the transition by nearly 40% from the case without the delays.

DOI： 10.1007/s11071-019-05097-0

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Theoretical approach for designing the rehabilitation robot controller Reviewed International coauthorship

Shotaro Okajima, Fady S. Alnajjar, Álvaro Costa, Guillermo Asin-Prieto, Jose L. Pons, Juan C. Moreno, Yasuhisa Hasegawa, Shingo Shimoda

Advanced Robotics Vol. 33 ( 14 ) page： 674 - 686 2019.7

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

© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. Robot rehabilitation is now recognized as an important method for the efficient recovery. In European Project FP7 BioMot, we have discussed the potential of the robot rehabilitation and proposed the suitable process for it. In this paper, we describe the proposed rehabilitation process and create the theoretical basis for the robot rehabilitation through designing the control system and the patient model. To design the patient model, we describe the source of paralysis and motion controller separately and define the recovery function from the paralysis. In the theoretical analysis of the control system, we show that the robot motions are first adapted to the patient abnormal motions and gradually drive the patient motions to the better ones by the motion support. The singular perturbation analysis proves that the stabilities of the two different process, adaptation to the patient motions and the motion support to the better ones, as a slow motion subsystem and a fast motion subsystem, respectively. The simulation results show that the proposed control system can drive the patients to the better state depending on the patient conditions such as recovery speed and recovery potential. The proposed system can be tuned to fit to the variety of the real patient conditions when we apply it to the real applications.

DOI： 10.1080/01691864.2019.1633402

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Medial part thickness of wearable device affecting running motion Reviewed

Naoki Kubota and Yasuhisa Hasegawa

ROBOMECH Journal Vol. 6 ( 1 ) 2019.7

Operational learning with sensory feedback for controlling a robotic thumb using the posterior auricular muscle Reviewed

Tadayoshi Aoyama, Hiroshi Shikida, Rubens Schatz, Yasuhisa Hasegawa

Advanced Robotics Vol. 33 ( 5 ) page： 243 - 253 2019.3

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

© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. Extra robotic limbs in a robotic system that are designed to augment and expand human abilities have received attention in the field of wearable robotics. We aim to develop a robotic system that is controlled by body parts that are not used on a daily basis in order to augment and expand human abilities. This paper presents operational learning experiments for manipulating a robotic thumb using the posterior auricular muscle, a body part that is not used in everyday life. In these experiments, reaching motions were executed using sensory feedback in the robotic thumb through a device that continuously displays its position. The experimental results indicate the proposed operational learning experiments improve the ability to contract the posterior auricular muscles. In addition, the results indicate the operability of a robotic thumb could be improved by acquiring internal models through repetitive operational learning.

DOI： 10.1080/01691864.2019.1566090

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Modification of body schema by use of extra robotic thumb Reviewed

Noel Segura Meraz, Masafumi Sobajima, Tadayoshi Aoyama, Yasuhisa Hasegawa

ROBOMECH Journal Vol. 5 ( 1 ) 2018.12

Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait Reviewed

Kobayashi T.

ROBOMECH Journal Vol. 5 ( 1 ) 2018.12

Electric Stimulation based Weight Discrimination for Paraplegic Wearing Exoskeleton International journal

Mengze Li, Xufeng Wang, Tadayoshi Aoyama, Yasuhisa Hasegawa

2018 International Conference on Intelligence and Safety for Robotics, ISR 2018 page： 261 - 266 2018.11

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

© 2018 IEEE. This paper proposes an electrical stimulation system to provide a lower limb motion state for paraplegic patients wearing an exoskeleton. The system consists of a glove-type exoskeleton controller and an electric stimulation device. In addition, a mechanical leg, which simulates a paraplegic's lower limb wearing an exoskeleton, was developed to conduct the preliminary experiment. The operator using his finger voluntarily controls the movement of the mechanical leg through the glove-type controller. Meanwhile, he receives electrical stimulation feedback that represents the output torque of the mechanical leg. In this manner, the system makes a connection between finger's motion and electrical stimulation. The operator could predict the feedback when he controls the mechanical leg. Finally, weight discrimination experiments were implemented to evaluate the accuracy of the electrical stimulation system. The subjects control the mechanical leg and receive electrical stimulation with different weight loading on the mechanical leg. The experimental results indicate that: 1) The dynamic of the mechanical leg is integrated into the body scheme of the subjects after training. 2) The subjects are capable of distinguishing a 17 percent change of weight loading at the minimum under the feedback of electric stimulation.

DOI： 10.1109/IISR.2018.8535936

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Papers - HASEGAWA, Yasuhisa