研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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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

Optimal selection of cane usage with humanoid robot

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

IEEE-RAS International Conference on Humanoid Robots 2015-February 巻頁： 199 - 204 2015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：IEEE-RAS International Conference on Humanoid Robots

Humanoid robots are required to improve its walking ability (stability and efficiency) in order to adapt to various environments. Extension of the embodiment by a cane is effective as well as human like elderly. In this paper, we propose a scheme that enables the robot to perform cane-supported walking and select the optimal cane usage based on its condition so as to maximize the performance of cane support. For cane-supported walking, we propose cyclic and leg-like usages, which correspond to two-point and three-point gaits. Our strategy for selecting the optimal cane usages, which have respective utilities, utilizes falling factors in Selection Algorithm for Locomotion (Us-SAL). We express affinities between the cane usages and the falling factors as Q-values, which are learned by Q-learning, and select the optimal usage based on the Q-values. Us-SAL was validated by an experiment; the robot selected the optimal usage for its condition, and walked efficiently without falling.

DOI： 10.1109/HUMANOIDS.2014.7041360

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その他リンク： https://dblp.uni-trier.de/db/conf/humanoids/humanoids2014.html#KobayashiSAHF14

Restoration of Gait for Spinal Cord Injury Patients using HAL with Intention Estimator for Preferable Swing Speed 査読有り

Atsushi Tsukahara, Yasushisa Hasegawa, Kiyoshi Eguchi, and Yoshiyuki Sankai

IEEE Transactions on Neural System and Rehabilitation Engineering 23 巻 ( 2 ) 頁： 308-318 2015年

Energetically Efficient Ladder Descent Motion With Internal Stress and Body Motion Optimized for a Multilocomotion Robot 査読有り

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

IEEE Transactions on Industrial Electronics 62 巻 ( 8 ) 頁： 4972-4984 2015年

1A1-Q04 小型化アレイ電極を用いた電気刺激による股関節角度提示インタフェース

長谷川泰久, 小澤剛平, 大原崇義

ロボティクス・メカトロニクス講演会講演概要集 2015 巻 ( 0 ) 頁： _1A1-Q04_1 - _1A1-Q04_4 2015年

2P1-C02 芝刈りロボットの自動化のためのテクスチャ認識に基づく芝の刈取境界認識

福川智哉, 関山浩介, 長谷川泰久, 福田敏男

ロボティクス・メカトロニクス講演会講演概要集 2015 巻 ( 0 ) 頁： _2P1-C02_1 - _2P1-C02_3 2015年

2A2-J06 頸部電位を用いた五十音の識別手法の提案

長谷川泰久, 鈴木健太郎

ロボティクス・メカトロニクス講演会講演概要集 2015 巻 ( 0 ) 頁： _2A2-J06_1 - _2A2-J06_3 2015年

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