Faculty Profiles - HASEGAWA, Yasuhisa

Papers - HASEGAWA, Yasuhisa

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Precise foot positioning of walking robot for paraplegic patient wearing exoskeleton by using electrical stimulation feedback Reviewed

Li M.

Journal of Mechanisms and Robotics Vol. 10 ( 4 ) 2018.8

Generation of Human-Like Movement from Symbolized Information Reviewed International coauthorship

Okajima Shotaro, Tournier Maxime, Ainajjar Fady S., Hayashibe Mitsuhiro, Hasegawa Yasuhisa, Shimoda Shingo

FRONTIERS IN NEUROROBOTICS Vol. 12 2018.7

Nanorobotic Manipulation of Thin-film Graphite Sheet for 3D Cubic Structures Reviewed International coauthorship

Takafumi Fujiwara, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda, Huang Qiang,

Nanomedicine and Nanoscience Research 2018 ( 2 ) page： pp.1-9 2018.7

Unified bipedal gait for autonomous transition between walking and running in pursuit of energy minimization Reviewed

Kobayashi Taisuke, Sekiyama Kosuke, Hasegawa Yasuhisa, Aoyama Tadayoshi, Fukuda Toshio

ROBOTICS AND AUTONOMOUS SYSTEMS Vol. 103 page： 27 - 41 2018.5

Wearable Robotics for Motion Assistance and Rehabilitation [TC Spotlight] Open Access

Mohammed S., Moreno J., Sugar T., Hasegawa Y., Vitiello N., Wang Q., Walsh C.

IEEE Robotics and Automation Magazine Vol. 25 ( 1 ) 2018.3

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

The IEEE Robotics and Automation Society (RAS) Technical Committee (TC) on Wearable Robotics was approved during the IEEE RAS Technical Activities Board meeting that was held 15 May 2016 in Stockholm, Sweden, along with the IEEE International Conference on Robotics and Automation (ICRA) 2016. The TC maintained a high level of activities, including the organization of a series of scientific events such as conferences, summer schools, and special sessions/workshops in major RAS and non-RAS conferences, as well as leading special issues in prestigious Institute for Scientific Information journals. The TC provided a platform to promote international initiatives, innovative and industrial solutions for the assistance of frail people, which would provide an excellent opportunity to share information and technology transfer between experts from different fields such as medical, social, caregiving, and industry.

DOI： 10.1109/MRA.2017.2787222

Scopus

In vitro mimicking the morphology of hepatic lobule tissue based on Ca-alginate cell sheets Reviewed International coauthorship

Liu Zeyang, Lu Minmin, Takeuchi Masaru, Yue Tao, Hasegawa Yasuhisa, Huang Qiang, Fukuda Toshio

BIOMEDICAL MATERIALS Vol. 13 ( 3 ) 2018.2

View Expansion System for Microscope Photography using the Observing Point Movement by Galvano Mirror Reviewed

Aoyama Tadayoshi, Kaneishi Mamoru, Takaki Takeshi, Ishii Idaku, Hasegawa Yasuhisa

Journal of the Robotics Society of Japan Vol. 36 ( 4 ) page： 294 - 301 2018

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

<p>Recent progress in the Lab on Chip (LOC) technology has made it possible to analyze microscale objects in microfluidic devices under a microscopic environment. Vision-based microscopic analysis systems have a limitation in terms of their analysis range owing to the limited view area of the optical microscope used in photomicroscopy. Thus, expansion of the view area during microscopic observation is required. In this paper, we propose a view expansion system for photomicroscopy based on the viewpoint movement using a Galvano mirror. We develop a prototype of the proposed microscopic view expansion system that consists of a microscope, a Galvano mirror, and a vision system. Experiments are conducted to compare the view area of the proposed microscopic system and a normal microscopic system; the photographable range of the developed system is experimentally derived and evaluated. Finally, our system is demonstrated through panoramic image developing experiments for an expanded view area. </p>

DOI： 10.7210/jrsj.36.294

CiNii Research

Generation of human-like movement from symbolized information Reviewed International coauthorship

Okajima S., Tournier M., Alnajjar F.S., Hayashibe M., Hasegawa Y., Shimoda S.

Frontiers in Neurorobotics Vol. 12 2018

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Frontiers in Neurorobotics

An important function missing from current robotic systems is a human-like method for creating behavior from symbolized information. This function could be used to assess the extent to which robotic behavior is human-like because it distinguishes human motion from that of human-made machines created using currently available techniques. The purpose of this research is to clarify the mechanisms that generate automatic motor commands to achieve symbolized behavior. We design a controller with a learning method called tacit learning, which considers system-environment interactions, and a transfer method called mechanical resonance mode, which transfers the control signals into a mechanical resonance mode space (MRM-space). We conduct simulations and experiments that involve standing balance control against disturbances with a two-degree-of-freedom inverted pendulum and bipedal walking control with humanoid robots. In the simulations and experiments on standing balance control, the pendulum can become upright after a disturbance by adjusting a few signals in MRM-space with tacit learning. In the simulations and experiments on bipedal walking control, the robots realize a wide variety of walking by manually adjusting a few signals in MRM-space. The results show that transferring the signals to an appropriate control space is the key process for reducing the complexity of the signals from the environment and achieving diverse behavior.

DOI： 10.3389/fnbot.2018.00043

Scopus

Flower Stick Manipulation Based on the High-speed Visual Feedback Control of a Dual Robotic Arm Reviewed

Aoyama T.

IFAC-PapersOnLine Vol. 51 ( 22 ) page： 209 - 213 2018

Electrical stimulation feedback for gait control of walking simulator International journal

Li M., Yuan Z., Aoyama T., Hasegawa Y.

IEEE-RAS International Conference on Humanoid Robots page： 797 - 802 2017.12

Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE-RAS International Conference on Humanoid Robots

When a paraplegic patient walks with the aid of an exoskeleton, the patient can only follow the preset walking trajectory and cannot receive any lower limb sensory feedback. This paper firstly proposes an index finger interface that allows a paraplegic patient to control the walking trajectory through an index finger voluntarily. The proposed interface consists of two rotatable links and one ring, and the interface is installed in the front of a crutch handle. The user controls the foot position of the foot position via a ring while keeping the balance with the crutch. On this basis, this paper also proposes an electrical stimulation feedback pattern that conveys the foot position to the user to assist the walking control. The electrical stimulation device contains 20 stimulation points that correspond to the spatial position. The electrical stimulus presents the foot position by switching the stimulation frequency and the stimulation position. For safety reasons, we conducted a preliminary study of the interface and feedback model with a healthy subject and a walking robot. We validated the effectiveness of the index finger interface and the electrical stimulation pattern through three experiments:1)pseudo-Trajectory recognition under electrical stimulation feedback condition, 2) robot walking control under visual feedback condition, and 3) robot walking control under electrical stimulation feedback condition.

DOI： 10.1109/HUMANOIDS.2017.8246963

Scopus

Adaptive walking load control for training physical strength using cane-type robot Reviewed International journal

Itadera S., Hasegawa Y., Fukuda T., Tanimoto M., Kondo I.

IEEE International Conference on Intelligent Robots and Systems Vol. 2017-September page： 521 - 526 2017.12

Language：English Publishing type：Research paper (international conference proceedings) Publisher：IEEE International Conference on Intelligent Robots and Systems

In this paper, we introduce a walking load control strategy with a cane-type robot for gait training. The population of elderly people is increasing in most of the developed countries, and there is a growing demand for caregivers. Assistive robots are expected as a solution to provide aid in order to reduce the burden of caregivers in gait training of elderly people. Our research group has been developing a series of cane-type walking assistive robots named Intelligent Cane on admittance control to provide safe and efficient gait training. We propose an adaptive design method of the admittance control model in order to control user's walking load for the purpose of rapid improvement of user's physical strength. In the proposed method, the cane robot automatically adjusts control parameters of an admittance control model based on a correlation between a set of admittance parameters and a user's walking energy consumption. We conducted experiments to evaluate the proposed adaptive control strategy through a convergence error between estimated walking load and target one while walking training. We confirm the advantage of using the cane robot in rehabilitation.

DOI： 10.1109/IROS.2017.8202202

Scopus

Tapered Microfluidic for Continuous Micro-Object Separation Based on Hydrodynamic Principle Reviewed

Ahmad Ida Laila, Ahmad Mohd Ridzuan, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa

IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS Vol. 11 ( 6 ) page： 1413 - 1421 2017.12

Electric stimulation and cooperative control for paraplegic patient wearing an exoskeleton Reviewed International coauthorship

Li Mengze, Yuan Zhaofan, Wang Xufeng, Hasegawa Yasuhisa

ROBOTICS AND AUTONOMOUS SYSTEMS Vol. 98 page： 204 - 212 2017.12

Robotics in Biomedical and Healthcare Engineering Reviewed International coauthorship

Chengzhi Hu, Qing Shi, Lianqing Liu, Uche Wejinya, Yasuhisa Hasegawa, Yajing Shen

Journal of healthcare engineering Vol. 2017 2017.8

Acquisition of new body representation about extra robotic thumb by use of vestigial muscles Reviewed International journal

Shikida H., Noel S.M., Hasegawa Y.

2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 Vol. 2018-January page： 211 - 214 2017.7

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings) Publisher：2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017

Our research purpose is to improve the utility of wearable robotic devices such as an extra robotic limb or finger with the help of acquiring a new body representation. One of the challenging problems of the conventional robotic prosthesis or wearable systems is their difficulty in the coordination of multiple degrees of freedom. Newly acquired body representation of the wearable robotic extremities could be helpful for a user to control the device as if they were a part of user's body. This paper introduces a posterior auricular muscle to obtain a new body representation of an extra robotic thumb. The posterior auricular muscle is one of vestigial muscle which does not have any body representation, while a daily used muscle has already had a certain body representation related with its functionality. In this paper, we conduct an experiment to test our hypothesis that a new body representation can be more easily acquired with the use of vestigial muscles than that of the muscles used in daily basis for the control of the extra robotic thumb. We compare the operability of the extra robotic thumb in reaching experiments by the use of muscles with different functionalities.

DOI： 10.1109/CBS.2017.8266101

Scopus

Real-time microscopic video shooting using a view-expanded microscope system

Tadayoshi Aoyama, Mamoru Kaneishi, Takeshi Takaki, Idaku Ishii, Sarau Takeno, Masaru Takeuchi, Jun Nakanishi, Yasuhisa Hasegawa

2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS) Vol. 2018-January page： 1 - 3 2017.7

Effects of forced movements on learning: Findings from a choice reaction time task in rats Reviewed

Hidekazu Kaneko, Hiroto Sano, Yasuhisa Hasegawa, Hiroshi Tamura, Shinya S. Suzuki

Learning & Behavior Vol. 45 ( 2 ) page： 191-204 2017.6

A novel integrated dual microneedle-microfluidic impedance flow cytometry for cells detection in suspensions Reviewed

Muhammad Asraf Mansor, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Mohd Ridzuan Ahmad

International Journal of Electrical and Computer Engineering Vol. 7 ( 3 ) page： 1513 2017.6

Multi-Layered Channel Patterning by Local Heating of Hydrogels Reviewed

Takeuchi Masaru, Oya Tomoyuki, Ichikawa Akihiko, Hasegawa Akiyuki, Nakajima Masahiro, Hasegawa Yasuhisa, Fukuda Toshio

IEEE ROBOTICS AND AUTOMATION LETTERS Vol. 2 ( 2 ) page： 958 - 963 2017.4

Three-dimensional hepatic lobule-like tissue constructs using cell-microcapsule technology Reviewed International coauthorship

Liu Zeyang, Takeuchi Masaru, Nakajima Masahiro, Hu Chengzhi, Hasegawa Yasuhisa, Huang Qiang, Fukuda Toshio

ACTA BIOMATERIALIA Vol. 50 page： 178 - 187 2017.3

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Papers - HASEGAWA, Yasuhisa