研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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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

Web of Science

Scopus

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Shape-controlled high cell-density microcapsules by electrodeposition 査読有り

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

Acta biomaterialia 37 巻頁： 93-100 2016年6月

Fall Detection and Prevention Control Using Walking-Aid Cane Robot 査読有り

P. Di, Y. Hasegawa, S. Nakagawa, K. Sekiyama, T. Fukuda, J. Huang

IEEE/ASME Transactions on Mechatronics 21 巻 ( 2 ) 頁： 625-637 2016年4月

Local guiding of C. Elegans inside micro-channel for injection operation

Ayamura Y., Nakajima M., Takeuchi M., Hisamoto N., Strahil P., Hasegawa Y., Fukuda T.

2015 IEEE/SICE International Symposium on System Integration, SII 2015 頁： 952 - 955 2016年2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：2015 IEEE/SICE International Symposium on System Integration, SII 2015

This paper presents a local guiding of Caenorhabditis elegans (C. Elegans) inside a micro-channel. We are interested in the nerve analysis using C. Elegance as a model organism. As previous work, a micromanipulation system was used for local drug micro-injection under an optical microscope (OM) into C. Elegans, however it was difficult to control the position or posture of individual C. Elegans on a normal dish. In this work, micro-injection system was proposed to conduct the microinjection for individual C. Elegans. Electrotaxis of C. Elegans was used to guide in a micro-channel. The electrotaxis is one of the natural feature of C. Elegans by changing their movements depending on the electric field. It was confirmed that C. Elegans moved from anode to cathode in a microfluidic channel when an electric field was applied. Two micro-channels were designed to compare the effectiveness of guiding the C. Elegans to the injection point which is almost same width with C. Elegans. The proposed device will be used for high accurate or efficient micro-injection to C. Elegans.

DOI： 10.1109/SII.2015.7405154

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その他リンク： https://dblp.uni-trier.de/db/conf/sii/sii2015.html#AyamuraNTHPHF15

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

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

Nonlinear Dynamics 84 巻 ( 4 ) 頁： 2285-2304 2016年2月

Muscle activity during gait-like motion provided by MRI compatible lower-extremity motion simulator 査読有り

Takahiro Ikeda, Akira Matsushita, Kousaku Saotome, Yasuhisa Hasegawa, Akira Matsumura, Yoshiyuki Sankai

Advanced Robotics 30 巻 ( 7 ) 頁： 459-475 2016年2月

Batch Fabrication of Microscale Gear-Like Tissue by Alginate-Poly-L-lysine (PLL) Microcapsules System 査読有り

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

IEEE Robotics and Automation Letters 1 巻 ( 1 ) 頁： 206-212 2016年1月

Batch Fabrication of Microscale Gear-Like Tissue by Alginate-Poly-L-lysine (PLL) Microcapsules System 査読有り

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

IEEE Robotics and Automation Letters 1 巻 ( 1 ) 頁： 206 - 212 2016年1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

Constructing 3D cell module with certain shape and high cell density is a very important issue for artificial tissue engineering. In this letter, we present a novel method of fabricating compact microtissue with gear-like shape by electrodepositing of Ca 2+ induced cross-linked alginate hydrogel. The fabrication procedure is demonstrated and the fabricated gear-like tissues are characterized. Briefly, an array of gear-shaped microelectrodes are first fabricated by coating a patterned photoresist layer onto fluorine-doped tin oxide (FTO) glass slide based on photolithography technique. Then, Ca-alginate gel structures embedded with RLC-18 (rat liver) cells are electrodeposited onto the microelectrodes. These 2D cell-laden gel structures are then manually detached from the microelectrodes and treated with special reagent to be transformed into 3D alginate-Poly-L-lysine (PLL) microcapsules while maintaining the gear shape. Finally, the RLC-18 cells within the microcapsules are further promoted into compact microtissues by cultivation. The size of the fabricated gear-like tissue is about 975±25 μm in outer diameter and 320±10 μm in inner diameter based on the design of microelectrodes. 3-D images of the fabricated microtissues are obtained by a confocal microscope. The experimental results indicate the proposed method can successfully fabricate movable microtissues with predefined gear shape while maintaining the viability (∼94%). We believe the fabricated movable gear-like microtissues can be further assembled and applied to tissue engineering.

DOI： 10.1109/LRA.2016.2514500

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A Microfluidic Device for Hydrodynamic Trapping and Manipulation Platform of a Single Biological Cell 査読有り

Amelia Ahmad Khalili, Mohd Ridzuan Ahmad, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Razauden Mohamed Zulkifli

Applied Sciences 6 巻 ( 2 ) 頁： 1-17 2016年

Selection of two arm-swing strategies for bipedal walking to enhance both stability and efficiency 査読有り

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

Advanced Robotics 30 巻 ( 6 ) 頁： 386-401 2016年

Vision-based mowing boundary detection algorithm for an autonomous lawn mower Open Access

Fukukawa T., Sekiyama K., Hasegawa Y., Fukuda T.

Journal of Advanced Computational Intelligence and Intelligent Informatics 20 巻 ( 1 ) 頁： 49 - 56 2016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：Journal of Advanced Computational Intelligence and Intelligent Informatics

This study proposes a vision-based mowing boundary detection algorithm for an autonomous lawn mower. An autonomous lawn mower requires high moving accuracy for efficient mowing. This problem is solved by using a vision system to detect the boundary of two regions, i.e., before and after the lawn mowing process. The mowing boundary cannot be detected directly because it is ambiguous. Therefore, we utilize a texture classification method with a bank of filters for classifying the input image of the lawn field into two regions as mentioned above. The classification is performed by threshold processing based on a chisquared statistic. Then, the boundary line is detected from the classified regions by using Random sample consensus (RANSAC). Finally, we apply the proposed method to 12 images of the lawn field and verified that the proposed method can detect a mowing boundary line with centimeter accuracy in a dense lawn field.

DOI： 10.20965/jaciii.2016.p0049

Single Cell Mass Measurement Using Drag Force Inside Lab-on-Chip Microfluidics System 査読有り

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

IEEE Transactions on NanoBioscience 14 巻 ( 8 ) 頁： 927-934 2015年12月

SALを用いた腕振り戦略による2足歩行の安定化及び効率向上査読有り

小林泰介, 関山浩介, 青山忠義, 長谷川泰久, 福田敏男

日本機械学会論文集(Ｃ編) 2015年7月

Tandem stance avoidance using adaptive and asymmetric admittance control for fall prevention 査読有り

Shotaro Nakagawa, Yasuhisa Hasegawa, Toshio Fukuda, Izumi Kondo, Masahiro Tanimoto, Pei Di, Jian Huang, Qiang Huang

IEEE Transactions on Neural Systems and Rehabilitation Engineering 24 巻 ( 5 ) 頁： 542-550 2015年5月

MRI適合性を有する下肢動作提示システムLoMS 査読有り

池田貴公、松下明、五月女康作、長谷川泰久、松村明、山海嘉之

日本ロボット学会誌　 33 巻 ( 2 ) 頁： 115-123 2015年3月

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