研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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

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

Journal of Mechanisms and Robotics 10 巻 ( 4 ) 2018年8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：Journal of Mechanisms and Robotics

The research and development of powered exoskeletons is expected to support the walking of paraplegic patients. At the current stage, exoskeletons do not allow patients to voluntarily control their gait, nor do they provide sensory feedback to compensate for the loss of lower-body sensation. This paper proposes a wearable walking control interface to achieve voluntary gait control, and an electrical stimulation method to inform the patients about their foot position for voluntary gait control. In this study, a walking robot that simulated a paraplegic patient wearing an exoskeleton was used to investigate the performance of the proposed interface and stimulation method. We confirmed that, by using the interface, the subjects were able to control the robot gait for a distance of 3 m. Moreover, the accuracy of the electrical stimulation feedback was confirmed to approximate the visual feedback achieved through the human eyes. The experimental results revealed that the proposed interface and electrical stimulation feedback could be applied to a walking support system for patients with complete paraplegia.

DOI： 10.1115/1.4040354

Scopus

Generation of Human-Like Movement from Symbolized Information 査読有り国際共著

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

FRONTIERS IN NEUROROBOTICS 12 巻 2018年7月

Nanorobotic Manipulation of Thin-film Graphite Sheet for 3D Cubic Structures 査読有り国際共著

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

Nanomedicine and Nanoscience Research 2018 ( 2 ) 頁： pp.1-9 2018年7月

Unified bipedal gait for autonomous transition between walking and running in pursuit of energy minimization 査読有り

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

Robotics and Autonomous Systems 103 巻頁： 27 - 41 2018年5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：Robotics and Autonomous Systems

This paper addresses “unified bipedal gait” control, which autonomously selects the energy-minimized gait from walking and running at any feasible gait speeds. Humans select walking/running at low/high speed in pursuit of energy minimization and transition between them naturally. Despite the quite different behaviors of walking and running, human gaits share an inherent controller. The unified bipedal gait uses the inherent controller, which implements passive dynamic autonomous control (PDAC) based on a damping and spring-loaded inverted pendulum (D-SLIP) model. Although this D-SLIP could cause chaotic motions, compliance in the D-SLIP dynamics switches behaviors between walking and running, that is, low/high compliant legs for walking/running. This property is employed by the virtual holonomic constraint of the PDAC to extract the required characteristics of walking/running from the D-SLIP dynamics while restraining the chaotic motions for asymptotic stability. As a result, the unified bipedal gait bifurcates to walking and running via autonomous transition to minimize energy cost at any feasible gait speeds.

DOI： 10.1016/j.robot.2018.02.005

Web of Science

Scopus

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 25 巻 ( 1 ) 2018年3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 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 査読有り国際共著

Liu Z., Lu M., Takeuchi M., Yue T., Hasegawa Y., Huang Q., Fukuda T.

Biomedical Materials (Bristol) 13 巻 ( 3 ) 2018年2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：Biomedical Materials (Bristol)

Artificial cell sheets are commonly utilized as buiding blocks for tissue engineering. We propose a novel approach in the fabrication of Ca-alginate gel sheets, embedded with liver cells (RLC-18) in order to mimic liver lobule tissue. Ca-alginate sheets with hepatic lobule-shaped patterns were deposited onto a micro-electrode device using electrodeposition. Viability of embedded cells was ensured to exceed 80%. Cell morphology and biofunctionality were monitored during the one-week culture period and results compared with those of traditional 2D culture. In addition, we detached cell sheets from the electrode substrate and stacked them into a 3D multi-layered structure to mimic the morphology of liver lobule tissue.

DOI： 10.1088/1748-605X/aaa4c4

Web of Science

Scopus

ガルバノミラーによる視線移動を用いた顕微鏡撮影のための視野拡張システム査読有り

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

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