研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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青山忠義, 金石守, 高木健, 石井抱, 長谷川泰久

日本ロボット学会誌 36 巻 ( 4 ) 頁： 294 - 301 2018年

担当区分：最終著者記述言語：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>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 査読有り国際共著

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

Frontiers in Neurorobotics 12 巻 2018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：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 査読有り

Aoyama T., Matsuba K., Takaki T., Ishii I., Hasegawa Y.

IFAC-PapersOnLine 51 巻 ( 22 ) 頁： 209 - 213 2018年

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

This paper describes a manipulation strategy for a flower stick based on the highspeed visual feedback control of a dual robotic arm. Previously, we achieved propeller motion of a flower stick by using a robotic arm with high-speed visual feedback; this motion was a dynamic continuous rotational motion. This work aims to develop a dual robotic arm system with high-speed visual feedback and achieve dynamic dexterous manipulation. We focused on the “idling motion” of a flower stick—a juggling task—generated by using two arms as a fundamental manipulation of a dual robotic arm with high-speed visual feedback. We developed a dual robotic arm system with a high-speed vision system and proposed a visual feedback control strategy for idling motion. The developed system and proposed control strategy are demonstrated through an experiment.

DOI： 10.1016/j.ifacol.2018.11.543

Scopus

Electrical stimulation feedback for gait control of walking simulator 国際誌

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

IEEE-RAS International Conference on Humanoid Robots 頁： 797 - 802 2017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：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 査読有り国際誌

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

IEEE International Conference on Intelligent Robots and Systems 2017-September 巻頁： 521 - 526 2017年12月

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：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 査読有り

Ahmad I.L., Ahmad M.R., Takeuchi M., Nakajima M., Hasegawa Y.

IEEE Transactions on Biomedical Circuits and Systems 11 巻 ( 6 ) 頁： 1413 - 1421 2017年12月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Biomedical Circuits and Systems

Recent advances in microfluidic technologies have created a demand for a simple and efficient separation intended for various applications such as food industries, biological preparation, and medical diagnostic. In this paper, we report a tapered microfluidic device for passive continuous separation of microparticles by using hydrodynamic separation. By exploiting the hydrodynamic properties of the fluid flow and physical characteristics of micro particles, effective size based separation is demonstrated. The tapered microfluidic device has widening geometries with respect to specific taper angle which amplify the sedimentation effect experienced by particles of different sizes. A mixture of 3-μm and 10-μm polystyrene microbeads are successfully separated using 20° and 25° taper angles. The results obtained are in agreement with three-dimensional finite element simulation conducted using Abaqus 6.12. Moreover, the feasibility of this mechanism for biological separation is demonstrated by using polydisperse samples consists of 3-μm polystyrene microbeads and human epithelial cervical carcinoma (HeLa) cells. 98% of samples purity is recovered at outlet 1 and outlet 3 with flow rate of 0.5-3.0 μl/min. Our device is interesting despite adopting passive separation approach. This method enables straightforward, label-free, and continuous separation of multiparticles in a stand-alone device without the need for bulky apparatus. Therefore, this device may become an enabling technology for point of care diagnosis tools and may hold potential for micrototal analysis system applications.

DOI： 10.1109/TBCAS.2017.2764118

Web of Science

Scopus

Electric stimulation and cooperative control for paraplegic patient wearing an exoskeleton 査読有り国際共著

Li M., Yuan Z., Wang X., Hasegawa Y.

Robotics and Autonomous Systems 98 巻頁： 204 - 212 2017年12月

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

This paper proposes a wearable walking control interface and an electric stimulation pattern for a paraplegic patient wearing a powered exoskeleton. The wearable interface allows the paraplegic patient to voluntarily control their own stride while they walk with the aid of an exoskeleton. The electric stimulation equipment provides the wearer with tactile feedback regarding their foot position. For security reasons, a humanoid walking robot was used to replace the patient during the experiments. The robot simulates a paraplegic patient that walks with the aid of an exoskeleton. A series of robot walking experiments were implemented to validate the feasibility of the wearable walking control interface and to evaluate the contribution of the electric stimulation pattern. The experiments to confirm the effectiveness of electric stimulation were implemented under three feedback conditions: visual feedback, electric stimulation feedback, and no feedback. The experimental results indicate that the wearable walking controller enables an operator to voluntarily control their stride while walking. The experimental results also indicate that the electric stimulation provides helpful information to assist in walking at nearly the same level as visual feedback.

DOI： 10.1016/j.robot.2017.09.009

Web of Science

Scopus

Robotics in Biomedical and Healthcare Engineering 査読有り国際共著

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

Journal of healthcare engineering 2017 巻 2017年8月

Acquisition of new body representation about extra robotic thumb by use of vestigial muscles 査読有り国際誌

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

2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 2018-January 巻頁： 211 - 214 2017年7月

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：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

Aoyama T., Kaneishi M., Takaki T., Ishii I., Takeno S., Takeuchi M., Nakanishi J., Hasegawa Y.

MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science 2018-January 巻頁： 1 - 3 2017年7月

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：MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science

This study proposes a real-time video shooting system using a view-expanded microscope. The proposed system composed of a microscope, a galvanometer mirror and a high-speed vision system is capable of obtaining a 16,000×2,000 pixel microscopic image in real time at 25 fps by combining multiple visual fields. The effectiveness of our system is demonstrated through video shooting experiments of moving sea urchin embryos in a microchannel.

DOI： 10.1109/MHS.2017.8305257

Scopus

researchmap

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

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

Learning & Behavior 45 巻 ( 2 ) 頁： 191-204 2017年6月

A novel integrated dual microneedle-microfluidic impedance flow cytometry for cells detection in suspensions 査読有り

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

International Journal of Electrical and Computer Engineering 7 巻 ( 3 ) 頁： 1513 2017年6月

Multi-Layered Channel Patterning by Local Heating of Hydrogels 査読有り

Takeuchi M., Oya T., Ichikawa A., Hasegawa A., Nakajima M., Hasegawa Y., Fukuda T.

IEEE Robotics and Automation Letters 2 巻 ( 2 ) 頁： 958 - 963 2017年4月

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：IEEE Robotics and Automation Letters

In this letter, we conducted a new method to fabricate channels inside cell structures for tissue engineering applications. A cell-embedded hydrogel is locally melted to fabricate channels inside cell structures. The fabricated channels can be used as vascular-like networks to supply nutrition and oxygen to cells, or patterning another types of cells inside the cell structures. Microelectrodes were prepared as heaters on a glass substrate by photolithography techniques. The channel patterning was conducted using the microelectrodes. The channel width and height are controlled by the heating duration when the applied voltage to the microelectrodes is constant. The multi-layered channel fabrication was achieved by repeating melting-filling hydrogel. Patterning of different cell types in hydrogel was conducted using liver cells and fibroblast cells. The proposed method can fabricate vascular-like channels in cell structures to achieve in vitro 3-D co-culture cell systems.

DOI： 10.1109/LRA.2017.2655625

Web of Science

Scopus

Three-dimensional hepatic lobule-like tissue constructs using cell-microcapsule technology 査読有り国際共著

Liu Z., Takeuchi M., Nakajima M., Hu C., Hasegawa Y., Huang Q., Fukuda T.

Acta Biomaterialia 50 巻頁： 178 - 187 2017年3月

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：Acta Biomaterialia

The proper functioning of the liver and tissues containing hepatocytes greatly depends upon the intricate organization of the cells. Consequently, controlling the shape of three-dimensional (3D) cellular constructs is an important issue for in vitro applications of fabricated artificial livers. However, the precise control of tissue shape at the microscale cannot be achieved with various commonly used 3D tissue-engineered building units, such as spheroids. Here, we present the fabrication of hepatic lobule-shaped microtissue (HLSM) containing rat liver (RLC-18) cells. By using cell-microcapsule technology, RLC-18 cells were encapsulated in the core region of poly-L-lysine-alginate microcapsules. After 14 days of long-term cultivation, RLC-18 cells self-assembled into HLSM, and the cells fully occupied the microcapsule. By monitoring the cell number and albumin secretion during culture and characterizing the dimensions of the fabricated tissue, we demonstrated that the HLSM showed higher hepatic function as compared with normal cell spheroids. We also showcased the assembly of these microtissues into a 3D four-layered hepatic lobule model by a facile micromanipulation method. Our technology for fabricating 3D multilayer hepatic lobule-like, biofunctional tissue enables the precise control of tissue shape in three dimensions. Furthermore, these constructs can serve as tissue-engineered building blocks for larger organs and cellular implants in clinical treatment.

DOI： 10.1016/j.actbio.2016.12.020

Web of Science

Scopus

Electrical impedance spectroscopy for detection of cells in suspensions using microfluidic device with integrated microneedles 査読有り国際共著

Mansor M.A., Takeuchi M., Nakajima M., Hasegawa Y., Ahmad M.R.

Applied Sciences (Switzerland) 7 巻 ( 2 ) 2017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：Applied Sciences (Switzerland)

In this study, we introduce novel method of flow cytometry for cell detection based on impedance measurements. The state of the art method for impedance flow cytometry detection utilizes an embedded electrode in the microfluidic to perform measurement of electrical impedance of the presence of cells at the sensing area. Nonetheless, this method requires an expensive and complicated electrode fabrication process. Furthermore, reuse of the fabricated electrode also requires an intensive and tedious cleaning process. Due to that, we present a microfluidic device with integrated microneedles. The two microneedles are placed at the half height of the microchannel for cell detection and electrical measurement. A commercially-available Tungsten needle was utilized for the microneedles. The microneedles are easily removed from the disposable PDMS (Polydimethylsiloxane) microchannel and can be reused with a simple cleaning process, such as washing by ultrasonic cleaning. Although this device was low cost, it preserves the core functionality of the sensor, which is capable of detecting passing cells at the sensing area. Therefore, this device is suitable for low-cost medical and food safety screening and testing process in developing countries.

DOI： 10.3390/app7020170

Web of Science

Scopus

Microfluidics for Mass Measurement of Miniature Object Like Single Cell and Single MicroParticle 査読有り

Rahman Md. Habibur, Ahmad Mohd Ridzuan, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa, Fukuda Toshio

ADVANCED MECHATRONICS AND MEMS DEVICES II 頁： 523-545 2017年

特集号「高機能化・複雑化するシステムの諸問題を解決し，システム設計論を開拓・構築する俯瞰的システムインテグレーション」について査読有り

長谷川泰久, 新井史人, 関山浩介, 中島正博, 川端邦明

計測自動制御学会論文集 53 巻 ( 1 ) 頁： 1 - 1 2017年

Design of an wearable MRI-compatible hand exoskeleton robot 査読有り

Liu K., Hasegawa Y., Saotome K., Sainkai Y.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 10462 LNAI 巻頁： 242 - 250 2017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：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

This paper proposes an wearable MRI-compatible hand exoskeleton robot that supports a subject moving his fingers voluntarily or involuntarily in high electromagnetic field. The hand robot consists of four exoskeletal fingers excluding a thumb, which is fabricated with nonmagnetic materials through 3D printing. In order to work in an MRI environment, pneumatic actuators are applied to drive the joints of the wearable robot. Potentiometers are installed in the MP and PIP joints of four fingers to measure the angles of finger’s motions. Basic performances of the robot are evaluated by flexion rang of fingers, time delay and fingertip force. In the future, the compatibility of robot in MRI environment will be confirmed through measurement experiments of a subject’s brain activity.

DOI： 10.1007/978-3-319-65289-4_23

Scopus

Nanotool feeding system for efficient nanomanipulation inside Electron Microscope

Nakajima M., Kei N., Takeuchi M., Hasegawa Y., Fukuda T., Huang Q.

16th International Conference on Nanotechnology - IEEE NANO 2016 頁： 36 - 37 2016年11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：16th International Conference on Nanotechnology - IEEE NANO 2016

Nanotool feeding system (NTFS) is presented for efficient nanomanipulation. We constructed a unique bio-nanomanipulation system inside an Environmental-SEM (E-SEM) using various nanotools, for example stiffness measurement nanotool, dual electrical nanoprobe, nanopicker, nanofork, nanocutter, nanoputter, and nanoinjector. For continues usage of different multiple tools, it needs to exchange the nanotools continuously. In this paper, the Rotary-table Nanotool Feeding System (R-NTFS) is proposed to realize continuous exchange of different multiple tools individually. An efficient continuous nanomanipulation was achieved by a short exchange time which was about 13 seconds. Finally, the multiple nanoinjection was demonstrated using the proposed R-NTFS.

DOI： 10.1109/NANO.2016.7751541

Scopus

Adaptive speed controller using swing leg motion for 3-D limit-cycle-based bipedal gait 査読有り国際誌

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

Nonlinear Dynamics 84 巻 ( 4 ) 頁： 2285 - 2304 2016年6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：Nonlinear Dynamics

In this paper, we propose an adaptive speed controller (ASC) for a limit-cycle-based gait classified as a three-dimensional (3-D) bipedal gait. The limit-cycle-based gait of bipedal robots is excellent for energy efficiency. However, the forward and sideward moving speeds of these robots are difficult to control since they are autonomous systems and their behavior depends upon the initial states of every step. Therefore, in this study, we design a swing leg motion to appropriately adjust the initial states of every step. First, the forward speed is controlled by injecting the momentum of the swing leg, which shifts an energy equilibrium point from the original point to the reference point where the reference forward speed is achieved. Second, the sideward speed is controlled by asymmetric touchdown positions on the right and the left legs, which separate the limit cycle into two different limit cycles for each leg, and this separation leads to the sideward motion. The proposed ASC can be easily applied to an arbitrary limit-cycle-based gait because it is independent of the dynamics of the gait model. The performance of the proposed ASC was validated in terms of the residual error, step response, and disturbance rejection capabilities in numerical simulations for two examples of walking. The proposed ASC also achieved a highly energy-efficient gait, which was consistent with the analytical results. Further, the proposed ASC could adapt a robot to various environments that contained up and down slopes or an obstacle.

DOI： 10.1007/s11071-016-2645-0

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論文 - 長谷川 泰久

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論文 - 長谷川　泰久