研究者詳細 - 長谷川　泰久

論文 - 長谷川　泰久

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Kinematic analysis and experimental verification of transforming planar linkage mechanism Open Access

Unde J., Ito Y., Colan J., Hasegawa Y.

Robomech Journal 12 巻 ( 1 ) 2025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：Robomech Journal

This paper explores the kinematic characteristics of a novel transforming planar linkage mechanism characterized by a coiling and uncoiling motion pattern. Unlike traditional deployable structures that depend on scaling transformations, this mechanism utilizes a four-bar linkage system that rotates collectively to achieve the desired transformation with a single degree of freedom. The study provides a comprehensive analysis of the mechanism’s properties, highlighting its singularity points, trajectory variations, and transformation capabilities contingent on the fixed frame’s position. These properties are validated through simulations and experimental tests, supporting the analytical findings. Furthermore, a tendon-driven actuation method tailored for this mechanism is introduced and validated using a physical prototype. The results contribute significantly to understanding this innovative planar linkage mechanism, offering valuable insights for designing novel mechanical systems and applications.

DOI： 10.1186/s40648-025-00289-3

Improved Availability of Mobile Network Teleoperation by Employing a Video Conferencing Application With Audio-Embedded Commands 査読有り国際誌

Sho Hatano, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 10 巻 ( 4 ) 頁： 3502 - 3509 2025年2月

Kinematic analysis and experimental verification of transforming planar linkage mechanism 査読有り国際誌

Jayant Unde, Yahiro Ito, Jacinto Colan, Yasuhisa Hasegawa

ROBOMECH Journal 12 巻 ( 3 ) 頁： 1 - 16 2025年2月

IST-ROS: A flexible object segmentation and tracking framework for robotics applications Open Access

Fozilov K., Yamada Y., Colan J., Zhu Y., Hasegawa Y.

Softwarex 29 巻 2025年2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：Softwarex

Object detection and tracking are crucial components in the development of various applications and research endeavors within the computer science and robotics community. However, the diverse shapes and appearances of real-world objects, as well as dynamic nature of the scenes, may pose significant challenges for these tasks. Existing object detection and tracking methods often require extensive data annotation and model re-training when applied to new objects or environments, diverting valuable time and resources from the primary research objectives. In this paper, we present IST-ROS, Interactive Segmentation and Tracking for ROS, a software solution that leverages the capabilities of the Segment Anything Model (SAM) and semi-supervised video object segmentation methods to enable flexible and efficient object segmentation and tracking. Its graphical interface allows interactive object selection and segmentation using various prompts, while integrated tracking ensures robust performance even under occlusions and object interactions. By providing a flexible solution for object segmentation and tracking, IST-ROS aims to facilitate rapid prototyping and advancement of robotics applications.

DOI： 10.1016/j.softx.2024.101979

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism Open Access

Unde J., Colan J., Hasegawa Y.

IEEE Robotics and Automation Letters 10 巻 ( 2 ) 頁： 1369 - 1376 2025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：IEEE Robotics and Automation Letters

This letter introduces a novel linear actuator with a high extension ratio, achieved through a unique planar transforming linkage mechanism (TLM) that serves as an articulated lead screw. This mechanism forms a rigid beam when extended and compactly coils when not in use, eliminating the need for an interlocking mechanism and thereby enhancing durability and reducing maintenance costs. The paper also discusses the comprehensive design of the linear actuator, including the articulated lead screw and driving transformation mechanism, leveraging the kinematic properties of the planar TLM. A proof-of-concept prototype is manufactured and assessed for its load capacity, accuracy, repeatability, and efficiency. Unlike conventional actuators constrained by a lower extension ratio, the proposed actuator's compactness and transverse load resilience make it ideal for space-constrained applications such as medical devices, space robotics, and factory automation. Overall, the proposed linear actuator represents a significant advancement in the field of linear actuators and has the potential to enable a wide array of applications that were previously unfeasible with conventional designs.

DOI： 10.1109/LRA.2024.3521682

Improved Availability of Mobile Network Teleoperation by Employing a Video Conferencing Application With Audio-Embedded Commands

Hatano S., Zhu Y., Aoyama T., Hasegawa Y.

IEEE Robotics and Automation Letters 10 巻 ( 4 ) 頁： 3502 - 3509 2025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：IEEE Robotics and Automation Letters

This study proposed an innovative teleoperation system utilizing video conferencing applications to enhance availability and operability in mobile networks. The proposed system accomplished this by transmitting video through screen sharing and embedding control signals into audio signals by converting them into sine waves whose amplitudes correspond to control values. Compared with conventional VPN-based approaches, our approach reduced communication delay over mobile data networks by more than 1s and, in evaluation experiments using Toyota's Human Support Robot, demonstrated improved operational accuracy. The proposed method expanded the operational range beyond Wi-Fi or cable limitations, enabling outdoor remote control via mobile data communication. This advancement opens new possibilities in hazardous environment operations, elderly care, and data collection for AI model training. Our approach improved the flexibility of teleoperation systems, paving the way for widespread adoption across various industries and research domains. Future improvements in video conferencing applications and next-generation mobile networks could further enhance system performance.

DOI： 10.1109/LRA.2025.3544092

Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space Open Access

Yokoe K., Aoyama T., Funabora Y., Takeuchi M., Hasegawa Y.

IEEE Transactions on Haptics 18 巻 ( 1 ) 頁： 244 - 254 2025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：IEEE Transactions on Haptics

In recent years, systems that utilize immersive space have been developed in various fields. Immersive spaces often contain considerable amounts of visual information; therefore, users often fail to obtain their desired information. Therefore, various methods have been developed to guide users toward haptic sensations. However, many of these methods have limitations in terms of the intuitive perception of haptic sensation and require practice for familiarization with haptic sensation. Fabric actuators are wearable haptic devices that combine fabric and McKibben artificial muscles to provide wearers with surface haptic sensation. These sensations can be provided to a wide area of the body with intuitive perception, instead of only to a part of the body. This paper presents a novel air pressure adjustment method for whole-body motion guidance using surface haptic sensations provided by a wearable fabric actuator. The proposed system can provide users with a directional sense without visual information in an immersive space. The effectiveness of the proposed system was evaluated through subject experiments and statistical data analysis. Finally, a directional sense presentation was conducted for users performing micromanipulations in a mixed-reality space to demonstrate the applicability of the proposed system for teleoperation.

DOI： 10.1109/TOH.2024.3522897

Low-Cost Robot Operation Interface for Simultaneous Hand Position Input and Force Fine-Tuning Using Visual-Based Tactile Sensor

Morita T., Yamashita Y., Zhu Y., Hasegawa Y.

2025 IEEE SICE International Symposium on System Integration Sii 2025 頁： 157 - 158 2025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：2025 IEEE SICE International Symposium on System Integration Sii 2025

We propose a low-cost robot operation interface that combines a mixed-reality device and vision-based tactile sensor for simultaneous grip force fine-tuning and position control. In a paper creasing demonstration, we confirm that the proposed system dynamically reproduces a small force input by the operator to the controller as the grasping force of a robot gripper.

DOI： 10.1109/SII59315.2025.10871020

Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space 査読有り国際誌

Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora, Masaru Takeuchi, Yasuhisa Hasegawa

IEEE Transactions on Haptics 頁： 1 - 11 2024年12月

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism 査読有り国際誌

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 10 巻 ( 2 ) 頁： 1369 - 1376 2024年12月

Tactile Feedback in Robot‐Assisted Minimally Invasive Surgery: A Systematic Review 査読有り国際誌

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

The International Journal of Medical Robotics and Computer Assisted Surgery 2024年12月

Real-time motion force-feedback system with predictive-vision for improving motor accuracy 国際誌 Open Access

Matsui R., Aoyama T., Kato K., Hasegawa Y.

Scientific Reports 14 巻 ( 1 ) 頁： 2168 - 2168 2024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：Scientific Reports

Many haptic guidance systems have been studied over the years; however, most of them have been limited to predefined guidance methods. Calculating guidance according to the operator’s motion is important for efficient human motor adaptation and learning. In this study, we developed a system that haptically provides guidance trajectory by sequential weighting between the operator’s trajectory and the ideal trajectory calculated from a predictive-vision system. We investigated whether motion completion with a predictive-vision system affects human motor accuracy and adaptation in time-constrained goal-directed reaching and ball-hitting tasks through subject experiments. The experiment was conducted with 12 healthy participants, and all participants performed ball-hitting tasks. Half of the participants get forceful guidance from the proposed system in the middle of the experiment. We found that the use of the proposed system improved the operator’s motor performance. Furthermore, we observed a trend in which the improvement in motor performance using this system correlated with that after the washout of this system. These results suggest that the predictive-vision system effectively enhances motor accuracy to the target error in dynamic and time-constrained reaching and hitting tasks and may contribute to facilitating motor learning.

DOI： 10.1038/s41598-024-52811-z

Tactile Feedback in Robot-Assisted Minimally Invasive Surgery: A Systematic Review Open Access

Colan J., Davila A., Hasegawa Y.

International Journal of Medical Robotics and Computer Assisted Surgery 20 巻 ( 6 ) 2024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：International Journal of Medical Robotics and Computer Assisted Surgery

Background: Robot-assisted systems have predominantly relied on teleoperation, where visual feedback is the primary source of information. However, advances in tactile sensing and displays offer new opportunities to enhance surgical transparency, efficiency, and safety. Methods: A PRISMA-guided search was conducted across PubMed, IEEE Xplore, Scopus, and Web of Science databases to identify relevant studies. Results: Out of 645 screened articles, 98 met the inclusion criteria, and 33 were included in the final review. The review discusses various tactile feedback stimulus types, applications, and challenges in the context of robot-assisted minimally invasive surgery. Conclusion: While kinaesthetic feedback has been extensively explored to restore the natural interaction between the surgeon and the surgical environment, tactile feedback remains largely confined to research settings. This is due to significant challenges in integrating tactile feedback into robotic systems and current limitations of sensing technologies.

DOI： 10.1002/rcs.70019

IST-ROS: A flexible object segmentation and tracking framework for robotics applications 査読有り国際誌

Khusniddin Fozilov, Yutaro Yamada, Jacinto Colan, Yaonan Zhu, Yasuhisa Hasegawa

Software X ( 29 ) 頁： 101979 2024年11月

RNN-Based Visual Guidance for Enhanced Sense of Agency in Teleoperation With Time-Varying Delays 査読有り国際共著国際誌

Tomoya Morita, Simon Armleder, Yaonan Zhu, Hiroto Iino, Tadayoshi Aoyama, Gordon Cheng, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 頁： 1 - 8 2024年11月

Virtual Hand Deformation-Based Pseudo-Haptic Feedback for Enhanced Force Perception and Task Performance in Physically Constrained Teleoperation Open Access

Yamamoto K., Zhu Y., Aoyama T., Hasegawa Y.

Robotics 13 巻 ( 10 ) 2024年10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：Robotics

Force-feedback devices enhance task performance in most robot teleoperations. However, their increased size with additional degrees of freedom can limit the robot’s applicability. To address this, an interface that visually presents force feedback is proposed, eliminating the need for bulky physical devices. Our telepresence system renders robotic hands transparent in the camera image while displaying virtual hands. The forces applied to the robot deform these virtual hands. The deformation creates an illusion that the operator’s hands are deforming, thus providing pseudo-haptic feedback. We conducted a weight comparison experiment in a virtual reality environment to evaluate force sensitivity. In addition, we conducted an object touch experiment to assess the speed of contact detection in a robot teleoperation setting. The results demonstrate that our method significantly surpasses conventional pseudo-haptic feedback in conveying force differences. Operators detected object touch 24.7% faster using virtual hand deformation compared to conditions without feedback. This matches the response times of physical force-feedback devices. This interface not only increases the operator’s force sensitivity but also matches the performance of conventional force-feedback devices without physically constraining the operator. Therefore, the interface enhances both task performance and the experience of teleoperation.

DOI： 10.3390/robotics13100143

Virtual Hand Deformation-Based Pseudo-Haptic Feedback for Enhanced Force Perception and Task Performance in Physically Constrained Teleoperation 査読有り国際誌

Kento Yamamoto, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

Robotics 13 巻 ( 10 ) 頁： 143 2024年9月

Latent Space Search-Based Adaptive Template Generation for Enhanced Object Detection in Bin-Picking Applications 査読有り

Songtao Liu, Yaonan Zhu, Tadayoshi Aoyama, Masayuki Nakaya, Yasuhisa Hasegawa

Sensors 24 巻 ( 18 ) 頁： 6050 2024年9月

Design, Modelling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabricdressing 査読有り国際誌

Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 頁： 1 - 8 2024年9月

Latent Space Search-Based Adaptive Template Generation for Enhanced Object Detection in Bin-Picking Applications Open Access

Liu S., Zhu Y., Aoyama T., Nakaya M., Hasegawa Y.

Sensors 24 巻 ( 18 ) 2024年9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：Sensors

Template matching is a common approach in bin-picking tasks. However, it often struggles in complex environments, such as those with different object poses, various background appearances, and varying lighting conditions, due to the limited feature representation of a single template. Additionally, during the bin-picking process, the template needs to be frequently updated to maintain detection performance, and finding an adaptive template from a vast dataset poses another challenge. To address these challenges, we propose a novel template searching method in a latent space trained by a Variational Auto-Encoder (VAE), which generates an adaptive template dynamically based on the current environment. The proposed method was evaluated experimentally under various conditions, and in all scenarios, it successfully completed the tasks, demonstrating its effectiveness and robustness for bin-picking applications. Furthermore, we integrated our proposed method with YOLO, and the experimental results indicate that our method effectively improves YOLO’s detection performance.

DOI： 10.3390/s24186050

Enhancing the LLM-Based Robot Manipulation Through Human-Robot Collaboration 国際誌 Open Access

Liu H., Zhu Y., Kato K., Tsukahara A., Kondo I., Aoyama T., Hasegawa Y.

IEEE Robotics and Automation Letters 9 巻 ( 8 ) 頁： 6904 - 6911 2024年8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

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This letter proposes a novel approach to enhance the performance of LLM-based autonomous manipulation through Human-Robot Collaboration (HRC). The approach involves using a prompted GPT-4 language model to decompose high-level language commands into sequences of motions that can be executed by the robot. The system also employs a YOLO-based perception algorithm, providing visual cues to the LLM, which aids in planning feasible motions within the specific environment. Additionally, an HRC method is proposed by combining teleoperation and Dynamic Movement Primitives (DMP), allowing the LLM-based robot to learn from human guidance. Real-world experiments have been conducted using the Toyota Human Support Robot for manipulation tasks. The outcomes indicate that tasks requiring complex trajectory planning and reasoning over environments can be efficiently accomplished through the incorporation of human demonstrations.

DOI： 10.1109/LRA.2024.3415931

Development of a compliant gripper for safe robot-assisted trouser dressing-undressing 査読有り国際誌

Jayant Unde, Takumi Inden, Yuki Wakayama, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

Advanced Robotics 頁： 1 - 17 2024年7月

Variable step sizes for iterative Jacobian-based inverse kinematics of robotic manipulators 査読有り

JACINTO COLAN, ANA DAVILA, AND YASUHISA HASEGAWA

IEEE Access 4 巻 ( 2016 ) 頁： 87909 - 87922 2024年6月

Comparison of fine-tuning strategies for transfer learning in medical image classification Open Access

Davila A., Colan J., Hasegawa Y.

Image and Vision Computing 146 巻頁： 105012 2024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：Image and Vision Computing

In the context of medical imaging and machine learning, one of the most pressing challenges is the effective adaptation of pre-trained models to specialized medical contexts. Despite the availability of advanced pre-trained models, their direct application to the highly specialized and diverse field of medical imaging often falls short due to the unique characteristics of medical data. This study provides a comprehensive analysis on the performance of various fine-tuning methods applied to pre-trained models across a spectrum of medical imaging domains, including X-ray, MRI, Histology, Dermoscopy, and Endoscopic surgery. We evaluated eight fine-tuning strategies, including standard techniques such as fine-tuning all layers or fine-tuning only the classifier layers, alongside methods such as gradually unfreezing layers, regularization based fine-tuning and adaptive learning rates. We selected three well-established CNN architectures (ResNet-50, DenseNet-121, and VGG-19) to cover a range of learning and feature extraction scenarios. Although our results indicate that the efficacy of these fine-tuning methods significantly varies depending on both the architecture and the medical imaging type, strategies such as combining Linear Probing with Full Fine-tuning resulted in notable improvements in over 50% of the evaluated cases, demonstrating general effectiveness across medical domains. Moreover, Auto-RGN, which dynamically adjusts learning rates, led to performance enhancements of up to 11% for specific modalities. Additionally, the DenseNet architecture showed more pronounced benefits from alternative fine-tuning approaches compared to traditional full fine-tuning. This work not only provides valuable insights for optimizing pre-trained models in medical image analysis but also suggests the potential for future research into more advanced architectures and fine-tuning methods.

DOI： 10.1016/j.imavis.2024.105012

Real-time inverse kinematics for robotic manipulation under remote center-of-motion constraint using memetic evolution 査読有り国際誌

Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

Journal of Computational Design and Engineering 11 巻 ( 3 ) 頁： 248-264 2024年5月

Multimodal semi-supervised learning for online recognition of multi-granularity surgical workflows 査読有り国際誌

Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

International Journal of Computer Assisted Radiology and Surgery 19 巻 ( 6 ) 頁： 1075 - 1083 2024年4月

Passive Lower Limb Exoskeleton for Kneeling and Postural Transition Assistance With Expanded Support Polygon Open Access

Sugiura S., Zhu Y., Huang J., Hasegawa Y.

IEEE ASME Transactions on Mechatronics 29 巻 ( 2 ) 頁： 1193 - 1204 2024年4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 ASME Transactions on Mechatronics

Robotic exoskeletons, which assist in stand-to-kneel and kneel-to-stand (STK-KTS) movements and static kneeling postures are in great demand in the nursing field. This movement involves continuous adjustment of the center of gravity without a sufficient support polygon, which enhances the required joint effort of the ankle and knee. This study proposes a novel passive lower limb exoskeleton to support the movement. The exoskeleton was attached to the right leg and comprised a gas spring. The design followed an assistive strategy of the expanded support polygon. During the STK-KTS, the gas spring provided extra contact with the ground, thereby expanding the support polygon to increase motion stability and propping the knee to provide torque to the leg. The effectiveness of the gas spring was analyzed using a Lagrange dynamics-based simulation. Moreover, it was confirmed that the support polygon was expanded due to the proposed exoskeleton in real-world experiments. Further, experiments with seven healthy subjects showed that the exoskeleton reduced the time-integrated myoelectric potentials of the legs during STK-KTS (13.6%) and static posture (37.9%). These results imply that the proposed exoskeleton has the potential to reduce physical loads and provide a comfortable working environment for nursing workers.

DOI： 10.1109/TMECH.2023.3294255

Latent regression based model predictive control for tissue triangulation 査読有り

Songtao Liu, Jacinto Colan, Yaonan Zhu, Taisuke Kobayashi, Kazunari Misawa, Masaru Takeuchi, Yasuhisa Hasegawa

Advanced Robotics 38 巻 ( 5 ) 頁： 283 - 306 2024年3月

Real-Time Spatiotemporal Assistance for Micromanipulation Using Imitation Learning 査読有り国際誌

Ryoya Mori, Tadayoshi Aoyama, Taisuke Kobayashi, Kazuya Sakamoto, Masaru Takeuchi, Yasuhisa Hasegawa

IEEE Robotics and Automation Letters 9 巻 ( 4 ) 頁： 3506 - 3513 2024年2月

Real-time motion force-feedback system with predictive-vision for improving motor accuracy 査読有り国際誌

Ryo Matsui, Tadayoshi Aoyama, Kenji Kato, Yasuhisa Hasegawa

Scientific Reports 14 巻 ( 1 ) 頁： 2168 2024年1月

Intuitive Cell Manipulation Microscope System with Haptic Device for Intracytoplasmic Sperm Injection Simplification 査読有り

Kazuya Sakamoto, Tadayoshi Aoyama, Masaru Takeuchi, Yasuhisa Hasegawa

Sensors 24 巻 ( 2 ) 頁： 711 2024年1月

Variable Grounding Flexible Limb Tracking Center of Gravity for Sit-to-Stand Transfer Assistance 国際誌 Open Access

Sugiura S., Unde J., Zhu Y., Hasegawa Y.

IEEE Robotics and Automation Letters 9 巻 ( 1 ) 頁： 175 - 182 2024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

Wearable robotic limbs support sit-to-stand (STS) transfer with increased stability while maintaining a compact size, as well as providing body weight support. This paper proposes a new robotic limb, Variable Grounding Flexible Limb (VGFL). The VGFL achieved a novel strategy in which its grounding point tracks the forward shift of the wearer's center of gravity (CoG) during STS. Since the strategy keeps the distance between the grounding point and the CoG close, an upward force can efficiently work for the STS assistance. To implement the strategy, this paper utilized the High-Strength and Flexible Mechanism (HSFM). The HSFM can change its grounding point while being capable of lifting body weight with one motor. Owing to these unique characteristics, the VGFL can realize the strategy without multiple actuators and complex controllers. Furthermore, real-world experiments confirmed that the grounding point of the VGFL accurately tracked the forward shift of the CoG during the STS assistance. Moreover, experiments conducted with three healthy subjects showed that the VGFL reduced the surface myoelectricity of the lower limbs during STS transfer. The VGFL could demonstrate high support performance in STS with the CoG tracking strategy.

DOI： 10.1109/LRA.2023.3328449

Intuitive Cell Manipulation Microscope System with Haptic Device for Intracytoplasmic Sperm Injection Simplification Open Access

Sakamoto K., Aoyama T., Takeuchi M., Hasegawa Y.

Sensors 24 巻 ( 2 ) 頁： 711 - 711 2024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：Sensors

In recent years, the demand for effective intracytoplasmic sperm injection (ICSI) for the treatment of male infertility has increased. The ICSI operation is complicated as it involves delicate organs and requires a high level of skill. Several cell manipulation systems that do not require such skills have been proposed; notably, several automated methods are available for cell rotation. However, these methods are unfeasible for the delicate ICSI medical procedure because of safety issues. Thus, this study proposes a microscopic system that enables intuitive micropipette manipulation using a haptic device that safely and efficiently performs the entire ICSI procedure. The proposed system switches between field-of-view expansion and three-dimensional image presentation to present images according to the operational stage. In addition, the system enables intuitive pipette manipulation using a haptic device. Experiments were conducted on microbeads instead of oocytes. The results confirmed that the time required for the experimental task was improved by 52.6%, and the injection error was improved by 75.3% compared to those observed in the conventional system.

DOI： 10.3390/s24020711

Assistive System for Microinjection by Presenting Cell Deformation as Surface Tactile Sensation Open Access

Saito S., Aoyama T., Funabora Y., Takeuchi M., Hasegawa Y.

IEEE Access 12 巻頁： 3874 - 3880 2024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：IEEE Access

Microinjection technology has been widely applied in various fields, including biology, medicine, and intracytoplasmic sperm injection (ICSI). In a typical ICSI environment, all tasks, such as determining the degree of extension, adjusting the depth of focus, finding polar bodies, and manipulating cells, rely only on visual information; therefore, the person performing ICSI should have particular skills. Consequently, ICSI is generally performed by embryologists specialized in embryo handling. However, with the recent growth in global demand for ICSI, there is a shortage of embryologists and lack of experience among embryologists, and a simple injection system that does not rely on skilled embryologists is required. In this study, we propose a micromanipulation interface that provides a surface tactile sensation with a fabric actuator based on the real-time image measurement of the degree of cell deformation to simplify our understanding of the cell state. The effectiveness of the proposed interface is verified through cell-puncture experiments conducted by novices and one expert.

DOI： 10.1109/ACCESS.2023.3349169

DOI： 10.1109/ACCESS.2023.3349169

その他リンク： https://ieeexplore.ieee.org/abstract/document/10379610

Design, Modeling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric Open Access

Unde J., Colan J., Hasegawa Y.

IEEE Robotics and Automation Letters 9 巻 ( 11 ) 頁： 9335 - 9342 2024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：IEEE Robotics and Automation Letters

This letter presents a novel approach to fabric manipulation through the development and optimization of a single-actuator-driven roller gripper. Focused on addressing the challenges inherent in handling fabrics with diverse thicknesses and materials, our gripper employs a passive adaptable mechanism driven by springs, enabling effective manipulation of fabrics ranging from 0.1 mm to 2.25 mm in thickness. We analyze gripper-fabric interaction forces to identify the parameters that influence successful grasping. We then optimize the gripper's normal forces and the roller's tangential force using the proposed model. Systematic evaluations demonstrated the gripper's capability to separate individual layers from fabric stacks, achieving a 94.9% success rate across multiple fabric types. Overall, this research offers a compact, cost-effective solution with broad applicability in diverse industrial automation contexts, providing valuable insights for advancing robotic fabric handling systems.

DOI： 10.1109/LRA.2024.3461550

Elbow Angle Guidance System Based on Surface Haptic Sensations Elicited by Lightweight Wearable Fabric Actuator

Yokoe K., Aoyama T., Funabora Y., Takeuchi M., Hasegawa Y.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 頁： 1447 - 1454 2024年

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/ASME International Conference on Advanced Intelligent Mechatronics, AIM

The demand for wearable haptic devices has rapidly increased for various applications. However, many haptic devices interfere with the wearer's activities and movements. In addition, several haptic devices fail to elicit intuitive haptic sensations by adjusting to the natural posture of the wearer. To address these issues, we propose an elbow angle guidance system using a lightweight wearable fabric actuator. The proposed actuator is made of fabric and has two McKibben-type artificial muscles attached to it, rendering it extremely lightweight and facilitating the delivery of surface haptic sensations to intuitively induce elbow extension and flexion. The surface haptic sensation elicited by the fabric actuator is adjusted to natural body movements without interfering with the wearer's movements. Moreover, the proposed system measures and guides the elbow angle by changing the intensity of the surface haptic sensation delivered to users in real time. The accuracy of the proposed system is demonstrated through experiments involving human participants.

DOI： 10.1109/AIM55361.2024.10637238

Development of a compliant gripper for safe robot-assisted trouser dressing-undressing

Unde J., Inden T., Wakayama Y., Colan J., Zhu Y., Aoyama T., Hasegawa Y.

Advanced Robotics 38 巻 ( 19-20 ) 頁： 1424 - 1440 2024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：Advanced Robotics

In recent years, many countries, including Japan, have rapidly aging populations, making the preservation of seniors' quality of life a significant concern. For elderly people with impaired physical abilities, support for toileting is one of the most important issues. This paper details the design, development, experimental assessment, and potential application of the gripper system, with a focus on the unique requirements and obstacles involved in aiding elderly or hemiplegic individuals in dressing and undressing trousers. The gripper we propose seeks to find the right balance between compliance and grasping forces, ensuring precise manipulation while maintaining a safe and compliant interaction with the users. The gripper's integration into a custom-built robotic manipulator system provides a comprehensive solution for assisting hemiplegic individuals in their dressing and undressing tasks. Experimental evaluations and comparisons with existing studies demonstrate the gripper's ability to successfully assist in both dressing and dressing of trousers in confined spaces with a high success rate. This research contributes to the advancement of assistive robotics, empowering elderly, and physically impaired individuals to maintain their independence and improve their quality of life.

DOI： 10.1080/01691864.2024.2376024

RNN-Based Visual Guidance for Enhanced Sense of Agency in Teleoperation With Time-Varying Delays Open Access

Morita T., Armleder S., Zhu Y., Iino H., Aoyama T., Cheng G., Hasegawa Y.

IEEE Robotics and Automation Letters 9 巻 ( 12 ) 頁： 11537 - 11544 2024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：IEEE Robotics and Automation Letters

Intuitive teleoperation enables operators to embody remote robots, providing the sensation that the robot is part of their own body during control. The sense of agency (SoA), i.e., the feeling of controlling the robot, contributes to enhanced motivation and embodiment during teleoperation. However, the SoA can be diminished by time-varying communication delays associated with teleoperation. We propose a visual guidance system to assist operations while maintaining a high SoA when teleoperating robots with time-varying delays, thereby improving positioning accuracy. In the proposed system, a recurrent neural network (RNN) model, trained on the pouring tasks of skilled operators, predicts the input position 500 ms ahead of the input from the novice operator and visually presents it in real-time as the end-effector target position. Experiments with time-varying delays confirmed that the proposed method provides a visual representation of the target position interpolated in time and space from the real-time input of the operator, guiding the operator to align with the trajectory of the skilled operator. The proposed method significantly improves task performance even under time-varying delays while maintaining a high SoA compared with other conditions. Applying the prediction system developed in this study to human-robot collaborative control may enable interventions that maintain the SoA.

DOI： 10.1109/LRA.2024.3495591

Wearable Fabric Actuator Inducing Shoulder Movements for Directional Guidance of Hand Movements

Yokoe K., Aoyama T., Funabora Y., Takeuchi M., Hasegawa Y.

Proceedings of the 2024 IEEE International Conference on Cyborg and Bionic Systems, CBS 2024 頁： 255 - 258 2024年

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：Proceedings of the 2024 IEEE International Conference on Cyborg and Bionic Systems, CBS 2024

In recent years, there has been an increasing focus on teleoperation of robots via immersive environments. These systems require haptic sensation to the hand for intuitive teleoperation. However, most methods for providing haptic sensation to the hand may interfere with hand position acquisition by vision and other devices. Thus, there is a need for a method that can coexist with the acquisition of hand information. This paper presents a method for guiding directions of hand movements in immersive environments using McKibben-based haptic sensations, which can coexist with the acquisition of hand information. The proposed system employs a wearable fabric actuator consisting of four McKibben-type artificial muscles that induce internal rotation, external rotation, internal abduction, and external abduction of the shoulder. By combining these four haptic sensations, the proposed system can guide the direction of hand movements without interfering with hand information acquisition by other devices. An algorithm is implemented to effectively combine the four haptic sensations based on the target guiding direction. We evaluated the accuracy and speed of the proposed system through a participant experiment.

DOI： 10.1109/CBS61689.2024.10860490

A Neurostimulator with Wireless Bidirectional Communication for Controlling Muscle Contraction Force using Electromyography

Takeuchi M., Niimi T., Tokutake K., Kurimoto S., Aoyama T., Hirata H., Hasegawa Y.

IEEE International Conference on Nano Molecular Medicine and Engineering Nanomed 頁： 104 - 107 2024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：IEEE International Conference on Nano Molecular Medicine and Engineering Nanomed

This paper presents a wirelessly powered neurostimulator with wireless bidirectional communication to control muscle contraction. The transmitter device sends the information about neural stimulation to the receiver device, while the receiver device sends the measured electromyography (EMG) inside a body to the transmitter device. Based on the measured EMG, the neural stimulation was adjusted to achieve the target EMG. The muscle contraction force can be controlled by EMG control. The EMG estimation error by the developed device was less than 2% when the muscle activity was active. This study can contribute to force control of paralyzed patients' bodies.

DOI： 10.1109/NANOMED64244.2024.10946046

Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery 査読有り

Khusniddin Fozilov, Jacinto Colan, Ana Davila, Kazunari Misawa, Jie Qiu, Yuichiro Hayashi, Kensaku Mori, Yasuhisa Hasegawa

Sensors 23 巻 ( 24 ) 頁： 9865 2023年12月

High-strength and flexible mechanism for body weight support Open Access

Sugiura S., Unde J., Zhu Y., Hasegawa Y.

Robomech Journal 10 巻 ( 1 ) 頁： 1 - 12 2023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：Robomech Journal

Wearable body weight support systems can assist individuals with mobility impairments in performing daily living activities with greater ease and independence. However, existing systems have limitations in terms of balancing their strength, compact size, interaction with the ground, and driving. In this paper, we present the High-Strength and Flexible Mechanism (HSFM) designed for body weight support. The HSFM utilizes a coiling truss mechanism to perform flexible transformation between a straight and spiral shape. Its complex linkages create the mechanical constraints of the structure and enhance its stiffness. Additionally, the HSFM achieved a high extension rate, effective wire-driven mechanism, and smooth shift of the grounding point. We provide a detailed description of the HSFM, including the simplest 4-linkage mechanism, its mechanical constraints, and the wire-driven mechanism. Moreover, we conducted parametric analysis and geometric calculation on the link structure. The results justified the mechanical constraints of the HSFM and ensured the high extension rate. Further, its functionality for body weight support was evaluated with the hardware and showed sufficient results in terms of strength, smooth grounding, and wire-driven. This novel mechanism has the potential to develop a wearable body weight support robot enhancing daily living activities such as sit-to-stand transfer and walking.

DOI： 10.1186/s40648-023-00255-x

Intention-reflected predictive display for operability improvement of time-delayed teleoperation system Open Access

Zhu Y., Fusano K., Aoyama T., Hasegawa Y.

Robomech Journal 10 巻 ( 1 ) 頁： 1 - 11 2023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：Robomech Journal

Robotic teleoperation is highly valued for its ability to remotely execute tasks that demand sophisticated human decision-making or that are intended to be carried out by human operators from a distance. However, when using the internet as a communication framework for teleoperation, high latency, and fluctuations make accurate positioning and time-dependent tasks difficult. To mitigate the negative effects of time delay, this paper proposes a teleoperation system that uses cross reality (XR) as a predictive display of the outcome of operators’ intended actions and develops a time-delay aware shared control to fulfill the intention. The system targets a liquid pouring task, wherein a white ring that indicates the intended height of the liquid surface is overlayed onto the beaker in a delayed camera image to close the visual feedback loop on the leader side. Simultaneously, the shared control automatically completes the pouring action to track the intended liquid height. The performance of the proposed system is validated based on liquid pouring experiments performed by human subjects. When compared with direct control, the absolute error rate decreased significantly for a constant round-trip time delay of 0.8 s and 1.2 s, similarly for a time-varying delay of 0.4 s and 0.8 s. Moreover, when the time-varying delay was 0.8 s, operators achieved significantly higher accuracy while maintaining comparable operation time. These results indicate that our proposed system improves operability even in the presence of time-varying delays in communication networks.

DOI： 10.1186/s40648-023-00258-8

Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery Open Access

Fozilov K., Colan J., Davila A., Misawa K., Qiu J., Hayashi Y., Mori K., Hasegawa Y.

Sensors 23 巻 ( 24 ) 2023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：Sensors

In the context of Minimally Invasive Surgery, surgeons mainly rely on visual feedback during medical operations. In common procedures such as tissue resection, the automation of endoscopic control is crucial yet challenging, particularly due to the interactive dynamics of multi-agent operations and the necessity for real-time adaptation. This paper introduces a novel framework that unites a Hierarchical Quadratic Programming controller with an advanced interactive perception module. This integration addresses the need for adaptive visual field control and robust tool tracking in the operating scene, ensuring that surgeons and assistants have optimal viewpoint throughout the surgical task. The proposed framework handles multiple objectives within predefined thresholds, ensuring efficient tracking even amidst changes in operating backgrounds, varying lighting conditions, and partial occlusions. Empirical validations in scenarios involving single, double, and quadruple tool tracking during tissue resection tasks have underscored the system’s robustness and adaptability. The positive feedback from user studies, coupled with the low cognitive and physical strain reported by surgeons and assistants, highlight the system’s potential for real-world application.

DOI： 10.3390/s23249865

Closed-Loop Optimization of Soft Sensor Morphology Using 3D Printing of Electrically Conductive Hydrogel 国際共著 Open Access

Sugiura S., Hardman D., George Thuruthel T., Hasegawa Y., Iida F.

Advanced Intelligent Systems 5 巻 ( 10 ) 2023年10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：Advanced Intelligent Systems

Soft sensing technologies provide a novel alternative for state estimation in wearables and robotic systems. They allow one to capture intrinsic state parameters in a highly conformable manner. However, due to the nonlinearities in the materials that make up a soft sensor, it is difficult to develop accurate models of these systems. Consequently, design of these soft sensors is largely user defined or based on trial and error. Since these sensors conform and take the shape of the sensing body, these issues are further exacerbated when they are installed. Herein, a framework for the automated design optimization of soft sensors using closed-loop 3D printing of a recyclable hydrogel-based sensing material is presented. The framework allows direct printing of the sensor on the sensing body using visual feedback, evaluates the sensor performance, and iteratively improves the sensor design. Following preliminary investigations into the material and morphology parameters, this is demonstrated through the optimization of a sensorized glove which can be matched to specific tasks and individual hand shapes. The glove's sensors are tuned to respond only to particular hand poses, including distinguishing between two similar tennis racket grip techniques.

DOI： 10.1002/aisy.202300152

A Shared Control Framework for Enhanced Grasping Performance in Teleoperation 査読有り国際誌

Zhu Y., Jiang B., Chen Q., Aoyama T., Hasegawa Y.

IEEE Access 11 巻頁： 69204 - 69215 2023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（学術雑誌）出版者・発行元：IEEE Access

Remote teleoperation has shown significant advancements since the first teleoperation system was proposed by Goertz in the 1940s. In recent years, the research on shared control methodologies in which the robot assists the operators in accomplishing the desired tasks has gained extensive attention. One such important task in teleoperation is object grasping. In this paper, we propose a shared control framework to enhance the teleoperated grasping performance. The proposed framework is built upon a virtual reality device-based direct teleoperation system. In this framework, a template matching-based object point cloud compensation is introduced for multi-angle grasping pose generation. Then, the feasible grasping candidates are selected considering joint constraints-aware manipulability. Finally, the grasping assistance is achieved by trajectory blending with dynamic authority adjustment. To validate the performance of the proposed framework, we carried out experimental evaluations. The output results indicate improved grasping performance in terms of reduced task completion time, linear trajectory, and workload.

DOI： 10.1109/ACCESS.2023.3292410

Natural Grasp Intention Recognition Based on Gaze in Human-Robot Interaction 国際共著国際誌

Yang B., Huang J., Chen X., Li X., Hasegawa Y.

IEEE Journal of Biomedical and Health Informatics 27 巻 ( 4 ) 頁： 2059 - 2070 2023年4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 Journal of Biomedical and Health Informatics

Objective: While neuroscience research has established a link between vision and intention, studies on gaze data features for intention recognition are absent. The majority of existing gaze-based intention recognition approaches are based on deliberate long-term fixation and suffer from insufficient accuracy. In order to address the lack of features and insufficient accuracy in previous studies, the primary objective of this study is to suppress noise from human gaze data and extract useful features for recognizing grasp intention. Methods: We conduct gaze movement evaluation experiments to investigate the characteristics of gaze motion. The target-attracted gaze movement model (TAGMM) is proposed as a quantitative description of gaze movement based on the findings. A Kalman filter (KF) is used to reduce the noise in the gaze data based on TAGMM. We conduct gaze-based natural grasp intention recognition evaluation experiments to collect the subject's gaze data. Four types of features describing gaze point dispersion (f_{var}), gaze point movement (f_{gm}), head movement (f_{hm}), and distance from the gaze points to objects (f_{d_{j}}) are then proposed to recognize the subject's grasp intentions. With the proposed features, we perform intention recognition experiments, employing various classifiers, and the results are compared with different methods. Results: The statistical analysis reveals that the proposed features differ significantly across intentions, offering the possibility of employing these features to recognize grasp intentions. We demonstrated the intention recognition performance utilizing the TAGMM and the proposed features in within-subject and cross-subject experiments. The results indicate that the proposed method can recognize the intention with accuracy improvements of 44.26% (within-subject) and 30.67% (cross-subject) over the fixation-based method. The proposed method also consumes less time (34.87 ms) to recognize the intention than the fixation-based method (about 1 s). Conclusion: This work introduces a novel TAGMM for modeling gaze movement and a variety of practical features for recognizing grasp intentions. Experiments confirm the effectiveness of our approach. Significance: The proposed TAGMM is capable of modeling gaze movements and can be utilized to process gaze data, and the proposed features can reveal the user's intentions. These results contribute to the development of gaze-based human-robot interaction.

DOI： 10.1109/JBHI.2023.3238406

細胞の変形度を想起させる力触覚提示が可能な布状アクチュエータを用いた微細操作インタフェース査読有り

齋藤澄和, 青山忠義, 舟洞佑記, 竹内大, 長谷川泰久

日本ロボット学会誌 41 巻 ( 3 ) 頁： 322 - 325 2023年4月

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots Open Access

Colan J., Davila A., Fozilov K., Hasegawa Y.

Sensors 23 巻 ( 6 ) 頁： 3328 2023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：Sensors

Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot’s motion and the accuracy of its movements. In particular, the inverse kinematics (IK) problem is critical for robot-assisted minimally invasive surgery (RMIS), where satisfying the remote center of motion (RCM) constraint is essential to prevent tissue damage at the incision point. Several IK strategies have been proposed for RMIS, including classical inverse Jacobian IK and optimization-based approaches. However, these methods have limitations and perform differently depending on the kinematic configuration. To address these challenges, we propose a novel concurrent IK framework that combines the strengths of both approaches and explicitly incorporates RCM constraints and joint limits into the optimization process. In this paper, we present the design and implementation of concurrent inverse kinematics solvers, as well as experimental validation in both simulation and real-world scenarios. Concurrent IK solvers outperform single-method solvers, achieving a 100% solve rate and reducing the IK solving time by up to 85% for an endoscope positioning task and 37% for a tool pose control task. In particular, the combination of an iterative inverse Jacobian method with a hierarchical quadratic programming method showed the highest average solve rate and lowest computation time in real-world experiments. Our results demonstrate that concurrent IK solving provides a novel and effective solution to the constrained IK problem in RMIS applications.

DOI： 10.3390/s23063328

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees 国際誌 Open Access

Fozilov K., Colan J., Sekiyama K., Hasegawa Y.

IEEE Access 11 巻頁： 91206 - 91224 2023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：IEEE Access

The growing need for high levels of autonomy in Autonomous Robotic Surgery Systems (ARSS) calls for innovative approaches to reduce surgeons' cognitive load, optimize hospital workflows, and ensure efficient task-level reasoning and adaptation during execution. This paper presents a novel hybrid framework that synergistically combines Task-Motion Planning and Dynamic Behavior Trees for ARSS in Minimally Invasive Surgery. Our approach is designed to address the challenges of coordinating multiple surgical tools within a small workspace, thereby making complex surgical tasks like multi-throw suturing feasible and efficient. Through an extensive evaluation in simulation across diverse initial conditions and noise scenarios, the proposed method demonstrates improved success rates, reduced execution times, and fewer regrasps compared to standalone approaches. Furthermore, it showcases robustness under increased noise conditions. By applying our framework to a complex multi-throw suturing task, we illustrate its capability to seamlessly handle comprehensive suturing tasks, including needle picking, insertion, extraction, and the handover of the needle between Patient Side Manipulators. The results suggest that our hybrid approach not only enhances ARSS autonomy but also adapts effectively to unexpected environmental changes, laying the groundwork for its potential applicability in real-world surgical robotics.

DOI： 10.1109/ACCESS.2023.3308619

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools Open Access

Colan J., Davila A., Zhu Y., Aoyama T., Hasegawa Y.

IEEE Access 11 巻頁： 6092 - 6105 2023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：IEEE Access

Robot-assisted minimally invasive surgery (RMIS) has been shown to be effective in improving surgeon capabilities, providing magnified 3D vision, highly dexterous surgical tools, and intuitive human-robot interfaces for high-precision tool motion control. Robotic surgical tools (RST) are a critical component that defines the performance of an RMIS system. Current RSTs still represent a high cost, with few commercially available options, which limits general access and research on RMIS. We aim to take advantage of recent progress in biocompatible 3D printing and contribute to the development of RMIS technologies, presenting an open platform for low-cost, biocompatible, and customizable RSTs. The proposed design concept consists of a 3-DOF end-effector with a decoupled wrist mechanism, a tool interface module, and a tool drive unit. We validated our end-effector design using Finite Element Analysis (FEA) to confirm that stress generated by high grip forces is maintained below the material yield stress. Validation experiments showed that the proposed RST could provide up to 10N grip forces and up to 3N pulling forces. The proposed control framework exhibited a mean absolute positioning tracking error of approximately 0.1 rad. Finally, we also demonstrated the use of the proposed RST in two surgical training tasks: pick-and-place and stitching. The designs and software control framework are open-access and freely available for customization and fast development at https://github.com/jcolan/OpenRST.

DOI： 10.1109/ACCESS.2023.3236821

Micromanipulation System Capable of Simultaneously Presenting High-Resolution and Large Field-of-View Images in Real-Time Open Access

Aoyama T., Takeno S., Yokoe K., Hano K., Takasu M., Takeuchi M., Hasegawa Y.

IEEE Access 11 巻頁： 34274 - 34285 2023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：IEEE Access

Microinjection technology is widely used in biotechnological processes such as gene manipulation and microinsemination. Generally, microinjection is performed under an optical microscope while viewing the video of the targets in real-time. In the microinjection process, multiple oocytes must be placed in the same droplet, for which the injection must be performed multiple times. Furthermore, the target must be observed at different magnifications during injection and the oocyte transfer operation. Hence, the operators are required to change the magnification and light intensity repeatedly. These tasks are complicated and are a burden for the operators. Thus, the accuracy, reproducibility, and productivity of microinjection depend on the operator's skill level. In this study, to reduce the burden on the operator and simplify the operation of microinjection, we propose a micromanipulation system that enables both wide-range and high-resolution video presentation with free viewpoint selection. The proposed micromanipulation system is based on a view-expansion microscope system with simultaneous multi-view imaging using a galvanometer mirror and a high-speed vision system. We verify the effectiveness of the proposed system by evaluating the resolution of images presented to the operator and through the experiments involving moving microbeads performed by inexperienced subjects. The experimental results indicate that our micromanipulation system streamlines the task of micromanipulation by eliminating the need to change the objective lens.

DOI： 10.1109/access.2023.3264785

Improvement in the Manipulability of Remote Touch Screens Based on Peri-Personal Space Transfer 国際誌 Open Access

Yamamoto K., Zhu Y., Aoyama T., Takeuchi M., Hasegawa Y.

IEEE Access 11 巻頁： 1 - 1 2023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：IEEE Access

Current remote-control interfaces are difficult to operate intuitively while viewing the entire remote display and require familiarity with the operation. The space within an individual's reach, called the peri-personal space (PPS), assists them in planning their physical movements. Hence, manipulating objects outside one's PPS is more difficult than doing so inside it. Therefore, this study aimed to develop an interface that creates the illusion of an operator's finger being transferred to a remote display and transfers the PPS to the virtual finger in the display. To transfer the PPS to a manipulated object, it is necessary to enhance the user's sense of agency and ownership toward the manipulated target by ensuring it is similar in shape and motion to the user's body. Long-term input testing confirmed that by transferring the PPS to a virtual finger, there is no significant difference, as suggested by a t-test between the coefficients of the learning curves outside and inside the PPS. Furthermore, when users learned to manipulate the virtual finger outside the PPS under conditions that impaired their sense of agency, even after two weeks of learning, the PPS was not continuously transferred to the virtual finger for more than seven minutes from the start of the virtual finger operation. The experimental results demonstrated that the interface enabled the display located outside the PPS to be operated with the same degree of operability as inside the PPS from the start of the operation, even with a short learning period.

DOI： 10.1109/access.2023.3271003

Gaze and Environmental Context-Guided Deep Neural Network and Sequential Decision Fusion for Grasp Intention Recognition 国際共著国際誌 Open Access

Yang B., Chen X., Xiao X., Yan P., Hasegawa Y., Huang J.

IEEE Transactions on Neural Systems and Rehabilitation Engineering 31 巻頁： 3687 - 3698 2023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：IEEE Transactions on Neural Systems and Rehabilitation Engineering

Grasp intention recognition plays a crucial role in controlling assistive robots to aid older people and individuals with limited mobility in restoring arm and hand function. Among the various modalities used for intention recognition, the eye-gaze movement has emerged as a promising approach due to its simplicity, intuitiveness, and effectiveness. Existing gaze-based approaches insufficiently integrate gaze data with environmental context and underuse temporal information, leading to inadequate intention recognition performance. The objective of this study is to eliminate the proposed deficiency and establish a gaze-based framework for object detection and its associated intention recognition. A novel gaze-based grasp intention recognition and sequential decision fusion framework (GIRSDF) is proposed. The GIRSDF comprises three main components: gaze attention map generation, the Gaze-YOLO grasp intention recognition model, and sequential decision fusion models (HMM, LSTM, and GRU). To evaluate the performance of GIRSDF, a dataset named Invisible containing data from healthy individuals and hemiplegic patients is established. GIRSDF is validated by trial-based and subject-based experiments on Invisible and outperforms the previous gaze-based grasp intention recognition methods. In terms of running efficiency, the proposed framework can run at a frequency of about 22 Hz, which ensures real-Time grasp intention recognition. This study is expected to inspire additional gaze-related grasp intention recognition works.

DOI： 10.1109/TNSRE.2023.3314503

Auditory Feedback for Enhanced Sense of Agency in Shared Control 査読有り

Tomoya Morita, Yaonan Zhu, Tadayoshi Aoyama, Masaru Takeuchi, Kento Yamamoto, Yasuhisa Hasegawa

Sensors 22 巻 ( 24 ) 頁： 9779 2022年12月

An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation 査読有り国際誌

Yokoe K., Aoyama T., Fujishiro T., Takeuchi M., Hasegawa Y.

ROBOMECH Journal 9 巻 ( 1 ) 頁： 16 2022年12月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：ROBOMECH Journal

The use of intracytoplasmic sperm injection (ICSI), an assisted reproductive technique (ART), is increasing widely. ICSI is currently performed by specially skilled embryologists. However, with the increasing demand for ART, the shortage of skilled embryologists has become a problem. Therefore, we propose an immersive micromanipulation system that requires no special skills for efficient and accurate micromanipulation. Our proposed system is composed of a real-time three-dimensional (3D) imaging microscope and 3D operation interfaces. The 3D operation interfaces are stationary pen-type or wearable glove-type interfaces. In this system, an operator wearing a head-mounted display (HMD) and using 3D operation interfaces is immersed in a virtual micromanipulation space. The operator can move the pipettes by 3D operation interface and freely change the viewpoint. We verified that the proposed system improves the speed and accuracy of operating a pipette through two types of experiments with subjects.

DOI： 10.1186/s40648-022-00228-6

Auditory Feedback for Enhanced Sense of Agency in Shared Control 査読有り国際誌

Morita T., Zhu Y., Aoyama T., Takeuchi M., Yamamoto K., Hasegawa Y.

Sensors 22 巻 ( 24 ) 頁： 9779 - 9779 2022年12月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors

There is a growing need for robots that can be remotely controlled to perform tasks of one’s own choice. However, the SoA (Sense of Agency: the sense of recognizing that the motion of an observed object is caused by oneself) is reduced because the subject of the robot motion is identified as external due to shared control. To address this issue, we aimed to suppress the decline in SoA by presenting auditory feedback that aims to blur the distinction between self and others. We performed the tracking task in a virtual environment under four different auditory feedback conditions, with varying levels of automation to manipulate the virtual robot gripper. Experimental results showed that the proposed auditory feedback suppressed the decrease in the SoA at a medium level of automation. It is suggested that our proposed auditory feedback could blur the distinction between self and others, and that the operator attributes the subject of the motion of the manipulated object to himself.

DOI： 10.3390/s22249779

A Review on Tactile Displays for Conventional Laparoscopic Surgery 査読有り

Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

Surgeries (Switzerland) 3 巻 ( 4 ) 頁： 334 - 346 2022年11月

Metabolic Efficiency Improvement of Human Walking by Shoulder Stress Reduction through Load Transfer Backpack

Yu Cao, Jian Huang, Xiaolong Li, Mengshi Zhang, Caihua Xiong, Samer Mohammed, Yaonan Zhu, Yasuhisa Hasegawa

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022年10月

Intelligent Gait Analysis and Evaluation System Based on Cane Robot 査読有り国際共著

Qingyang Yan, Jian Huang, Dongrui Wu, Zhaohui Yang, Yujie Wang, Yasuhisa Hasegawa, Toshio Fukuda

IEEE Transactions on Neural Systems and Rehabilitation Engineering 30 巻頁： 2916 - 2926 2022年10月

Development of High-Cell-Density Tissue Method for Compressed Modular Bioactuator 査読有り国際共著

Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Qiang Huang, Yasuhisa Hasegawa, Toshio Fukuda

Micromachines 13 巻 ( 10 ) 頁： 1725 2022年10月

A Wirelessly Powered 4-Channel Neurostimulator for Reconstructing Walking Trajectory 査読有り

Takeuchi M., Tokutake K., Watanabe K., Ito N., Aoyama T., Saeki S., Kurimoto S., Hirata H., Hasegawa Y.

Sensors 22 巻 ( 19 ) 頁： 7198 2022年9月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors

A wirelessly powered four-channel neurostimulator was developed for applying selective Functional Electrical Stimulation (FES) to four peripheral nerves to control the ankle and knee joints of a rat. The power of the neurostimulator was wirelessly supplied from a transmitter device, and the four nerves were connected to the receiver device, which controlled the ankle and knee joints in the rat. The receiver device had functions to detect the frequency of the transmitter signal from the transmitter coil. The stimulation site of the nerves was selected according to the frequency of the transmitter signal. The rat toe position was controlled by changing the angles of the ankle and knee joints. The joint angles were controlled by the stimulation current applied to each nerve independently. The stimulation currents were adjusted by the Proportional Integral Differential (PID) and feed-forward control method through a visual feedback control system, and the walking trajectory of a rat’s hind leg was reconstructed. This study contributes to controlling the multiple joints of a leg and reconstructing functional motions such as walking using the robotic control technology.

DOI： 10.3390/s22197198

Visual Sensing System to Investigate Self-Propelled Motion and Internal Color of Multiple Aqueous Droplets 査読有り

Aoyama T., Yamada S., Suematsu N.J., Takeuchi M., Hasegawa Y.

Sensors 22 巻 ( 16 ) 頁： 6309 2022年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Sensors

This study proposes a visual sensing system to investigate the self-propelled motions of droplets. In the visual sensing of self-propelled droplets, large field-of-view and high-resolution images are both required to investigate the behaviors of multiple droplets as well as chemical reactions in the droplets. Therefore, we developed a view-expansive microscope system using a color camera head to investigate these chemical reactions; in the system, we implemented an image processing algorithm to detect the behaviors of droplets over a large field of view. We conducted motion tracking and color identification experiments on the self-propelled droplets to verify the effectiveness of the proposed system. The experimental results demonstrate that the proposed system is able to detect the location and color of each self-propelled droplet in a large-area image.

DOI： 10.3390/s22166309

A Therapeutic Strategy for Lower Motor Neuron Disease and Injury Integrating Neural Stem Cell Transplantation and Functional Electrical Stimulation in a Rat Model 国際誌 Open Access

Tokutake K., Takeuchi M., Kurimoto S., Saeki S., Asami Y., Onaka K., Saeki M., Aoyama T., Hasegawa Y., Hirata H.

International Journal of Molecular Sciences 23 巻 ( 15 ) 頁： 8760 - 8760 2022年8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：International Journal of Molecular Sciences

Promising treatments for upper motor neuron disease are emerging in which motor function is restored by brain–computer interfaces and functional electrical stimulation. At present, such technologies and procedures are not applicable to lower motor neuron disease. We propose a novel therapeutic strategy for lower motor neuron disease and injury integrating neural stem cell transplantation with our new functional electrical stimulation control system. In a rat sciatic nerve transection model, we transplanted embryonic spinal neural stem cells into the distal stump of the peripheral nerve to reinnervate denervated muscle, and subsequently demonstrated that highly responsive limb movement similar to that of a healthy limb could be attained with a wirelessly powered two-channel neurostimulator that we developed. This unique technology, which can reinnervate and precisely move previously denervated muscles that were unresponsive to electrical stimulation, contributes to improving the condition of patients suffering from intractable diseases of paralysis and traumatic injury.

DOI： 10.3390/ijms23158760

An immersive micro-manipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation 査読有り

Kenta Yokoe, Tadayoshi Aoyama, Toshiki Fujishiro, Masaru Takeuchi & Yasuhisa Hasegawa

ROBOMECH Journal 9 巻 ( 1 ) 頁： 16 2022年6月

Intuitive Remote Robotic Nasal Sampling by Orientation Control With Variable RCM in Limited Space 査読有り国際誌

Takeuchi M., Hironaka Y., Aoyama T., Hasegawa Y.

IEEE Transactions on Medical Robotics and Bionics 4 巻 ( 3 ) 頁： 646 - 655 2022年5月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Medical Robotics and Bionics

When performing polymerase chain reaction testing, collecting nasopharyngeal swabs from patients is necessary. Hence, the development of a noncontact specimen collection system is desired to avoid the risk of secondary infection from direct contact between the medical personnel and patients. This study aims to develop a master-follower-type remote specimen collection system to achieve infection protection through adequate isolation. A teleoperated robot is used for specimen collection work instead of a human; the teleoperated robot moves remotely, and a cotton swab is grasped and inserted into the nostril by the robot. A remote center of motion (RCM) mechanism was implemented to prevent the cotton swabs from making excessive contact with the nostril during specimen collection. Further, a variable RCM constraint that combines safety and operability is proposed as the conventional RCM control modification. The evaluation results indicated that the variable RCM restraint allowed a quicker and safer collection of specimens than the conventional RCM constraint.

DOI： 10.1109/TMRB.2022.3176100

Human-Following Control of Cane-Type Walking-Aid Robot Within Fixed Relative Posture 国際共著国際誌

Yan Q., Huang J., Yang Z., Hasegawa Y., Fukuda T.

IEEE/ASME Transactions on Mechatronics 27 巻 ( 1 ) 頁： 537 - 548 2022年2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/ASME Transactions on Mechatronics

Assisting and supervising daily long-durational walking is very crucial for patients with lower extremity dysfunction, especially in the stage of recovery toward a state of walking independently. However, due to the shortage of caregivers and high cost of nursing, long-term manual assistance and supervision is costly. Thus, in this article, we propose a cane-type walking-aid robot to follow a human user for the safety and supervision of independent walking during rehabilitation training. Strongly motivated by clinical suggestions and user experiences, the human-following rule that the robot should follow the user in the required position within a fixed relative posture (keeping a certain distance in front of the user, 15-20 cm lateral to the healthy side, and 0° to the user's orientation) is established. To guarantee a reliable following, a quantitative human walking intention estimation method is proposed using the on-board laser ranger finder and Kalman filter. To effectively monitor the user's walking, a finite-time control method for the cane robot is also proposed to ensure its human-following performance. Experiments were conducted to demonstrate the effectiveness of the proposed system and methods. The experimental results show that the proposed system can obtain satisfactory performance of human following and can be made available for different users in different walking modes.

DOI： 10.1109/TMECH.2021.3068138

Intelligent Gait Analysis and Evaluation System Based on Cane Robot Open Access

Yan Q., Huang J., Wu D., Yang Z., Wang Y., Hasegawa Y., Fukuda T.

IEEE Transactions on Neural Systems and Rehabilitation Engineering 30 巻頁： 2916 - 2926 2022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：IEEE Transactions on Neural Systems and Rehabilitation Engineering

Gait analysis and evaluation are vital for disease diagnosis and rehabilitation. Current gait analysis technologies require wearable devices or high-resolution vision systems within a limited usage space. To facilitate gait analysis and quantitative walking-ability evaluation in daily environments without using wearable devices, a mobile gait analysis and evaluation system is proposed based on a cane robot. Two laser range finders (LRFs) are mounted to obtain the leg motion data. An effective high-dimensional Takagi-Sugeno-Kang (HTSK) fuzzy system, which is suitable for high-dimensional data by solving the saturation problem caused by softmax function in defuzzification, is proposed to recognize the walking states using only the motion data acquired from LRFs. The gait spatial-temporal parameters are then extracted based on the gait cycle segmented by different walking states. Besides, a quantitative walking-ability evaluation index is proposed in terms of the conventional Tinetti scale. The plantar pressure sensing system records the walking states to label training data sets. Experiments were conducted with seven healthy subjects and four patients. Compared with five classical classification algorithms, the proposed method achieves the average accuracy rate of 96.57%, which is improved more than 10%, compared with conventional Takagi-Sugeno-Kang (TSK) fuzzy system. Compared with the gait parameters extracted by the motion capture system OptiTrack, the average errors of step length and gait cycle are only 0.02 m and 1.23 s, respectively. The comparison between the evaluation results of the robot system and the scores given by the physician also validates that the proposed method can effectively evaluate the walking ability.

DOI： 10.1109/TNSRE.2022.3213823

Intension Reading based Task Outcome Prediction for Operability Improvement of Time-Delayed Teleoperation System

Keisuke Fusano, Yaonan Zhu, Jacinto Enrique Colan Zaita, Tadayoshi Aoyama, Yasuhisa Hasegawa

2022 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2022 2022年

Supernumerary Robotic Limbs: A Review and Future Outlook 査読有り国際共著

Yang B., Huang J., Chen X., Xiong C., Hasegawa Y.

IEEE Transactions on Medical Robotics and Bionics 3 巻 ( 3 ) 頁： 623 - 639 2021年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Transactions on Medical Robotics and Bionics

Wearable robots have become a prevalent method in the field of human augmentation and medical rehabilitation. Typical wearable robots mainly include exoskeletons and prostheses. However, their functions are limited due to dedicated design. In recent years, Supernumerary Robotic Limbs (SRLs) have become a hot spot in the field of wearable robots. Different from exoskeletons and prostheses, SRLs compensate and strengthen human abilities by providing extra limbs. This advantage allows SRLs to assist users in a novel way, rather than substituting missing limbs or enhancing existing limbs. However, finding a trade-off between wearability, efficiency, and usability of those SRLs is still an issue. This paper presents the state of the art in SRLs and discusses some open questions about SRLs’ design and control for further research. This review covers the following areas: (1) Basic concepts and classifications of SRLs; (2) The literature retrieval methodology; (3) Design functions of different types of SRLs, including their positive and negative aspects; (4) Different control strategies of SRLs, including positive and negative aspects, and some improvement methods in applying SRLs; (5) The impact on human body schema while using SRLs; (6) Open challenges and suggestions for future development. This review will help researchers understand the current state of SRLs and provide comprehensive knowledge foundations for them.

DOI： 10.1109/TMRB.2021.3086016

Development of cultured muscles with tendon structures for modular bio-actuators 査読有り国際共著

Takuto Nomura, Masaru Takeuchi, Eunhye Kim, Qiang Huang, Yasuhisa Hasegawa, Toshio Fukuda

Micromachines 12 巻 ( 4 ) 頁： 379 2021年4月

Microinjection System to Enable Real-Time 3D Image Presentation through Focal Position Adjustment

Fujishiro T., Aoyama T., Hano K., Takasu M., Takeuchi M., Hasegawa Y.

IEEE Robotics and Automation Letters 6 巻 ( 2 ) 頁： 4025 - 4031 2021年4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

The microinjection technique, in which DNA is injected into cells, is widely applied in fields such as biology, medicine, and pharmacy. However, the implementation of the microinjection process requires skill and, thus, it is necessary to improve the operability. To this end, this study proposes a microinjection system that improves depth visibility through real-time 3D image presentation. An algorithm to estimate 3D position and size of micro-targets using a focal position adjustment mechanism is implemented to the system. In addition, a calibration method to adjust relative position and orientation between a target object and micromanipulators is developed. Then, the system presents reconstructed 3D images of a target and micromanipulators. Finally, the effectiveness of the proposed system is verified through manipulation experiments involving porcine embryos.

DOI： 10.1109/LRA.2021.3067857

難治性麻痺克服を目指した多チャンネル機能的電気刺激デバイスの開発

徳武克浩, 佐伯総太, 浅見雄太, 栗本秀, 竹内大, 長谷川泰久, 平田仁

日本手外科学会雑誌 38 巻 ( 1 ) 頁： O4 - 03 2021年4月

Optimization-based constrained trajectory generation for robot-assisted stitching in endonasal surgery 査読有り

Colan J., Nakanishi J., Aoyama T., Hasegawa Y.

Robotics 10 巻 ( 1 ) 頁： 1 - 24 2021年2月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Robotics

The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system.

DOI： 10.3390/robotics10010027

Towards physical interaction-based sequential mobility assistance using latent generative model of movement state

Itadera S., Kobayashi T., Nakanishi J., Aoyama T., Hasegawa Y.

Advanced Robotics 35 巻 ( 1 ) 頁： 64 - 79 2021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：Advanced Robotics

In this paper, we address sequential mobility assistance for daily elderly care through physical human–robot interaction. The goal of this work is to develop a robotic assistive system to provide physical support in daily life such as movement transition, e.g. sit-to-stand and walking. Using a mobile human support robotic platform, we propose an unsupervised learning-based approach to providing desirable physical support through an adaptive impedance parameter selection strategy according to the recognized user's movement state in an online manner. Using a latent generative model with a long short-term memory-based variational autoencoder, we first estimate the probability of the user's current movement state based on the sensory information in a low dimensional latent space. Then, the desired impedance parameters are selected adaptively according to the estimated movement state. One of the benefits of such an unsupervised learning approach is that no labeling is necessary in the training phase. Furthermore, our proposed framework is capable of detecting possible novel states such as falling over based on the obtained latent space. In order to demonstrate the proof of concept of our proposed approach, we present the experimental results of performance evaluations of online movement state recognition as well as novel movement detection.

DOI： 10.1080/01691864.2020.1844797

実時間三次元画像呈示により奥行き方向の視認性を向上させるマイクロマニピュレーションシステム査読有り

藤城俊希, 青山忠義, 杷野一輝, 高須正規, 竹内大, 長谷川泰久

日本ロボット学会誌 39 巻 ( 5 ) 頁： 467 - 470 2021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：一般社団法人日本ロボット学会

<p>This study proposes a micromanipulation system that improves depth visibility through real-time 3D image presentation. A calibration method to adjust relative position and orientation between a target object and micromanipulators is implemented to the system; then the system presents reconstructed 3D images of a target and micromanipulators. The effectiveness of the proposed system is demonstrated through manipulation of an embryo. </p>

DOI： 10.7210/jrsj.39.467

Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism 査読有り国際誌

Unde J., Colan J., Hasegawa Y.

2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021 2021年

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：2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021

In this paper, we present a mechanism that can facilitate soft actuator position control, bidirectional actuation, and getting rid of tether/hose. We proposed a simplistic piston pump as a source of actuation fluid for driving fluidic soft actuators instead of the traditional compressor-based approach to establish an expeditious position control for soft actuators. We explored the conceptual design of a bi-directional soft actuator and the piston pump thoroughly and calculated design and operating parameters. Further, deriving the mathematical model for the proposed system in terms of the position of the piston inside the piston pump and the angular position of the soft actuator. Subsequently, we discuss potential applications of the proposed mechanism.

DOI： 10.1109/MHS53471.2021.9767140

Multilayered artificial dura-mater models for a minimally invasive brain surgery simulator Open Access

Takeuchi M., Hayakawa S., Ichikawa A., Hasegawa A., Hasegawa Y., Fukuda T.

Applied Sciences (Switzerland) 10 巻 ( 24 ) 頁： 1 - 14 2020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：Applied Sciences (Switzerland)

In this study, new artificial dura-mater models were developed using a multilayered structure of a rubber material (represent an elastic component of a dura-mater) and a fiber sheet (represent fiber component of a dura-mater). The artificial dura-mater models were prepared for use in a brain surgery simulator, especially for transnasal pituitary surgery. The mechanical characteristics of the artificial dura-mater models were tested to check the similarities with porcine dura-mater. Tensile stress, viscoelasticity, and the cutting force generated by microscissors were tested to evaluate the fabricated models. Neurosurgeons also assessed the dura-mater models to evaluate their characteristics. The results indicate that these models made of two different non-woven fiber sheets emulated accurately the actual dura-mater.

DOI： 10.3390/app10249000

Gait modification for improving walking stability of exoskeleton assisted paraplegic patient 査読有り

Li M., Aoyama T., Hasegawa Y.

ROBOMECH Journal 7 巻 ( 1 ) 頁： 1 - 12 2020年12月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：ROBOMECH Journal

The currently available exoskeleton for assisting the paraplegic patient in walking usually adapts a pre-programmed gait that involves the patient following an exoskeleton lead. The system allows the patient to hold a pair of canes in order to keep balance, and does not contribute to keeping balance without the patient’s action. This paper proposes an algorithm based on the zero moment point (ZMP) to modify the gait generated through human walking synergy for paraplegic patients who make use of the exoskeleton system and hold their canes. The proposed ZMP will enable the paraplegic patient to keep balance during walking and also reduce the burden in maintaining balance. First, a pair of cane is used as an interface to control the user’s walking and then, the synergy between legs and canes is used to synchronize the user’s walking intention during the exoskeleton movement. The walking synergy is extracted from the able-bodied subject walking with a pair of canes and analyzed using principal component analysis (PCA). In order to improve the walking stability, the hip joint angle on stance leg during walking was modified based on ZMP. Furthermore, a nonlinear inverted pendulum (NIP) model was utilized in order to generate a gait with a fully stretched knee joint angle that is similar to human gait. The proposed method was verified via the Gazebo simulation using a walking robot to simulate a patient wearing an exoskeleton. The experiment results show that the walking stability was highly improved after gait modification.

DOI： 10.1186/s40648-020-00169-y

Towards the development of an intuitive teleoperation system for human support robot using a VR device 査読有り Open Access

Nakanishi J., Itadera S., Aoyama T., Hasegawa Y.

Advanced Robotics 34 巻 ( 19 ) 頁： 1239 - 1253 2020年10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：Advanced Robotics

This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated whole-body motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement.

DOI： 10.1080/01691864.2020.1813623

Magnetic self-assembly of toroidal hepatic microstructures for micro-tissue fabrication 査読有り

Takeuchi M., Iriguchi M., Hattori M., Kim E., Ichikawa A., Hasegawa Y., Huang Q., Fukuda T.

Biomedical Materials (Bristol) 15 巻 ( 5 ) 2020年9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：Biomedical Materials (Bristol)

In this study, we developed a procedure for assembling hepatic microstructures into tube shapes using magnetic self-assembly for in vitro 3D micro-tissue fabrication. To this end, biocompatible hydrogels, which have a toroidal shape, were made using the micro-patterned electrodeposition method. Ferrite particles were used to coat the fabricated toroidal hydrogel microcapsules using a poly-L-lysine membrane. The microcapsules were then magnetized with a 3 T magnetic field, and assembled using a magnetic self-assembly process. During electrodeposition, hepatic cells were trapped inside the microcapsules, and they were cultured to construct tissue-like structures. The magnetized toroidal microstructures then automatically assembled to form tube structures. Shaking was used to enhance the assembly process, and the shaking speed was experimentally optimized to achieve the high-speed assembly of longer tube structures. The flow velocity inside the dish during shaking was measured by particle image velocimetry. Hepatic functions were evaluated to check for side-effects of the magnetized ferrite particles on the microstructures. Collectively, our findings indicated that the developed method can achieve the high-speed assembly of a large number of microstructures to form tissue-like hepatic structures.

DOI： 10.1088/1748-605X/ab8487

Adaptive Proxy-Based Robust Control Integrated with Nonlinear Disturbance Observer for Pneumatic Muscle Actuators 査読有り国際共著国際誌

Cao Y., Huang J., Xiong C.H., Wu D., Zhang M., Li Z., Hasegawa Y.

IEEE/ASME Transactions on Mechatronics 25 巻 ( 4 ) 頁： 1756 - 1764 2020年8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/ASME Transactions on Mechatronics

In pneumatic muscle actuators (PMAs)-driven robotic applications, there might exist unpredictable shocks which lead to the sudden change of desired trajectories and large tracking errors. This is dangerous for physical systems. In this article, we propose a novel adaptive proxy-based robust controller (APRC) for PMAs, which is effective in realizing a damped response and regulating the behaviors of the PMA via a virtual proxy. Moreover, the integration of the APRC and the nonlinear disturbance observer further handles the system uncertainties/disturbances and improves the system robustness. According to the Lyapunov theorem, the tracking states of the closed-loop PMA control system are proven to be globally uniformly ultimately bounded through two motion phases. Extensive experiments are conducted to verify the superior performance of our approach, in multiple tracking scenarios.

DOI： 10.1109/TMECH.2020.2997041

A cooperative human-robot interface for constrained manipulation in robot-assisted endonasal surgery 査読有り国際誌 Open Access

Colan J., Nakanishi J., Aoyama T., Hasegawa Y.

Applied Sciences (Switzerland) 10 巻 ( 14 ) 頁： 4809 2020年7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：Applied Sciences (Switzerland)

Endoscopic endonasal surgery (EES) is a minimally invasive technique for removal of pituitary adenomas or cysts at the skull base. This approach can reduce the invasiveness and recovery time compared to traditional open surgery techniques. However, it represents challenges to surgeons because of the constrained workspace imposed by the nasal cavity and the lack of dexterity with conventional surgical instruments. While robotic surgical systems have been previously proposed for EES, issues concerned with proper interface design still remain. In this paper, we present a cooperative, compact, and versatile bimanual human-robot interface aimed to provide intuitive and safe operation in robot-assisted EES. The proposed interface is attached to a robot arm and holds a multi-degree-of-freedom (DOF) articulated forceps. In order to design the required functionalities in EES, we consider a simplified surgical task scenario, with four basic instrument operations such as positioning, insertion, manipulation, and extraction. The proposed cooperative strategy is based on the combination of force based robot control for tool positioning, a virtual remote-center-of-motion (VRCM) during insertion/extraction tasks, and the use of a serial-link interface for precise and simultaneous control of the position and the orientation of the forceps tip. Virtual workspace constraints and motion scaling are added to provide safe and smooth control of our robotic surgical system. We evaluate the performance and usability of our system considering reachability, object manipulability, and surgical dexterity in an anatomically realistic human head phantom compared to the use of conventional surgical instruments. The results demonstrate that the proposed system can improve the precision, smoothness and safety of the forceps operation during an EES.

DOI： 10.3390/app10144809

Head-mounted display-based microscopic imaging system with customizable field size and viewpoint 査読有り国際誌 Open Access

Aoyama T., Takeno S., Takeuchi M., Hasegawa Y.

Sensors (Switzerland) 20 巻 ( 7 ) 頁： 1967 2020年4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：Sensors (Switzerland)

In recent years, the use of microinjections has increased in life science and biotechnology fields; specific examples include artificial insemination and gene manipulation. Microinjections are mainly performed based on visual information; thus, the operator needs high-level skill because of the narrowness of the visual field. Additionally, microinjections are performed as the operator views a microscopic image on a display; the position of the display requires the operator to maintain an awkward posture throughout the procedure. In this study, we developed a microscopic image display apparatus for microinjections based on a view-expansive microscope. The prototype of the view-expansive microscope has problems related to the variations in brightness and focal blur that accompany changes in the optical path length and amount of reflected light. Therefore, we propose the use of a variable-focus device to expand the visual field and thus circumvent the above-mentioned problems. We evaluated the observable area of the system using this variable-focus device. We confirmed that the observable area is 261.4 and 13.9 times larger than that of a normal microscope and conventional view-expansive microscopic system, respectively. Finally, observations of mouse embryos were carried out by using the developed system. We confirmed that the microscopic images can be displayed on a head-mounted display in real time with the desired point and field sizes.

DOI： 10.3390/s20071967

Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation 査読有り

Zhu Y., Aoyama T., Hasegawa Y.

IEEE Robotics and Automation Letters 5 巻 ( 2 ) 頁： 2981 - 2986 2020年4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

Robotic teleoperation with force feedback has been studied extensively since it was first developed in the 1940 s. Time delay is a common problem of bilateral teleoperation systems. Although many efforts on optimizing the control architectures have been made, there is always a trade-off between transparency and stability for bilateral systems, and the perfect transparency and stability can only be achieved simultaneously in ideal situations. In this letter, we propose a novel approach to compensate for the degraded transparency while using the conventional passivity-based approach to maintain system stability under time-delay. The proposed approach is based on visual feedback and enhances the transparency by displaying different kinds of onomatopoeia according to contact force detected on the slave side. The basic performance is evaluated by conducting a stiffness classification task under constant round trip time delays (0 ms, 500 ms and 1000 ms). The preliminary results indicate that the subjects have higher accuracy for classifying the stiffness of a remote object by using onomatopoeia enhanced force feedback compared with the conventional passivity-based position-force feedback.

DOI： 10.1109/LRA.2020.2972896

Visual feedback control of a rat ankle angle using a wirelessly powered two-channel neurostimulator 査読有り国際誌 Open Access

Takeuchi M., Watanabe K., Ishihara K., Miyamoto T., Tokutake K., Saeki S., Aoyama T., Hasegawa Y., Kurimoto S., Hirata H.

Sensors (Switzerland) 20 巻 ( 8 ) 頁： 2210 2020年4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：Sensors (Switzerland)

Peripheral nerve disconnections cause severe muscle atrophy and consequently, paralysis of limbs. Reinnervation of denervated muscle by transplanting motor neurons and applying Functional Electrical Stimulation (FES) onto peripheral nerves is an important procedure for preventing irreversible degeneration of muscle tissues. After the reinnervation of denervated muscles, multiple peripheral nerves should be stimulated independently to control joint motion and reconstruct functional movements of limbs by the FES. In this study, a wirelessly powered two-channel neurostimulator was developed with the purpose of applying selective FES to two peripheral nerves—the peroneal nerve and the tibial nerve in a rat. The neurostimulator was designed in such a way that power could be supplied wirelessly, from a transmitter coil to a receiver coil. The receiver coil was connected, in turn, to the peroneal and tibial nerves in the rat. The receiver circuit had a low pass filter to allow detection of the frequency of the transmitter signal. The stimulation of the nerves was switched according to the frequency of the transmitter signal. Dorsal/plantar flexion of the rat ankle joint was selectively induced by the developed neurostimulator. The rat ankle joint angle was controlled by changing the stimulation electrode and the stimulation current, based on the Proportional Integral (PI) control method using a visual feedback control system. This study was aimed at controlling the leg motion by stimulating the peripheral nerves using the neurostimulator.

DOI： 10.3390/s20082210

On-chip fabrication of cell-attached microstructures using photo-cross-linkable biodegradable hydrogel 査読有り国際共著

Takeuchi M., Kozuka T., Kim E., Ichikawa A., Hasegawa Y., Huang Q., Fukuda T.

Journal of Functional Biomaterials 11 巻 ( 1 ) 頁： 18 2020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：Journal of Functional Biomaterials

We developed a procedure for fabricating movable biological cell structures using biodegradable materials on a microfluidic chip. A photo-cross-linkable biodegradable hydrogel gelatin methacrylate (GelMA) was used to fabricate arbitrary microstructure shapes under a microscope using patterned ultraviolet light. The GelMA microstructures were movable inside the microfluidic channel after applying a hydrophobic coating material. The fabricated microstructures were self-assembled inside the microfluidic chip using our method of fluid forcing. The synthesis procedure of GelMA was optimized by changing the dialysis temperature, which kept the GelMA at a suitable pH for cell culture. RLC-18 rat liver cells (Riken BioResource Research Center, Tsukuba, Japan) were cultured inside the GelMA and on the GelMA microstructures to check cell growth. The cells were then stretched for 1 day in the cell culture and grew well on the GelMA microstructures. However, they did not grow well inside the GelMA microstructures. The GelMA microstructures were partially dissolved after 4 days of cell culture because of their biodegradability after the cells were placed on the microstructures. The results indicated that the proposed procedure used to fabricate cell structures using GelMA can be used as a building block to assemble three-dimensional tissue-like cell structures in vitro inside microfluidic devices.

DOI： 10.3390/jfb11010018

Construction of Hepatic-Lobule-Like 3-D Vascular Network in Cellular Structure by Manipulating Magnetic Fibers 査読有り

Kim E., Takeuchi M., Hasegawa A., Ichikawa A., Hasegawa Y., Huang Q., Fukuda T.

IEEE/ASME Transactions on Mechatronics 25 巻 ( 1 ) 頁： 477 - 486 2020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：IEEE/ASME Transactions on Mechatronics

Without perfusable vascular networks, 3-D tissues populated with cells cannot maintain a living condition. To construct 3-D tissues, a well-organized vascular network is required. In this article, a method for constructing a hepatic-lobule-like vascular network in a 3-D cellular structure by using magnetic fields is employed. To realize channel networks that mimic the hepatic lobule, steel rods and magnetic fibers were utilized as a sacrificial mold in fibrin gel. The steel rods and fibers were connected by magnetic fields using magnetic tweezers. In our previous work 'Construction of hepatic lobule-like vascular network by using magnetic fields' (Int. Conf. Robot. Autom., 2018, pp. 2688-2693), the tweezers were designed by 2-D simulation data. In addition, a 3-D cellular structure without a channel network was only cultured. New tweezers were designed based on 3-D simulation data to generate higher magnetic fields than the former tweezer. In addition, a tissue with the 3-D channel network was cultured for a week. To verify that the channel network can supply the nutrients to the cells in tissues, the viability of the cells located on the structure was analyzed. The cells close to the channel network show a higher cell viability than the cells far from the channel network.

DOI： 10.1109/TMECH.2019.2957494

Admittance control based robotic clinical gait training with physiological cost evaluation 査読有り

Itadera S., Nakanishi J., Hasegawa Y., Fukuda T., Tanimoto M., Kondo I.

Robotics and Autonomous Systems 123 巻頁： 103326 2020年1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

In this paper, we investigate an effective control strategy for a cane-type assistive mobile robot toward clinical gait training. Assistive robots are expected to provide aid in order to reduce the burden of caregivers and physical therapists, e.g., in gait rehabilitation of elderly people. Our group has been developing a series of cane-type walking assistive robots named Intelligent Cane as a mobile hand-holding device based on admittance control to provide safe and efficient gait training. This paper explores a systematic design methodology of the admittance control model in order to provide suitable walking load during gait training. We first conduct a pilot experiment to investigate the relationship between the physiological cost of user's walking and the coefficients in the admittance control model of the cane robot. Then, we present a clinical gait training study conducted in a hospital to evaluate the feasibility in practical use of the proposed control strategy of our cane robot in gait rehabilitation. These experimental results suggest the effectiveness of the proposed gait rehabilitation strategy with our robot.

DOI： 10.1016/j.robot.2019.103326

Development of sense of self-location based on somatosensory feedback from finger tips for extra robotic thumb control 査読有り

Zhu Y., Ito T., Aoyama T., Hasegawa Y.

ROBOMECH Journal 6 巻 ( 1 ) 2019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：ROBOMECH Journal

Recently, wearable extra robotic limbs that aim to enhance the functionality and capability of human operators as extra arms or fingers have become an active research subject among robotics researchers. Improving the operability of the extra robotic limbs is required for the human operators, an approach for which is to induce robotic embodiment. In this paper, we focus on the update of sense of self-location which is the key aspect of embodiment and contributes to the body representation update, and we elucidate dominant factors which induce the embodiment of an extra robotic thumb (ERT). The experiments are conducted to compare the performance of the reaching task of the ERT under three separately given conditions, of which two are somatosensory feedbacks: (1) tactile and position feedback from the fingertips and (2) tactile and position feedback from the human face, and one is a non-somatosensory feedback: (3) auditory feedback. As a result, we confirmed that the somatosensory feedback from finger tips has a large contribution for the update of sense of self-location.

DOI： 10.1186/s40648-019-0135-0

A clinical pilot study on posture stabilization via light contact with cane-type companion robot 査読有り

Itadera S., Aoyama T., Hasegawa Y., Aimoto K., Kato K., Kondo I.

ROBOMECH Journal 6 巻 ( 1 ) 頁： 17 2019年12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：ROBOMECH Journal

In this paper, toward robotic gait assistance, we investigate the feasibility of a cane-type assistive mobile robot accompanying the user autonomously through a clinical pilot experiment. As widely known, gait ability is important for all people to keep their quality of life. However, for people having weakened lower limbs such as elderly people, their postural sway during walking could be insuppressible and cause falling. To support the gait motion of elderly people, our group has been developing a series of hand-holding cane robots named Intelligent Cane. Such assistive robots are expected to remove barriers to the independent lives of elderly people. Recently, we have focused on the potential of a companion robot that follows the user ahead and can be touched or grasped for bracing whenever the user needs it. In order to demonstrate proof of our concept through an experiment with a motion capture system, we propose a user companion strategy that enables our cane robot to keep a constant relative distance between the robot and the user walking on a treadmill. We evaluate the accuracy of the user companion in an experiment where a user walks on a treadmill. Then, we conduct a clinical experiment with three healthy subjects walking on with the treadmill with our cane robot as a pilot study. Through the clinical experiment, we evaluate a postural stabilization effect of physical interaction with the robot and discuss the feasibility of our robotic gait assistance methodology.

DOI： 10.1186/s40648-019-0145-y

スマートアーム

長谷川泰久, 魚住大輔, 青山忠義, 中西淳

システム／制御／情報 63 巻 ( 10 ) 頁： 424 - 430 2019年10月

Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance 査読有り国際共著

Itadera S., Dean-Leon E., Nakanishi J., Hasegawa Y., Cheng G.

IEEE Robotics and Automation Letters 4 巻 ( 4 ) 頁： 3609 - 3616 2019年10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

In this letter, we introduce our approach to walking assistance for elderly adults through predictive optimization of gait assistive force. We focus on providing supportive interaction force to the user during walking with a robotic assistive device with an admittance controlled mobile base. Appropriate physical human-robot interaction (pHRI) could be beneficial in reducing the risk associated with immobility such as disuse syndrome by encouraging physical activities with proper assistance. We propose an optimization algorithm based on a model predictive control approach in order to provide desirable assistive forces according to the estimated user's state during walking. Using a simplified human gait model with a linear inverted pendulum, we formulate the optimization of the assistive forces as a linear quadratic programming problem that can be suitable for real-time pHRI. Numerical simulations and experimental results demonstrate the feasibility of our gait support strategy in achieving appropriate compliant interactions during walking, fall prevention, and suitable positioning for user companion.

DOI： 10.1109/LRA.2019.2928770

Delays in perception and action for improving walk–run transition stability in bipedal gait 査読有り

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

Nonlinear Dynamics 97 巻 ( 2 ) 頁： 1685 - 1698 2019年7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：Nonlinear Dynamics

This paper focuses on a transition motion between bipedal walking and running, whose characteristics have been revealed through numerous biological experiments. Although hysteresis in walk-to-run and run-to-walk transitions, the amount of which is proportional to the magnitude of acceleration/deceleration, is observed, it has not been elucidated yet. This is due to difficulty to conduct any biological experiments without the hysteresis in locomotion. From the viewpoint of nonlinear dynamics, the hysteresis is caused by dependency of the state history. Delays in perception and action for the walk–run transition can be assumed as the cause of the hysteresis. This paper therefore investigates i) whether the delays really cause the hysteresis in the walk–run transition, and ii) how they contribute to locomotion performance. To this end, in numerical simulations, we employ a controller for bipedal gait, named unified bipedal gait (UBG), which has capabilities of walking, running, and transitions between them like bipeds do. UBG is first optimized in pursue of biologically plausible controller with the same characteristics about the transition motion for reliable investigation. This optimized UBG reveals that the delays in perception and action actually cause the hysteresis with linearity of its amount and the magnitude of acceleration/deceleration. In addition, the delays play the key role of a bridge between latent representations of walking and running, thereby improving the success rate of the transition by nearly 40% from the case without the delays.

DOI： 10.1007/s11071-019-05097-0

Theoretical approach for designing the rehabilitation robot controller 査読有り国際共著

Okajima S., Alnajjar F.S., Costa Á., Asin-Prieto G., Pons J.L., Moreno J.C., Hasegawa Y., Shimoda S.

Advanced Robotics 33 巻 ( 14 ) 頁： 674 - 686 2019年7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：Advanced Robotics

Robot rehabilitation is now recognized as an important method for the efficient recovery. In European Project FP7 BioMot, we have discussed the potential of the robot rehabilitation and proposed the suitable process for it. In this paper, we describe the proposed rehabilitation process and create the theoretical basis for the robot rehabilitation through designing the control system and the patient model. To design the patient model, we describe the source of paralysis and motion controller separately and define the recovery function from the paralysis. In the theoretical analysis of the control system, we show that the robot motions are first adapted to the patient abnormal motions and gradually drive the patient motions to the better ones by the motion support. The singular perturbation analysis proves that the stabilities of the two different process, adaptation to the patient motions and the motion support to the better ones, as a slow motion subsystem and a fast motion subsystem, respectively. The simulation results show that the proposed control system can drive the patients to the better state depending on the patient conditions such as recovery speed and recovery potential. The proposed system can be tuned to fit to the variety of the real patient conditions when we apply it to the real applications.

DOI： 10.1080/01691864.2019.1633402

Medial part thickness of wearable device affecting running motion 査読有り

Naoki Kubota and Yasuhisa Hasegawa

ROBOMECH Journal 6 巻 ( 1 ) 2019年7月

Operational learning with sensory feedback for controlling a robotic thumb using the posterior auricular muscle 査読有り

Aoyama T., Shikida H., Schatz R., Hasegawa Y.

Advanced Robotics 33 巻 ( 5 ) 頁： 243 - 253 2019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：Advanced Robotics

Extra robotic limbs in a robotic system that are designed to augment and expand human abilities have received attention in the field of wearable robotics. We aim to develop a robotic system that is controlled by body parts that are not used on a daily basis in order to augment and expand human abilities. This paper presents operational learning experiments for manipulating a robotic thumb using the posterior auricular muscle, a body part that is not used in everyday life. In these experiments, reaching motions were executed using sensory feedback in the robotic thumb through a device that continuously displays its position. The experimental results indicate the proposed operational learning experiments improve the ability to contract the posterior auricular muscles. In addition, the results indicate the operability of a robotic thumb could be improved by acquiring internal models through repetitive operational learning.

DOI： 10.1080/01691864.2019.1566090

Modification of body schema by use of extra robotic thumb 査読有り

Segura Meraz N., Sobajima M., Aoyama T., Hasegawa Y.

ROBOMECH Journal 5 巻 ( 1 ) 2018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：ROBOMECH Journal

In recent years, there has been great interest in the possibility of using artificial limbs as an extension of the human body as well as replacement of lost limbs. In this paper, we develop a sixth finger system as an extension of the human body. We then investigate how an extra robotic thumb, that works as a sixth finger and gives somatosensory feedback to the user, modifies the body schema, and also affecting the self-perception of existing limbs. The sixth robotic finger is controlled with the thumb of the opposite hand, and contact information is conveyed via electrostimulation to the tip of the thumb controlling the movement. We conducted reaching task experiments with and without visual information to evaluate the level of embodiment of the sixth robotic finger and the modification of the self-perception of the finger controlling the system. The experimental results indicate that not only the sixth finger is incorporated into the body schema of the user, but also the body schema of the controlling finger is modified; ability of the brain to adapt to different scenarios and geometries of the body is also implied.

DOI： 10.1186/s40648-018-0100-3

Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gait 査読有り

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

ROBOMECH Journal 5 巻 ( 1 ) 2018年12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：ROBOMECH Journal

This paper addresses a reference gait speed generator for limit-cycle-based bipedal gait of humanoid robots in order to achieve secure and efficient acceleration and deceleration without falling down at respective gait speeds. The reference gait speed generator is hard to be developed by analytical approaches due to the necessity of barren work for identifying the respective basins of attraction. We challenge this issue by designing virtual dynamics among a robot, a virtual leader point, and a goal, and adapting it according to a falling risk of the robot. The virtual dynamics, which has settling and acceleration times as design parameters, gives the reference speeds derived from states of the robot and the leader point to a gait speeds controller. In the dynamics, the robot’s mass is optimized virtually to maximize efficiency while ensuring stability stochastically by using a selection algorithm for locomotion. Even when there were obstacles or an up slope in traveling courses of simulations, the robot achieved the autonomous traveling from the start to the goal securely. Specific resistance was also kept small in comparison with local-stability-based walking. The proposed method makes the limit-cycle-based bipedal gait more practical and contributes toward replacing the major method that ensures stability of every step.

DOI： 10.1186/s40648-018-0115-9

Electric Stimulation based Weight Discrimination for Paraplegic Wearing Exoskeleton 国際誌

Li M., Wang X., Aoyama T., Hasegawa Y.

2018 International Conference on Intelligence and Safety for Robotics, ISR 2018 頁： 261 - 266 2018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：2018 International Conference on Intelligence and Safety for Robotics, ISR 2018

This paper proposes an electrical stimulation system to provide a lower limb motion state for paraplegic patients wearing an exoskeleton. The system consists of a glove-type exoskeleton controller and an electric stimulation device. In addition, a mechanical leg, which simulates a paraplegic's lower limb wearing an exoskeleton, was developed to conduct the preliminary experiment. The operator using his finger voluntarily controls the movement of the mechanical leg through the glove-type controller. Meanwhile, he receives electrical stimulation feedback that represents the output torque of the mechanical leg. In this manner, the system makes a connection between finger's motion and electrical stimulation. The operator could predict the feedback when he controls the mechanical leg. Finally, weight discrimination experiments were implemented to evaluate the accuracy of the electrical stimulation system. The subjects control the mechanical leg and receive electrical stimulation with different weight loading on the mechanical leg. The experimental results indicate that: 1) The dynamic of the mechanical leg is integrated into the body scheme of the subjects after training. 2) The subjects are capable of distinguishing a 17 percent change of weight loading at the minimum under the feedback of electric stimulation.

DOI： 10.1109/IISR.2018.8535936

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

1P2-B09 遊脚運動を利用した歩行速度制御器によるPDAC規範3次元2足歩行

小林泰介, 青山忠義, 長谷川泰久, 関山浩介, 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： _1P2-B09_1 - _1P2-B09_4 2015年

1P2-B05 ヒューマノイドロボットの高速走行制御に関する研究 : 走行の基礎検証

太田智郎, 大原賢一, 市川明彦, 小林泰介, 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： _1P2-B05_1 - _1P2-B05_2 2015年

1P1-P03 環境制御型電顕内でのSEM-CTによる含水観察

中島正博, 嶋崎功也, 竹内大, 久本直毅, 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： _1P1-P03_1 - _1P1-P03_2 2015年

1P1-O10 線虫への局所マイクロインジェクションにおける生存率の評価

綾村友貴, 中島正博, 竹内大, 久本直毅, パストゥホフストラヒル, 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： _1P1-O10_1 - _1P1-O10_2 2015年

1P1-O03 アルギン酸ハイドロゲルファイバーモールドによるマイクロチャネル作製

竹内大, 中島正博, 福田敏男, 長谷川泰久

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： _1P1-O03_1 - _1P1-O03_2 2015年

1P1-N03 生分解性材料を用いたマイクロ構造体のオンチップ作製

榊原涼太, 竹内大, 市川明彦, 大原賢一, 中島正博, 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： _1P1-N03_1 - _1P1-N03_2 2015年

1P1-N02 局所的熱制御による生体親和性ゲル内での細胞パターニング

大矢智之, 竹内大, 市川明彦, 大原賢一, 中島正博, 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： _1P1-N02_1 - _1P1-N02_3 2015年

1A1-X06 ナノマニピュレーションによるグラフェン立方体の作製

藤原崇文, 中島正博, 市川明彦, 大原賢一, 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： _1A1-X06_1 - _1A1-X06_2 2015年

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) 頁： 14 - 19 2015年

Joint stiffness tuning of exoskeleton robot H2 by tacit learning 査読有り

Shimoda S., Costa Á., Prieto G.A., Okajima S., Ináez E., Hasegawa Y., Azor In J.M., Pons J.L., Moreno J.C.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 9359 巻頁： 134 - 138 2015年

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：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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

Running Assistive Exoskeleton with a Side Mechanism

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

Vanishing point detection focusing on similarity structure in vineyard environments

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

Survival Microinjection into <i>C</i>. <i>elegans</i> with <i>In vivo</i> 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) 頁： 183 - 188 2015年

Local melting of hydrogel for microchannels fabrication in cell structures.

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

頁： 1 - 4 2015年

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 頁： 2140 - 2145 2014年10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 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

Sankai Y., Suzuki K., Hasegawa Y.

Cybernics: Fusion of human, machine and information systems 9784431541592 巻頁： v - vii 2014年9月

Tongue Motion Detection based on SVM from Surface Myoelectricity for Alternative Interface System 査読有り

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

Transaction on control and mechanical systems 3 巻 ( 2 ) 頁： 114-121 2014年8月

Three dimensional spheroids assembly using thermoresponsive gel probe 査読有り

Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa

Biofabrication 2014年

Cross-sectional Imaging of <i>C</i>. <i>elegans</i> 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) 頁： 41 - 44 2014年

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年

Local Microinjection near Nerve Axon of <i>C</i>. <i>elegans</i> 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) 頁： 72 - 75 2014年

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) 頁： 199 - 204 2014年

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) 頁： 991 - 994 2014年

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

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

IEEE/ASME Transactions on Mechatronics PP 巻 ( 99 ) 頁： 1-13 2013年12月

Exoskeletal Meal Assistance System (EMASII) for Patients with Progressive Muscular Disease 査読有り

Yasuhisa Hasegawa, Saori Oura, and Junji Takahashi

Advanced Robotics 27 巻 ( 18 ) 頁： 1385-1398 2013年10月

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査読有り

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 31 巻 ( 4 ) 頁： 381-389 2013年5月

The Discriminant Criteria Detecting Operational Intention from Myoelectricity for Alternative Interface System 査読有り

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

Transaction on control and mechanical systems 2 巻 ( 1 ) 頁： 13-19 2013年

Facilitation of learning and rehabilitation in rats by inducing response-like movement 査読有り

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

Advanced Biomedical Engineering 2 巻 ( - ) 頁： 72-79 2013年

SVMを用いた前頸部生体電位信号に基づく舌運動の検出査読有り

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） 78 巻 ( 796 ) 頁： 3970-3978 2012年12月

アクティブエアマットによる支援機器の親和性の改善査読有り

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 30 巻 ( 8 ) 頁： 759-766 2012年10月

PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment 査読有り

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

Journal of Robotics and Mechatronics 24 巻 ( 1 ) 頁： 37-46 2012年

Transition Motion from Ladder Climbing to Brachiation with Optimal Load-Allocation Control 査読有り

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

Advanced Robotics 26 巻 ( 8-9 ) 頁： 1075-1098 2012年

不整地走行車両に適合した走行メカニズム査読有り

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） 69 巻 ( 677 ) 頁： 126-131 2003年

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査読有り

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） 69 巻 ( 677 ) 頁： 97-103 2003年

学習型予測制御に関する研究（ガスヒートポンプの制御特性の改善）査読有り

長谷川泰久，中野琢朗，福田敏男，Gancho VACHKOV，小森隆史，松本圭司，下島康嗣

日本機械学会論文集（Ｃ編）６８巻 ( ６６６ ) 頁：４３２－４３８ 2002年

Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Control with Actuators' Forces Fuzzy Compensation 査読有り

Z. Zyada, Y. Hasegawa, and T. Fukuda

Journal of Advanced Computational Intelligence 6 巻 ( 3 ) 頁： 100-108 2002年

Implementing Fuzzy Learning Algorithms in a 6 DOF Hydraulic Parallel Link Manipulator: Actuators' Fuzzy Modeling 査読有り

Zakarya Zyada, Yasuhisa Hasegawa, Gancho Vachkov, and Toshio Fukuda

Journal of Robotics and Mechatronics 14 巻 ( 4 ) 頁： 408-419 2002年

配管腐食診断システムの研究（超音波探傷法による平面情報を用いた腐食種類，規模の推定）査読有り

福田敏男，油井拓紀，酒本晋太郎．阿部靖則，長谷川泰久，小林太，新井史人

日本機械学会論文集（Ｃ編）６８巻 ( ６６６ ) 頁：３９１－３９７ 2002年

NNとEPによる六脚歩行ロボットの行動生成査読有り

倉重健太郎，長谷川泰久，福田敏男，星野春夫

日本ファジィ学会 13 巻 ( 2 ) 頁： 199-207 2001年4月

遺伝的アルゴリズム・学習オートマトンを用いた自在搬送システムのハイブリッド搬送制御査読有り

福田敏男，高川功，関山浩介，長谷川泰久，柴田晋，山本洋信

日本ロボット学会誌 19 巻 ( 5 ) 頁： 593-602 2001年

GPを用いた階層型知識表現によるロボットの行動生成査読有り

倉重健太郎、長谷川泰久、福田敏男、星野春夫

日本ファジィ学会誌 13 巻 ( 6 ) 頁： 633-642 2001年

ブラキエーション型移動ロボットの研究 -第７報，階層型行動制御における行動学習査読有り

長谷川泰久，伊藤芳邦，福田敏男

日本機械学会論文集（Ｃ編） 67 巻 ( 662 ) 頁： 3204-3211 2001年

寸法の異なる把持物体に対する適応持ち替え戦略査読有り

長谷川泰久，松野順也，福田敏男

日本機械学会論文集（Ｃ編） 67 巻 ( 662 ) 頁： 3212-3218 2001年

進化プログラムを用いた多指ロボットハンドの操り動作の生成査読有り

長谷川泰久　間瀬健一郎　福田敏男

日本機械学会論文集（Ｃ編） 66 巻 ( 650 ) 頁： 3373-3379 2000年10月

階層型進化アルゴリズムを用いた２足歩行ロボットに歩行動作獲得査読有り

長谷川泰久　荒川丈昌　福田敏男

日本機械学会論文集（Ｃ編） 66 巻 ( 645 ) 頁： 1605-1612 2000年5月

Sensory Evaluation System Based on KANSEI Self-Tuning Spline Fuzzy Inference(Acuisition of KANSEI for Persimmon) 査読有り

Toshio Fukuda, Tomoya Chikazawa, Yasuhisa Hasegawa, Futoshi Kobayashi, Koji Shimojima and Yuji Yamaguchi

International Journal of Fuzzy Systems 2 巻 ( 1 ) 頁： 2000 2000年3月

学習オートマトンを用いた自在搬送システムの分散制御査読有り

福田敏男　長谷部義明　関山浩介　長谷川泰久　柴田晋　山本洋信

日本機械学会論文集（Ｃ編） 66 巻 ( 646 ) 頁： c 2000年

環境情報に基づく作業スキルの抽出に関する研究査読有り

福田敏男　ウィラユット・スィツラワーニット　植山剛　長谷川泰久

日本機械学会論文集（Ｃ編） 66 巻 ( 645 ) 頁： 1597-1604 2000年

Trajectory generation for the biped locomotion robot 査読有り

Yasuhisa Hasegawa, Takemasa Arakawa and Toshio Fukuda

Mechatronics 10 巻 ( 1-2 ) 頁： 67-89 2000年

Robotic System based on Computational Intelligence -Evolutionary Generation of Regrasping Motion- 査読有り

Toshio Fukuda, and Yasuhisa Hasegawa

Journal of Advanced Computational Intelligence 4 巻 ( 6 ) 頁： 437-442 2000年

Behavior-Based Control for 13-link Brachiation Robot 査読有り

Yasuhisa Hasegawa, Yoshikuni Ito and Toshio Fukuda

Automatisierungstechnik 48 巻頁： 305-310 2000年

Behavior generation for Mobile Robot Coordinating Simple Behavior 査読有り

Yasuhisa HASEGAWA and Toshio FUKUDA

Journal of Advanced Computational Intelligence 3 巻 ( 3 ) 頁： 186-192 1999年

Self-Scaling Reinforcement Learning for Fuzzy Logic Controller 査読有り

Yasuhisa HASEGAWA Toshio FUKUDA Koji SHIMOJIMA

IEEE Transactions on Industrial Electronics 46 巻 ( 6 ) 頁： 1123-1131 1999年

Learning Method for Multi-Controller of Robot Behavior 査読有り

Toshio FUKUDA and Yasuhisa HASEGAWA

JSME International Journal 41 巻 ( 2 ) 頁： 260-268 1998年

複数コントローラの学習方法査読有り

福田敏男　長谷川泰久

日本機械学会論文集（Ｃ編） 63 巻 ( 610 ) 頁： 2043-2051 1997年

強化学習を用いたファジィコントローラの生成査読有り

福田敏男　長谷川泰久　下島康嗣　齋藤史倫

日本機械学会論文集(C編) 62 巻 ( 601 ) 頁： 187 1996年

遺伝的アルゴリズムを用いた階層型ファジィモデルの自動生成法査読有り

C

日本ファジィ学会誌 7 巻 ( 5 ) 頁： 988 1995年

Self-tuning Fuzzy Modeling with Adaptive Membership Function, Rules, and Hierarchical Structure based on Genetic Algorithm 査読有り

Toshio FUKUDA Koji SHIMOJIMA Yasuhisa HASEGAWA

Journal of Fuzzy Sets and Systems 71 巻頁： 295-309 1995年

Structure Organization of Hierarchical Fuzzy Model using Genetic Algorithm 査読有り

Toshio FUKUDA Yasuhisa HASEGAWA Koji SHIMOJIMA

Journal of Robotics and Mechatronics 7 巻 ( 1 ) 頁： 29-35 1995年

遺伝的アルゴリズムを用いた学習型RBFファジィ・ニューロによる教師なし学習と力制御への応用査読有り

下島康嗣　長谷川泰久　福田敏男

日本機械学会論文集(C編) 61 巻 ( 588 ) 頁： C 1995年

遺伝アルゴリズムを用いた階層型ファジィモデルの自動生成法査読有り

石上秀之　長谷川泰久　福田敏男　柴田崇徳

日本機械学会論文集（Ｃ編） 60 巻 ( 573 ) 頁： - 1994年

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