Faculty Profiles - HASEGAWA, Yasuhisa

Papers - HASEGAWA, Yasuhisa

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Optimal selection of cane usage with humanoid robot.

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

14th IEEE-RAS International Conference on Humanoid Robots(Humanoids) Vol. 2015-February page： 199 - 204 2015.2

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

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

IEEE Transactions on Neural System and Rehabilitation Engineering Vol. 23 ( 2 ) page： 308-318 2015

Energetically Efficient Ladder Descent Motion With Internal Stress and Body Motion Optimized for a Multilocomotion Robot Reviewed

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

IEEE Transactions on Industrial Electronics Vol. 62 ( 8 ) page： 4972-4984 2015

1A1-Q04 Presentation Interface of Hip Joint Angle Using an Small Electrode Array

HASEGAWA Yasuhisa, OZAWA Kohei, OHARA Takayoshi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1A1-Q04_1 - _1A1-Q04_4 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

This paper proposes a presentation interface of hip joint angle for paraplegic patient using a small electrode array. Current powered exoskeletons help the patient's walk on the basis of biopotential signal. However, the exoskeletons have two problems. First, patient's intentions related to a walk are not synchronized with the assistive leg motions completely. Second, paraplegic patients with the exoskeleton cannot perceive legs' information such as joint angles and floor contact because the patients have lost afferent signal flows. We proposed a finger-mounted walk controller for the first problem before. However, the controller is not based on human nerve system. In addition, we proposed feedback device for conveying hip joints angle by electric stimulation for the second problem before. However, the patients have to cover their all fingers with electrodes for using the device. To control legs on the basis of human nerve system and to miniaturize presentation parts, we propose a presentation interface of hip joint angle for paraplegic patient using a small electrode array.

DOI： 10.1299/jsmermd.2015._1a1-q04_1

CiNii Research

2P1-C02 Mowing Boundary Detection Algorithm Based on Texture Recognition for Automatic Lawn Mower

FUKUKAWA Tomoya, SEKIYAMA Kosuke, HASEGAWA Yasuhisa, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _2P1-C02_1 - _2P1-C02_3 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

This paper proposes the vision-based mowing boundary detection algorithm for an automatic lawn mower. The proposed algorithm utilizes the idea of a bank of filters, which consists of 36 Gabor filters, to capture the change of the features before and after mowing the lawn. The x^2 statistic is calculated as the feature value from the filter responses. The input image of lawn environment with two fields before and after mowing the lawn is classified into two classes by utilizing the x^2 statistic. The boundary between two classes is determined by RANSAC.

DOI： 10.1299/jsmermd.2015._2p1-c02_1

CiNii Research

2A2-J06 Japanese Syllabary Identification Using Myoeletric Potential of Neck Muscles

HASEGAWA Yasuhisa, SUZUKI Kentaro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _2A2-J06_1 - _2A2-J06_3 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

The purpose of this paper is to achieve Japanese syllabary identification for a tissue-related articulation person who has an abnormality in the shape of mouth and the tongue. The device assists his/her communication with other persons without utterance since they cannot utter well. The device that a support vector machine is incorporated in reads the intended Japanese syllabary based on myoeletric potential using an array electrode attached on the anterior surface of neck. As a first step, an experiment is conducted in order to identify Japanese syllabary (46 kinds) and rest state. As a result, the average of identification accuracy is 96.6% and even worst accuracy of the specific sound is more than 80%.

DOI： 10.1299/jsmermd.2015._2a2-j06_1

CiNii Research

1P2-B09 PDAC-based 3D Bipedal Walking by using Swing-Leg Motion

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

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P2-B09_1 - _1P2-B09_4 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

Passive dynamic autonomous control (PDAC) for bipedal walking has excellent efficiency. PDAC, however, can control walking direction only in the previous research, and not be used for 3-D walking currently. We then propose a 3-D walking method of PDAC by using a walking speed controller based on a swing-leg motion. The reference walking speed to reach the goal is achieved by adjusting the touchdown position and speed of the swing leg. As a result, the 3-D walking is achieved with the high energy efficiency, although the footstep is hardly controllable.

DOI： 10.1299/jsmermd.2015._1p2-b09_1

CiNii Research

1P2-B05 High-Speed Running Control for Humanoid Robot : Fundamental Verification of Bipedal Running

OTA Tomoro, OHARA Kenichi, ICHIKAWA Akihiko, KOBAYASHI Taisuke, HASEGAWA Yasuhisa, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P2-B05_1 - _1P2-B05_2 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

Recently, a lot of researches for bipedal locomotion have been conducted. The high-speed running, which means that a Froude number is more than 1 so the robot can conduct only it, has not been achieved until now. In this research, we develop a humanoid robot that achieves the high-speed running, named rapid running robot (R3). The development and control of this robot need an accurate model to analyze the robot's locomotion. We then model R^3 after a real robot, which has already achieved the running, in a dynamic simulator V-REP.

DOI： 10.1299/jsmermd.2015._1p2-b05_1

CiNii Research

1P1-P03 Aqueous Observation using SEM-CT inside Environmental-SEM

NAKAJIMA Masahiro, SHIMAZAKI Kouya, TAKEUCHI Masaru, HISAMOTO Naoki, HASEGAWA Yasuhisa, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P1-P03_1 - _1P1-P03_2 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

This paper presents the aqueous observation of three-dimensional information using scanning electron microscope- computed tomography (SEM-CT) inside an environmental-SEM (E-SEM). It is required to control the sample temperature for an aqueous condition inside the E-SEM. In this paper, a cooling system was installed into the SEM-CT system. The aqueous observation was confirmed by the E-SEM and SEM-CT observations.

DOI： 10.1299/jsmermd.2015._1p1-p03_1

CiNii Research

1P1-O10 Evaluation for C. elegans survival ratio after micro-injection

AYAMURA Yuki, NAKAJIMA Masahiro, TAKEUCHI Masaru, HISAMOTO Naoki, PASTUHOV Strahil, HASEGAWA Yasuhisa, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P1-O10_1 - _1P1-O10_2 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

We evaluated a survival rate of micro-injection into Caenorhabditis elegans, (C. elegans) after 24 hours with a fluorescent micro-gel bead. The fluorescent micro-gel beads were fabricated by a salting-out method. One of the micro-gel bead was picked up at the micropipette injection tool by suction forces. The microbead was injected into C. elegans by a microinjector using a piezo actuator based on micromanipulation. After microinjection of the fluorescent microbead, the microbead was confirmed in the C. elegans using a fluorescent and a confocal microscopes. From experimental results, the viabilities were achieved in 71 % (12/17) and 62% (8/13) at 10 μm and 20 μm different injection depths.

DOI： 10.1299/jsmermd.2015._1p1-o10_1

CiNii Research

1P1-O03 Microchannel Fabrication using alginate hydrogel fiber molding

TAKEUCHI Masaru, NAKAJIMA Masahiro, FUKUDA Toshio, HASEGAWA Yasuhisa

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P1-O03_1 - _1P1-O03_2 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

We constructed three dimensional (3D) microchannel networks inside gelatin-based hydrogel towards 3D in vitro cell structures. The 3D assembly of cells in vitro is one of the important techniques to reveal cell growth, differentiation and hystogenesis for applications in tissue engineering, drug screening, and cell characterization. To achieve functional 3D cell structures, vascular networks are important to supply oxygen and nutrients to cells, and remove waste product from cells. An alginate hydrogel fibers were employed to construct the microchannel networks like blood vessels. The patterned hydrogel fiber can be melted using standard saline citrate (SSC) buffer and the melted area can be used as vascular networks. The flow inside the melted alginate hydrogel fibers were visualized using fluorescent microbeads. The results validate that the proposed method can be used to make arbitrary patterns of vascular networks inside cell structures and contribute to achieve in vitro 3D cell structures.

DOI： 10.1299/jsmermd.2015._1p1-o03_1

CiNii Research

1P1-N03 On-chip fabrication of microstructures using the biodegradable material

SAKAKIBARA Ryota, Takeuchi Masaru, ICHIKAWA Akihiko, Ohara Kenichi, Nakajima Masahiro, Nakajima Yasuhisa, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P1-N03_1 - _1P1-N03_2 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

In this paper, we conducted the fabrication of cell embedded structures using biodegradable photocrosslinkable material gelatin methacrylate (GelMA). The mouse fibroblast NIH3T3 cells were mixed in uncured GelMA solution. The cell embedded microcstructures were fabricated by exposing ultra violet (UV) light under a microscope. The cell culture was conducted to check their growth inside the microstructures. The cell viability was checked using live/dead cell staining. The observation of cell structures under a confocal microscope was conducted to check the three dimensional shape of the structure. The experimental results validate that the cells can grow inside the GelMA structures and the fabricated structures can be used to construct in vitro 3D cell structures for tissue engineering applications.

DOI： 10.1299/jsmermd.2015._1p1-n03_1

CiNii Research

1P1-N02 Cell patterning in the biocompatible gel by the local heating

OYA Tomoyuki, TAKEUCHI Masaru, ICHIKAWA Akihiko, OHARA Kenichi, NAKAJIMA Masahiro, HASEGAWA Yasuhisa, FUKUDA Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1P1-N02_1 - _1P1-N02_3 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

We propose a new method to construct microchannels inside cell structures. Recently, three-dimensional cell structures have been actively developed such as cell sheets stacking or inkjet bio-printing method. However, those methods have some disadvantages such as stacking rate or non-biodegradable materials. In this paper, local melting of cell embedded hydrogel is employed to make microchannels inside cell structures. The fabricated microchannels can be used as vascular-like networks to supply nutrition and oxygen to cells. Temperature distribution inside the hydrogel was simulated using 1D unsteady heat conduction equation. A microchannel was experimentally fabricated using an electrode on a glass substrate. The results indicate that the proposed method can be used to making vascular-like networks inside cell structures to construct in vitro 3D cell systems.

DOI： 10.1299/jsmermd.2015._1p1-n02_1

CiNii Research

1A1-X06 Fabrication of graphene cube by nanomanipulation

Fujiwara Takafumi, Nakajima Masahiro, Ichikawa Akihiko, Ohara Kenichi, Hasegawa Yasuhisa, Fukuda Toshio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol. 2015 ( 0 ) page： _1A1-X06_1 - _1A1-X06_2 2015

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

This paper presents a fabrication of graphene cubic structure by a nanomanipulation in a FESEM (Field Emission Scanning Electron Microscope). We developed two nanomanipulators with three degrees of freedoms to handle two end-effectors. A cube net was designed and fabricated using a multi graphene by a FIB (Focused Ion Beam) etching. For bending the one side of the cubic net graphene, a tungsten probe was used after reforming by FIB etching to adjust the cube net design. The multi graphene was bent to form a cubic 3D structure in study. Additionally, the bending forces of multi graphene were measured using a silicon cantilever based on the nanomanipulation.

DOI： 10.1299/jsmermd.2015._1a1-x06_1

CiNii Research

Electric Stimulation Feedback for Gait Control of Walking Robot

Hasegawa, Y; Nakayama, K; Ozawa, K; Li, MZ

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) page： 14 - 19 2015

Vanishing point detection focusing on similarity structure in vineyard environments

Fukukawa Tomoya, Sekiyama Kosuke, Hasegawa Yasuhisa

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM Vol. 2015.6 ( 0 ) page： 278 - 279 2015

Language：English Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

Automation of agricultural machines has been required for labor saving to manage farms. The purpose of this research is to develop a vision-based guidance method for an autonomous vehicle in vineyard environments. In this paper, we propose a method of vanishing point detection focusing on similarity structure of vineyard environments. An advantage of the proposed method is not to be affected by illumination conditions. We applied the proposed method to 17 images and evaluated the usefulness by positional errors of a vanishing point.

DOI： 10.1299/jsmeicam.2015.6.278

CiNii Research

Survival Microinjection into C. elegans with In vivo Observation based on Micromanipulation

Nakajima, M; Ayamura, Y; Takeuchi, M; Hisamoto, N; Pastuhov, S; Hasegawa, Y; Fukuda, T; Huang, Q

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) page： 183 - 188 2015

Running Assistive Exoskeleton with a Side Mechanism

Kubora Naoki, Hasegawa Yasuhisa

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM Vol. 2015.6 ( 0 ) page： 21 - 22 2015

Language：English Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineers

This paper introduces an exoskeleton for reduction in a metabolic cost during running. The exoskeleton aims to reduce load of runner's vertical oscillation of center of mass. The exoskeleton consists of a leaf spring, a slider and a brake unit for holding and releasing the slider of each leg. The exoskeleton holds the slider during a stance phase and releases the slider during a swing phase. For assisting the oscillation, the leaf spring stores energy during an initial stance phase and restore the energy during a terminal stance phase. A heart rate of a subject shows assistance effect of the exoskeleton through running.

DOI： 10.1299/jsmeicam.2015.6.21

CiNii Research

Joint stiffness tuning of exoskeleton robot H2 by tacit learning Reviewed

Shingo Shimoda, Álvaro Costa, Guillermo Asin Prieto, Shotaro Okajima, Eduardo Ináez, Yasuhisa Hasegawa, Jose M Azor In, Jose L. Pons, Juan C. Moreno

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) Vol. 9359 page： 134 - 138 2015

Language：English Publishing type：Research paper (international conference proceedings) Publisher：Springer Verlag

Joint stiffness of the exoskeleton robot is one of the most important factors to support bipedal walking. In this paper, we discuss the robot joint stiffness tuning algorithm using the bio-mimetic learning method called tacit learning. We experimentally showed that the pro- posed controller can tune the joint stiffness of the exoskeleton robot by tuning the integral gain in the controller. The walking experiment wear- ing the exoskeleton robot suggest that the stiffness tuning is applicable to control the walking speed.

DOI： 10.1007/978-3-319-24917-9_15

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Local melting of hydrogel for microchannels fabrication in cell structures.

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

page： 1 - 4 2015

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Papers - HASEGAWA, Yasuhisa