Faculty Profiles - HASEGAWA, Yasuhisa

Papers - HASEGAWA, Yasuhisa

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Pneumatic tubular body fixture for wearable assistive device - Analysis and design of active cuff to hold upper limb - Analysis a

Hasegawa Y., Hasegawa T., Eguchi K.

IEEE International Conference on Intelligent Robots and Systems page： 2140 - 2145 2014.10

Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE International Conference on Intelligent Robots and Systems

This paper proposes a pneumatic tubular body fixture for a wearable assistive device in order to hold a user body in simple wearing actions and with comfort. The pneumatic body fixture, called active cuff, is composed of multiple sets of a pneumatic actuator module which are actively transformed by compressed air. This transformed module wraps and holds a part of a user's body so that a wearable assistive device can be mounted on the user's body with less effort in a short time. The elastic material of the pneumatic actuator module also contributes a tactile and pressure sensation of a contact with the environment as if we could feel those sensations through our clothes. The pneumatic actuator is modeled by a beam structure and then deformation of the pneumatic actuator is simulated by finite element method for an active cuff design. The maximum holding force of the developed active cuff is about 6 kilograms, which is enough to hold an upper limb. The active cuff changes the holding points to keep blood flow of the holding area iteratively and alternatively using three couples of pneumatic actuator modules of the active cuff. Through some experiments, we confirmed that the active cuff enhanced the convenience and comfort of the wearable robot from the viewpoints of easiness to wear and the contact pressure distribution.

DOI： 10.1109/IROS.2014.6942850

Scopus

Preface

Sankai Y., Suzuki K., Hasegawa Y.

Cybernics: Fusion of human, machine and information systems Vol. 9784431541592 page： v - vii 2014.9

Tongue Motion Detection based on SVM from Surface Myoelectricity for Alternative Interface System Reviewed

Junji Takahashi, Satoru Suezawa, Yasuhisa Hasegawa, and Yoshiyuki Sankai

Transaction on control and mechanical systems Vol. 3 ( 2 ) page： 114-121 2014.8

Three dimensional spheroids assembly using thermoresponsive gel probe Reviewed

Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa

Biofabrication 2014

Cross-sectional Imaging of C. elegans by SEM-CT using Environmental SEM for Nanomanipulation

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

2014 IEEE 14TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO) page： 41 - 44 2014

Development of Wrist Support Mechanism for Muscle Weakness Person to Work on Desk Work

Hasegawa, Y; Shimada, S; Eguchi, K

2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS) 2014

Optimal Selection of Cane Usage with Humanoid Robot

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

2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids) page： 199 - 204 2014

Local Microinjection near Nerve Axon of C. elegans with Hydro-gel Beads Based on Micromanipulation

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

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) page： 72 - 75 2014

Lab in a Droplet (LiD): Self-assembly Method of Microstructures inside a Droplet

Takeuchi, M; Ichikawa, A; Nakajima, M; Fukuda, T; Hasegawa, Y; Huang, Q

2014 IEEE 14TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO) page： 991 - 994 2014

Motion Transfer Control From Walking to Brachiation Through Vertical Ladder Climbing for a Multi-Locomotion Robot Reviewed

Lu, Z., Aoyama, T., Sekiyama, K., Hasegawa, Y., Fukuda, T.

IEEE/ASME Transactions on Mechatronics Vol. PP ( 99 ) page： 1-13 2013.12

Exoskeletal Meal Assistance System (EMASII) for Patients with Progressive Muscular Disease Reviewed

Yasuhisa Hasegawa, Saori Oura, and Junji Takahashi

Advanced Robotics Vol. 27 ( 18 ) page： 1385-1398 2013.10

外骨格による把持力支援時に母指感覚が及ぼす指先力精度への影響 Reviewed

長谷川泰久, 有山哲理, 上林清孝, 武藤淳一

日本ロボット学会誌 Vol. 31 ( 4 ) page： 381-389 2013.5

The Discriminant Criteria Detecting Operational Intention from Myoelectricity for Alternative Interface System Reviewed

Junji Takahashi, Noel Segura Meraz, Yasuhisa Hasegawa, and Yoshiyuki Sankai

Transaction on control and mechanical systems Vol. 2 ( 1 ) page： 13-19 2013

Facilitation of learning and rehabilitation in rats by inducing response-like movement Reviewed

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

Advanced Biomedical Engineering Vol. 2 ( - ) page： 72-79 2013

SVMを用いた前頸部生体電位信号に基づく舌運動の検出 Reviewed

長谷川泰久, 末澤賢, 高橋淳二, 藤澤俊宏

日本機械学会論文集（Ｃ編） Vol. 78 ( 796 ) page： 3970-3978 2012.12

アクティブエアマットによる支援機器の親和性の改善 Reviewed

長谷川泰久, 田山宗徳, 齊藤壮文, 長谷川誉晃, 山海嘉之

日本ロボット学会誌 Vol. 30 ( 8 ) page： 759-766 2012.10

PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment Reviewed

Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa, and Toshio Fukuda

Journal of Robotics and Mechatronics Vol. 24 ( 1 ) page： 37-46 2012

Transition Motion from Ladder Climbing to Brachiation with Optimal Load-Allocation Control Reviewed

Zhiguo Lu, Tadayoshi Aoyama, Kosuke Sekiyama,Yasuhisa Hasegawa and Toshio Fukuda

Advanced Robotics Vol. 26 ( 8-9 ) page： 1075-1098 2012

不整地走行車両に適合した走行メカニズム Reviewed

星野春夫，石川敦雄，福田敏男，長谷川泰久

日本機械学会論文集（Ｃ編） Vol. 69 ( 677 ) page： 126-131 2003

大域道路情報及び局所通信による交通車両の動的経路分散手法 Reviewed

長谷川泰久,竹藤和弘,池本有助,福田敏男

日本機械学会論文集（Ｃ編） Vol. 69 ( 677 ) page： 97-103 2003

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Papers - HASEGAWA, Yasuhisa