Updated on 2021/08/24

写真a

 
DING Ming
 
Organization
Institutes of Innovation for Future Society Mobility Research Course Designated associate professor
Title
Designated associate professor
Contact information
メールアドレス

Degree 1

  1. Doctor (Engineering) ( 2010.3   Nara Institute of Science and Technology ) 

Research Interests 4

  1. Robot Control

  2. Human-Robotics Interaction

  3. Human Modeling

  4. Autonomous driving

Research Areas 3

  1. Informatics / Intelligent robotics

  2. Informatics / Human interface and interaction

  3. Informatics / Robotics and intelligent system

Research History 7

  1. Nagoya University   Institutes of Innovation for Future Society   Designated associate professor

    2019.11

  2. Nara Institute of Science and Technology   Assistant Professor

    2015.5 - 2019.10

  3. Nagoya University   Graduate School of Engineering Department of Mechanical Science and Engineering Mechatronics Control   Designated assistant professor

    2014.3 - 2015.4

  4. RIKEN, Researcher

    2011.8 - 2014.2

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    Country:Japan

  5. RIKEN, Researcher

    2011.8 - 2014.2

  6. Tokyo University of Science, Department of Mechanical Engineering, Postdoctoral Rsearcher

    2010.4 - 2011.7

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    Country:Japan

  7. Tokyo University of Science, Department of Mechanical Engineering, Postdoctoral Rsearcher

    2010.4 - 2011.7

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Education 3

  1. Nara Institute of Science and Technology   Graduate School, Division of Information Science   Depart ment of Information System

    - 2010.3

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    Country: Japan

  2. Nara Institute of Science and Technology   Graduate School of Information Science   Doctoral Course

    2007.4 - 2010.3

  3. Nara Institute of Science and Technology   Graduate School of Information Science   Master's Course

    2005.4 - 2007.3

Professional Memberships 5

  1. IEEE   Member

    2008.10

  2. The Robotics Society of Japan   Member

    2006.7

  3. THE ROBOTICS SOCIETY OF JAPAN

  4. IEEE Engineering in Medicine and Biology Society

  5. IEEE

 

Papers 78

  1. Simultaneous Estimation of Upper Limb Pose and Joint Torque Based on Upper Arm Deformation Reviewed

    Tetsuya Kurasumi, Sung-Gwi Cho, Ming Ding, Gustavo Alfonso Garcia Ricardez, Masahiro Yoshikawa, Jun Takamatsu, Tsukasa Ogasawara

    IEEE Transactions on Medical Robotics and Bionics   Vol. 2 ( 3 ) page: 374 - 381   2020.8

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    Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmrb.2020.3009861

  2. A Quantitative Measurement of Hand Scaling Motion for Dental Hygienist Training Reviewed

    Tomoko Yui, Tomoki Ishikura, Sung-Gwi Cho, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    The 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)     2020.7

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/embc44109.2020.9175617

  3. Control of Walking Assist Exoskeleton With Time-delay Based on the Prediction of Plantar Force Reviewed

    Ming Ding, Mikihisa Nagashima, Sung-Gwi Cho, Jun Takamatsu, Tsukasa Ogasawara

    IEEE Access   Vol. 8   page: 138642 - 138651   2020.7

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/access.2020.3010644

  4. A Parallel Gripper with a Universal Fingertip Device Using Optical Sensing and Jamming Transition for Maintaining Stable Grasps Reviewed

    Tatsuya Sakuma, Elaine Phillips, Gustavo Alfonso, Garcia Ricardez, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    the IEEE International Conference on Intelligent Robots and Systems (IROS)     page: 5814 - 5819   2019.11

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

  5. Simultaneous Estimation of Elbow Joint Angle and Load Based on Upper Arm Deformation Reviewed

    Tetsuya Kurasumi, Sung-Gwi Cho, Ming Ding, G. Gustavo, Alfonso, Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS)     page: 136 - 141   2019.9

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

  6. Prediction of Plantar Forces During Gait Using Wearable Sensors and Deep Neural Networks. Reviewed International journal

    Mikihisa Nagashima, Sung-Gwi Cho, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference   Vol. 2019   page: 3629 - 3632   2019.7

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

    To enable on-time and high-fidelity lower-limb exoskeleton control, it is effective to predict the future human motion from the observed status. In this research, we propose a novel method to predict future plantar force during the gait using IMU and plantar sensors. Deep neural networks (DNN) are used to learn the non-linear relationship between the measured sensor data and the future plantar force data. Using the trained network, we can predict the plantar force not only during walking but also at the start and end of walking. In the experiments, the performance of the proposed method is confirmed for different prediction time.

    DOI: 10.1109/EMBC.2019.8857752

    PubMed

  7. Generation of a tactile-based pouring motion using fingertip force sensors Reviewed

    Takuya Kiyokawa, Ming Ding, Gustavo Alfonso, Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    IEEE/SICE International Symposium on System Integrations (SII)     page: 669 - 674   2019.1

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

    DOI: 10.1109/SII.2019.8700365

  8. Estimation of Forearm Pose Based on Upper Arm Deformation Using a Deep Neural Network. Reviewed

    Sung-Gwi Cho, Tetsuya Kurasumi, Masahiro Yoshikawa, Ming Ding 0002, Jun Takamatsu, Tsukasa Ogasawara

    the IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1246 - 1251   2019

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

    DOI: 10.1109/ROBIO49542.2019.8961793

  9. Machine-learning-based hand motion recognition system by measuring forearm deformation with a distance sensor array. Reviewed

    Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding 0002, Jun Takamatsu, Tsukasa Ogasawara

    IJIRA   Vol. 3 ( 4 ) page: 418 - 429   2019

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1007/s41315-019-00115-1

  10. A Universal Gripper Using Optical Sensing to Acquire Tactile Information and Membrane Deformation Reviewed

    Tatsuya Sakuma, Felix von Drigalski, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Intelligent Robots and Systems (IROS)     page: 6431 - 6436   2018.10

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    Publishing type:Research paper (international conference proceedings)  

  11. Scoop the Semi-Liquid Objects Using a Spoon-Equipped Robot Arm for Meal Support Reviewed

    Daiki Yoshioka, Ming Ding, Gustavo Alfonso, Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    ASME Dynamic Systems and Control Conference (DSCC)     2018.10

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    Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1115/DSCC2018-9022

  12. Estimation of the Operating Force From the Human Motion Reviewed

    Ming Ding, Ryuzo Baba, Kristada Masanthia, Gustavo Alfonso, Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC)     page: 1751 - 1754   2018.7

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/EMBC.2018.8512702

    PubMed

  13. Wearable Device to Record Hand Motions based on EMG and Visual Information Reviewed

    Gustavo Alfonso, Garcia Ricardez, Atsushi Ito, Ming Ding, Masahiro Yoshikawa, Jun Takamatsu, Yoshio Matsumoto, Tsukasa Ogasawara

    14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)     page: 1 - 6   2018.7

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

    DOI: 10.1109/MESA.2018.8449178

  14. Static 3D Map Reconstruction based on Image Semantic Segmentation Reviewed

    Feiran Li, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    15th International Conference on Ubiquitous Robots (UR)     page: 583 - 585   2018.6

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

    DOI: 10.1109/URAI.2018.8441765

  15. Estimating the Operation of Unknown Appliances for Service Robots Using CNN and Ontology Reviewed

    Gustavo Alfonso, Garcia Ricardez, Yosuke Osaki, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    Second IEEE International Conference on Robotic Computing (IRC)     page: 181 - 182   2018.1

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    Language:English   Publisher:IEEE Computer Society  

    DOI: 10.1109/IRC.2018.00039

    J-GLOBAL

  16. Estimation of Hand Motion Based on Forearm Deformation. Reviewed

    Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding 0002, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 2291 - 2296   2018

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

    DOI: 10.1109/ROBIO.2018.8664823

  17. The influence of vibration on performance of navigation tasks Reviewed

    Ming-Hui Sun, Wen-Zhao Gu, Ming Ding, Xiao-Ying Sun

    Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering, LNICST   Vol. 219   page: 307 - 318   2018

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

    In this paper, we explore the efficiency of vibration feedback techniques in pedestrian navigation systems. For vibration feedback technology, many researchers have provided a variety of different modes of vibration, such as vibration belt, vibrating bracelet and vibration shoes. And there are some researchers to discuss the perception of the human body parts, which part is more suitable for vibration feedback. However, there are still some discussion points that are not taken into account, for example, the identification rate of vibration feedback mode in the processes of walking or running. In order to find the answer, we rebuild the vibration feedback mode to have a new experimental evaluation of the identification rate of these vibration modes. We noticed that when using a hand-held vibration feedback device, it can reduce the visual and auditory feedback. On the other hand, because of the rapid development of the current society, the environment is different in different position, so, when getting the maximum recognition rate of vibration pattern, we can’t use this vibration navigation replace the existing navigation completely. However, it is a good choice that the kind of high-efficiency vibration feedback navigation system is used as an auxiliary system of the existing navigation.

    DOI: 10.1007/978-3-319-73317-3_36

    Scopus

  18. Gaze calibration for human-android eye contact using a single camera Reviewed

    Akishige Yuguchi, Gustavo Alfonso, Garcia Ricardez, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics, (ROBIO)     page: 883 - 888   2017.12

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ROBIO.2017.8324529

  19. Hand pose estimation and motion recognition using egocentric RGB-D video Reviewed

    Wataru Yamazaki, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 147 - 152   2017.12

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ROBIO.2017.8324409

  20. Estimation of driver's posture using pressure distribution sensors in driving simulator and on-road experiment Reviewed

    Ming Ding, Tatsuya Suzuki, Tsukasa Ogasawara

    IEEE International Conference on Cyborg and Bionic Systems (CBS)     page: 215 - 220   2017.10

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    Authorship:Lead author, Last author, Corresponding author   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/CBS.2017.8266102

  21. STARE: Realtime, wearable, simultaneous gaze tracking and object recognition from eye images Reviewed

    Lotfi El Hafi, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    SMPTE Motion Imaging Journal   Vol. 126 ( 6 ) page: 37 - 46   2017.8

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Society of Motion Picture and Television Engineers  

    We propose STARE, a wearable system to perform realtime, simultaneous eye tracking and focused object recognition for daily-life applications in varied illumination environments. Our proposed method uses a single camera sensor to evaluate the gaze direction and requires neither a front-facing camera nor infrared sensors. To achieve this, we describe: 1) a model-based approach to estimate the gaze direction using red-green-blue (RGB) eye images
    2) a method to recognize objects in the scene reflected on the cornea in real time
    and 3) a 3D-printable prototype of a wearable gaze-tracking device. We verify the validity of our approach experimentally with different types of cameras in different illumination settings, and with a proof-of-concept implementation of a state-of-the-art neural network. The proposed system can be used as a framework for RGB-based eye tracking and human behavior analysis.

    DOI: 10.5594/JMI.2017.2711899

    Scopus

  22. Generation of comfortable lifting motion for a human transfer assistant robot Reviewed

    Ming Ding, Takamitsu Matsubara, Yoshihito Funaki, Ryojun Ikeura, Toshiharu Mukai, Tsukasa Ogasawara

    International Journal of Intelligent Robotics and Applications   Vol. 1 ( 1 ) page: 74 - 85   2017.1

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1007/s41315-016-0009-z

  23. Gaze Tracking and Object Recognition from Eye Images Reviewed

    Lotfi El Hafi, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    2017 FIRST IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC)     page: 310 - 315   2017

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

    This paper introduces a method to identify the focused object in eye images captured from a single camera in order to enable intuitive eye-based interactions using wearable devices. Indeed, eye images allow to not only obtain natural user responses from eye movements, but also the scene reflected on the cornea without the need for additional sensors such as a frontal camera, thus making it more socially acceptable. The proposed method relies on a 3D eye model reconstruction to evaluate the gaze direction from the eye images. The gaze direction is then used in combination with deep learning algorithms to classify the focused object reflected on the cornea. Finally, the experimental results using a wearable prototype demonstrate the potential of the proposed method solely based on eye images captured from a single camera.

    DOI: 10.1109/IRC.2017.44

    Web of Science

  24. Textile identification using fingertip motion and 3D force sensors in an open-source gripper. Reviewed

    Felix Von Drigalski, Marcus Gall, Sung-Gwi Cho, Ming Ding 0002, Jun Takamatsu, Tsukasa Ogasawara, Tamim Asfour

    IEEE International Conference on Robotics and Biomimetics, (ROBIO)     page: 424 - 429   2017

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

    DOI: 10.1109/ROBIO.2017.8324454

  25. Quantification of elegant motions for receptionist android robot Reviewed

    Makoto Ikawa, Etsuko Ueda, Akishige Yuguchi, Gustavo Alfonso Garcia Ricardez, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   Vol. 10286   page: 435 - 446   2017

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

    To improve the general image of robots, in this study we describe a method of achieving “elegant motions based on women’s sense” in an android robot. There have been many books published in Japan containing advice for women on how to have elegant manners. Our approach was to quantify the elegant motions that are qualitatively expressed in these etiquette books, using an android robot. In this research, we focused on arm- and face-based motions, such as giving directions, with an emphasis on “reception” tasks. We programmed the robot to perform desirable motions, such as “show the palm to a guest and do not raise the hand higher than the shoulder,” which are commonly expressed in the manners books. For each implemented motions, many patterns could be generated by changing certain parameters, such as the movement speed, the angle of the arm and the hand, and the distance and angle to the indicated location. We verified these motions using a subjective evaluation and discussed the elegant and quantified motions based on the result.

    DOI: 10.1007/978-3-319-58463-8_36

    Scopus

  26. NAIST Openhand M2S: A versatile two-finger gripper adapted for pulling and tucking textiles Reviewed

    Felix von Drigalski, Daiki Yoshioka, Wataru Yamazaki, Sung-Gwi Cho, Marcus Gall, Pedro Miguel Uriguen Eljuri, Viktor Hoerig, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara, Jessica Beltran

    2017 FIRST IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC)     page: 117 - 122   2017

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

    When manipulating textiles and thin objects, one challenging task is to push (tuck) of textiles into small openings. Further, for a number of manufacturing tasks it poses an obstacle to automation. However, current robot grippers are almost exclusively designed for grasping objects, or imitate the human hand with very fine mechanisms that break easily, so that they cannot withstand the loads required by the pushing task. Further, as textiles are very thin, even grippers with pressure pads cannot easily confirm if a textile was grasped successfully or if the gripper is empty.
    In this research, we present a gripper design that can detect the successful grasping of thin objects via active perception, can sustain significant pushing loads in order to perform tucking tasks and can perform dexterous grasping and in-hand manipulation. The gripper is open-source and can be 3D printed. We demonstrate the gripper's performance experimentally, its precision when controlling its grasp force, and the maximum grasping force.

    DOI: 10.1109/IRC.2017.55

    Web of Science

  27. Modeling of natural sit-to-stand movement based on minimum jerk criterion for natural-like assistance and rehabilitation Reviewed

    Ahmed Asker, Samy F. M. Assal, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara, A. M. Mohamed

    ADVANCED ROBOTICS   Vol. 31 ( 17 ) page: 901 - 917   2017

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:TAYLOR & FRANCIS LTD  

    Designing a sit-to-stand (STS) assistive system that mimics the normal transfer is important for improving the quality of life for elderly and mobility impaired people while reducing the burden on the caregivers. This paper presents a robotic-based STS assisting system that can provide assistance at the shoulder and the buttock. The minimum jerk criterion is used to model the natural STS motion. Anthropometry and characteristics of the natural STS motion are used to increase the simplicity and applicability of the STS motion model. This model can generate the shoulder and hip trajectories during STS. This enables the system to provide assistance either at the upper trunk or at the upper trunk and the hip simultaneously without inducing abnormal motion kinematics. The assisting system is used to assist subjects with different heights using the trajectories generated by the proposed motion model. In addition, the proposed trajectory is compared to the one that is resulted from a commercial lifter. The results show that the proposed method can accurately replicate the natural STS motion and results in a lower interaction force. Moreover, the subjects are more satisfied when they are assisted using the proposed method as indicated by the results of the post-experiment questionnaire.

    DOI: 10.1080/01691864.2017.1372214

    Web of Science

  28. Hand motion recognition using a distance sensor array. Reviewed

    Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding 0002, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)     page: 1459 - 1464   2017

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

    DOI: 10.1109/ROMAN.2017.8172496

  29. Gaze Tracking Using Corneal Images Captured by a Single High-Sensitivity Camera Reviewed

    Lotfi El Hafi, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    International Broadcasting Convention (IBC)     2016.9

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    Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1049/ibc.2016.0033

  30. Data-efficient human training of a care motion controller for human transfer assistant robots using Bayesian optimization Reviewed

    Takamitsu Matsubara, Yoshihito Funaki, Ming Ding, Tsukasa Ogasawara, Kenji Sugimoto

    6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)   Vol. 2016-   page: 606 - 611   2016.7

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE Computer Society  

    Transferring is one of care motions for transferring a patient between a bed and a wheelchair, which is a heavy burden task for caregivers. Various kinds of transferring assistant robots have been proposed previously. However, designing comfortable transfer motions for individuals has not been intensively studied maybe due to its difficulty in modeling of such physical human-robot interactions and user's preference. In this paper, we propose a novel framework for generating comfortable transfer motion for individuals. We find the comfortable motion from the user feedback (scalar value) through human-robot physical interactions. To make such an approach practical, it is critical to reduce the number of required experiments with physical interactions between the user and the robot for reducing user's burden. We formulate the task as a black-box optimization problem of a unknown noisy function
    Bayesian optimization, a data-efficient black-box optimization method, is utilized for quickly searching the optimal care motion. In our experiment, a dual-Arm human transfer assistant robot is used for the raising upper body task in lift-up state. Experimental results demonstrate that our method can optimize a user-comfortable care motion controller for each individual efficiently. Moreover, the relationship between the user feedback and the sensor data associated with the robot care motions are analyzed using linear regression analysis.

    DOI: 10.1109/BIOROB.2016.7523692

    Scopus

  31. Data-Efficient Human Training of a Care Motion Controller for Human Transfer Assistant Robots using Bayesian Optimization Reviewed

    Takamitsu Matsubara, Yoshihito Funaki, Ming Ding, Tsukasa Ogasawara, Kenji Sugimoto

    2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     page: 606 - 611   2016

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

    Transferring is one of care motions for transferring a patient between a bed and a wheelchair, which is a heavy burden task for caregivers. Various kinds of transferring assistant robots have been proposed previously. However, designing comfortable transfer motions for individuals has not been intensively studied maybe due to its difficulty in modeling of such physical human-robot interactions and user's preference. In this paper, we propose a novel framework for generating comfortable transfer motion for individuals. We find the comfortable motion from the user feedback (scalar value) through human-robot physical interactions. To make such an approach practical, it is critical to reduce the number of required experiments with physical interactions between the user and the robot for reducing user's burden. We formulate the task as a black-box optimization problem of a unknown noisy function; Bayesian optimization, a data-efficient black-box optimization method, is utilized for quickly searching the optimal care motion. In our experiment, a dual-arm human transfer assistant robot is used for the raising upper body task in lift-up state. Experimental results demonstrate that our method can optimize a user-comfortable care motion controller for each individual efficiently. Moreover, the relationship between the user feedback and the sensor data associated with the robot care motions are analyzed using linear regression analysis.

    DOI: 10.1109/BIOROB.2016.7523692

    Web of Science

  32. Experimental Validation of a Motion Generation Model for Natural Robotics-Based Sit to Stand Assistance and Rehabilitation Reviewed

    Ahmed Asker, Samy F. M. Assal, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara, A. M. Mohamed

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     page: 214 - 219   2016

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

    Sit to stand (STS) is an important daily activity that requires high joint torques and neuromuscular coordination. Robotics-based assistive devices have a great potential to increase independence and quality of life for elderly and disabled people. Comparison between motion kinematic of unassisted and assisted STS transfer shows that commercial lifters result in an abnormal pattern of motion. Therefore, the minimum shoulder jerk (MSJ) criterion is used in this paper to model the natural motion during STS transfer. In order to assess the ability of the MSJ criterion to replicate the natural STS motion, a testbed consists of a 2-DOF robotic arm is developed. This testbed is used to compare motion pattern and required assisting force when a subject is assisted through MSJ trajectory and the one that is obtained from a commercial lifter. The simulation and experimental results prove that the proposed approach can achieve a natural pattern of motion. Also, the required assisting force in the case of MSJ trajectory is lower than that of the commercial lifters which can reduce fatigue due to repeated lifting. The method of trajectory generation presented in this paper is shown to be easy to apply and suitable for real-time implementation. Thus, the results of this paper may be used to enhance the existing strategies of STS assistance and rehabilitation.

    DOI: 10.1109/ROBIO.2016.7866324

    Web of Science

  33. Effective rocking motion for inducing sleep in adults - Verification of effect of mother's embrace and rocking motion - Reviewed

    Keishi Ashida, Yoshifumi Morita, Ryojun Ikeura, Kiyoko Yokoyama, Ming Ding, Yuki Mori

    PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2015)   Vol. 1 ( 4 ) page: 41 - 46   2015

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:ALIFE ROBOTICS CO, LTD  

    We investigated the most effective rocking motion for inducing sleep in adults. We prepared ten types of rocking motions, including two types of mother's rocking motions. The sleep-inducing effect of all the rocking motions was evaluated using Thurstone's paired comparison method (Case V). From statistical analysis of the subjective experimental results we found that, of the ten types of rocking motions, the linear motion component of a mother's rocking motions (Type 2) was the most effective for inducing sleep in adults.

    Web of Science

  34. Estimation of Care Receiver's Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot Reviewed

    Yuki Mori, Ryojun Ikeura, Ming Ding

    Journal of Robotics and Mechatronics   Vol. 26 ( 6 ) page: 743 - 749   2014.12

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    Language:English  

    DOI: 10.20965/jrm.2014.p0743

    J-GLOBAL

  35. Development of Three-Dimensional Motion Measuring Device for the Human Ankle Joint by Using Parallel Link Mechanism Reviewed

    Teru Yonezawa, Takayuki Onodera, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura, Takeki Ogitsu

    2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     page: 4358 - 4361   2014

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

    This paper presents a novel ankle motion measuring device that can measure three-dimensional motions without a motion capture system (MCS). We adapted a parallel link mechanism for the device using six wire-type displacement sensors to measure the ankle joint motions in six degrees of freedom (six-DOF). We define the motions of a foot plate which is attached to a foot sole as ankle joint motions. A posture of the foot plate, i.e., the three-dimensional position (x, y, z) and rotation angle (theta, phi, psi), is numerically calculated by solving the forward kinematics of the developed device. We conducted performance verification experiments of the developed device by comparing these results with those of the MCS. The experimental results show that the maximum root mean square error of the three-dimensional position and rotation angle measured by the developed device are 2.6 mm and 1.5 degrees, respectively. This measuring performance of the developed device indicates that the ankle motion measuring device is accurate and valid. Moreover, this device enables physical therapists to easily measure ankle motions with an accuracy as high as that of an MCS.

    DOI: 10.1109/EMBC.2014.6944589

    Web of Science

    PubMed

  36. Development and Performance Evaluation of Parallel Link Type Human Ankle Rehabilitation Assistive Device Reviewed

    Teru Yonezawa, Kenta Nomura, Takayuki Onodera, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     page: 802 - 807   2014

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

    This paper presents a novel rehabilitation assistive device called a "parallel link type human ankle rehabilitation assistive device (PHARAD)." It can accurately measure foot motions in six degrees of freedom and reproduce the ankle joint motions. By reproducing the input motions of the ankle joint, PHARAD conducts passive exercises for ankle rehabilitation. To measure and reproduce complex foot motions, we adopted a parallel link mechanism using six pneumatic cylinders with displacement sensors. In this research, we define the motions of a foot plate attached to a foot sole as the foot motions. A posture of the foot plate, i.e., the three-dimensional (3D) position (x, y, z) and rotation angle (theta, phi, psi), is numerically calculated by solving the forward kinematics of the PHARAD. We conducted two kinds of experiments to evaluate the performance of the PHARAD. First, verification experiments for the accuracy were implemented by comparing the measured motions of the foot plate by the PHARAD with those obtained by a motion capture system. The experimental results showed that the maximum root mean square error (RMSE) values of the 3D position and rotation angle were 2.6 mm and 1.5 degrees, respectively. Then, verification experiments for the reproducibility were implemented by comparing the reproduced motions with the input motions. The experimental results showed that the RMSE values of the 3D position and rotation angle were 5.6 mm and 6.1 degrees, respectively. Moreover, after reproducing the input motions ten times, the standard deviations of the 3D position and rotation angle were 1.4 mm and 0.7 degrees espectively. These experimental results show that the PHARAD can precisely measure and reproduce complex ankle motions, and has the potential to reproduce the exercise therapy presented by physical therapists.

    DOI: 10.1109/ROBIO.2014.7090430

    Web of Science

  37. Force, stiffness and viscous damping control in six degrees of freedom of the ankle-foot rehabilitation assistive device Reviewed

    Takayuki Onodera, Teru Yonezawa, Ming Ding, Hiroshi Takemura

    Transactions of Japanese Society for Medical and Biological Engineering   Vol. 52 ( 2 ) page: 88 - 96   2014

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    In this research, we developed a novel ankle-foot assistive device for rehabilitation. This device uses a Stewart Platform Mechanism (SPM) to measure and assist the movements of a human ankle joint in six Degrees Of Freedom(DOFs). The SPM adapts to the displacement of the rotation axis of a human ankle joint during the movements of a human foot. In our previous work, we have proposed methods of measuring and controlling the movements of a human foot. In this paper, we propose a method of a force control of the device. The force can be controlled by changing the pneumatic pressures in two chambers of each cylinder without using any force sensors. The force control method is tested in experiments for one cylinder and for the developed six DOFs assistive device. These test results show that the mean squared error of one cylinder is 0. 19[Nm] or less, respectively. The mean squared error about the force and torque control of this device is 0.49[N]and 0.06 Nm or less, respectively. The experimental results showed that desired force can also be realized in a high enough accuracy using the proposed method. For stiffness and water rehabilitation, we have proposed methods of controlling stiffness rate and viscous damping coefficient of one cylinder. The mean squared error of stiffness controlling is 3.4[N/m]or less, and that of viscous damping coefficient controlling is 1.4[Ns/m]or less. These results suggest that the developed six DOFs assistive device could be used during ankle-foot rehabilitation without force sensor.

    DOI: 10.11239/jsmbe.52.88

    Scopus

  38. Lift-up Motion Generation of Nursing-care Assistant Robot Based on Human Muscle Force and Body Softness Estimation Reviewed

    Ming Ding, Ryojun Ikeura, Yuki Mori, Toshiharu Mukai, Shigeyuki Hosoe

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     page: 1302 - 1307   2014

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    In our research center, we have developed a nursing-care assistant robot. This robot can lift up and transfer patient between bed and wheelchair using two human like arms. In this research, in order to generate comfortable lift-up motion automatically for this robot, we proposed a new method by reducing patient's load and pain feeling during lifting-up. We developed a musculoskeletal model to estimate muscle force, which shows the load of human body. A stiffness sensor was also developed to measure the softness distribution of human body. Contact human body on soft place can make people feel less pain. In simulation, we estimate human posture and comfortable robot motion by minimizing muscle force and contacting human body on the softest places. In experiments, the measured subjects' postures were compared with the estimated value using the estimated motions. Measured postures were very close to simulation, which shows the effectiveness of proposed method.

    DOI: 10.1109/AIM.2014.6878262

    Web of Science

  39. Performance evaluation of novel ankle-foot assist device for ankle-foot rehabilitation Reviewed

    Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IFMBE Proceedings   Vol. 43   page: 492 - 495   2014

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

    In this research, we propose a novel ankle–foot assist device for rehabilitation. The developed device applies a Stewart platform mechanism to measure and assist the movements of a human ankle joint in six DOF. The Stewart platform mechanism adapts to the displacement of the rotation axis of a human ankle joint during the movement of a human foot. In this study, we investigate the accuracy of the performance of motion control of the developed device by conducting motion reproduction experiments. The developed device can follow frequency of 2 [Hz] and has sufficient speed for rehabilitation. The mean reproducibility of all subjects was 0.98. These experimental results show the validity of the proposed assist device, and the developed 6 degrees of freedom assist device could be used during ankle-foot rehabilitation.

    DOI: 10.1007/978-3-319-02913-9_125

    Scopus

  40. Enhancement of Plantar Tactile Sensitivity by Wearable Stabilization Device Based on Stochastic Resonance for Fall Prevention Reviewed

    Satoshi Kudoh, Akira Obara, Yuu Satoh, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura

    Journal of Robotics and Mechatronics   Vol. 25 ( 6 ) page: 888 - 896   2013.12

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    DOI: 10.20965/jrm.2013.p0888

    J-GLOBAL

  41. Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator Reviewed

    Takayuki Onodera, Eiji Suzuki, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    Journal of Robotics and Mechatronics   Vol. 25 ( 6 ) page: 897 - 905   2013.12

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    DOI: 10.20965/jrm.2013.p0897

    J-GLOBAL

  42. Relaxed individual control of skeletal muscle forces via physical human-robot interaction Reviewed

    William Gallagher, Ming Ding, Jun Ueda

    MULTIBODY SYSTEM DYNAMICS   Vol. 30 ( 1 ) page: 77 - 99   2013.6

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    This study develops a relaxed formulation of a method for controlling individual muscle forces using exoskeleton robots. Past studies have developed a muscle-force control method with very strict limitations on the conditions. These conditions will be removed, and the problem will be reformulated as a constrained optimization of several parameters. The optimization algorithm recognizes when a solution to the muscle control problem cannot be exactly realized, and finds the solution that minimizes the mean errors of the individual muscles between expected and desired muscle activation. This is demonstrated in a computer simulation of human arm dynamics and compared against the prior method to demonstrate its wider applicability. In addition, the control method is extended to resolve issues associated with a nonideal exoskeleton with incomplete torque application to the joints. A quasi-optimized motor-task that minimizes the errors in target muscles and nontarget muscles can be obtained. This paper presents theoretical analysis, simulation, and experimental results on the performance of the relaxed individual muscle control.

    DOI: 10.1007/s11044-013-9362-y

    Web of Science

  43. Adaptive user-centered design for safety and comfort of physical human nursing - Care robot interaction Reviewed

    Minghui Sun, Hiromichi Nakashima, Shinya Hirano, Kazuya Matsuo, Ming Ding, Chang'an Jiang, Toshiharu Mukai, Guihe Qin

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   Vol. 8025 ( 1 ) page: 365 - 372   2013

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    Nowadays serving robots are more and more popular in human society. However, most of them are designed for the special people or for the special scenario. There is little robot designed to apply appropriate interface for different people that can accommodate age-related and body-related in physical interaction. We propose that user-centered design should be used in physical Human-robot interaction. In this research, we take a nursing-care robot as an example. Based on the results of the experiment, we proved that the distance between two arms of nursing-care robot, which affected the comfort and safety of patient, should be applied by different patients with different body length. We try to build the adaptive human robot interface based on the physical properties of people, such as body length. This study is an attempt to explore the adaptive human robot interaction and contributes to giving insights and implications for the future design of general serving robot. © 2013 Springer-Verlag.

    DOI: 10.1007/978-3-642-39173-6_43

    Scopus

  44. Individual control of redundant skeletal muscles using an exoskeleton robot Reviewed

    Jun Ueda, Ming Ding

    Lecture Notes in Electrical Engineering   Vol. 57   page: 183 - 199   2013

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    Individual muscle control involves the use of an exoskeleton to induce specific muscle activation patterns during the wearer's voluntary movement. A pneumatically powered wearable exoskeleton has been developed for the upper extremities. It is comprised of multiple pneumatic artificial muscles, force transducers, and custom-designed software that utilize a musculoskeletal model to predict and modify the wearer's muscle activities (e.g. activation level, torque). The interaction with such a wearable robot induces muscle activities thatmay not be achieved in the standard exercise environment. The software uses a computational algorithm to plan an adequate motor-task by modeling not only a complex coupling between multiplemuscles and joints, but also the optimization principle in the neuromuscular system that coordinates redundant muscles. © 2013 Springer-Verlag.

    DOI: 10.1007/978-3-642-33971-4_11

    Scopus

  45. Using tactile sensors to estimate care receiver position on dual arms of robot Reviewed

    Yuki Mori, Ryoujun Ikeura, Ming Ding

    Proceedings of IEEE Sensors     2013

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE Computer Society  

    Caregivers in nursing-care environments develop strain injuries while transferring patients from a bed to a wheelchair. We have developed a nursing-care robot, RIBA, which can perform transfer tasks using its two arms. RIBA must lift the appropriate part of the care receiver's body and transfer the care receiver between the bed and the wheelchair without inflicting pain or discomfort. To accomplish this, RIBA must know the care receiver's position in its arms when the arms are between the bed and the care receiver. To detect the points of contact between the care receiver and the robotic arms, the position of the care receiver on the robotic arms was estimated by using tactile sensors on the robotic arms as well as a machine learning algorithm. The results show that the caregiver position was estimated with 97% accuracy by our method. © 2013 IEEE.

    DOI: 10.1109/ICSENS.2013.6688439

    Scopus

  46. Measurement of human body stiffness for lifting-up motion generation using nursing-care assistant robot - RIBA Reviewed

    Ming Ding, Ryojun Ikeura, Yuki Mori, Toshiharu Mukai, Shigeyuki Hosoe

    IEEE Sensors 2013     2013

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE Computer Society  

    In our research center, we have developed a nursing-care assistant robot - RIBA. This robot can lift up and transfer patient between bed and wheelchair using two human like arms. In this research, we proposed a new method to generate comfortable lifting-up motion automatically for using this robot. This method can reduce the pain feeling of patient during lift-up by setting robot arms to contact human body on the softest places. In order to measure the stiffness of soft human body, a stiffness sensor was developed, which has a large measurement range. We measured the stiffness on the back of upper body and thighs. From the measured data, we got an average stiffness distribution. In simulation, by controlling robot arm to lift human body up from the estimated softest place and minimizing the load of human body, we obtained a most comfortable robot motion. In experiment, all subjects felt this motion comfortable. The measured subjects' postures were also very close to the estimated value, which confirmed the effectiveness of stiffness measurement and motion generation method. © 2013 IEEE.

    DOI: 10.1109/ICSENS.2013.6688431

    Scopus

  47. Design and Control of a Wearable Stewart Platform-Type Ankle-Foot Assistive Device Regular Paper Reviewed

    Hiroshi Takemura, Takayuki Onodera, Ding Ming, Hiroshi Mizoguchi

    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS   Vol. 9 ( 5 ) page: 1 - 7   2012.11

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:INTECH -OPEN ACCESS PUBLISHER  

    The design and control of an active ankle-foot rehabilitation orthotic system that was designed as a wearable and portable rehabilitation and walking assistive tool is presented. This device can measure and assist the six degree of freedoms (DOFs) movement of the human ankle joint by using a Stewart platform mechanism, which can adapt to the displacement of the rotation axis during the movement of a human foot. The estimation method of an instantaneous rotation axis of ankle-foot motion is also proposed. In this paper, the motion measurement and motion control performance of the developed assistive device is evaluated. Static and dynamic motion measurement and motion reproduction performance verification experiments are conducted. The experimental results showed that the developed assistive device is enough for measuring and controlling the human ankle-foot motion.

    DOI: 10.5772/52449

    Web of Science

  48. Spatiograms を用いた平均値シフトと確率的予測による頑健な物体追跡手法 Reviewed

    多田 和樹, 丁 明, 竹村 裕, 溝口 博

    日本機械学会論文集C編   Vol. 78 ( 787 ) page: 799 - 811   2012.3

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  49. Comfort Estimation During Lift-up Using Nursing-care Robot - RIBA Reviewed

    Ming Ding, Ryojun Ikeura, Toshiharu Mukai, Hiromichi Nagashima, Shinya Hirano, Kazuya Matsuo, Minghui Sun, Chang'an Jiang, Shigeyuki Hosoe

    2012 First International Conference on Innovative Engineering Systems (ICIES)     page: 225 - 230   2012

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    In our research center, we have developed a nursing-care assistant robot - RIBA, which can lift up and transfer person between bed and wheelchair using its two human like arms. In this research, we develop a new method to estimate the comfortable feeling of human, which can help our robot - RIBA to find the best lifting-up motion automatically. By using a lifting-up model and optimizing a weighted evaluation function, we can calculate the lifting forces and the human joint torques during the lift-up. A weighted evaluation is used to reflect the change of comfortable feeling. We also carried out some experiments to check the model and the estimating method. During the lift-up, we measured subjects' EMG signal. And after the lift-up, questionnaires survey is conducted. The change trends between estimated and measured value show the effectiveness of the model and the method quantitatively and qualitatively.

    DOI: 10.1109/ICIES.2012.6530874

    Web of Science

  50. Design and Development of Stewart Platform-Type Assist Device For Ankle-Foot Rehabilitation Reviewed

    Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    2012 First International Conference on Innovative Engineering Systems (ICIES)     page: 1 - 6   2012

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

    In this research, we propose a novel ankle-foot assist device for rehabilitation. This device uses a Stewart platform mechanism to measure and assist the movements of a human ankle joint in six DOF. The Stewart platform mechanism adapts to the displacement of the rotation axis of a human ankle joint during the movement of a human foot. In this study, check the accuracy of motion measurement of this device and the performance of motion control of this assist device by conducting static measurement and motion reproduction experiments. The translation error and The rotation error were less than 0.5 [mm] and 0.6 [deg] respectively. The mean reproducibility of all subjects was 0.98 These experimental results show the validity of our proposed assist device.

    DOI: 10.1109/ICIES.2012.6530835

    Web of Science

  51. Pinpointed muscle force control via optimising human motion and external force Reviewed

    Ming Ding, Kotaro Hirasawa, Yuichi Kurita, Hiroshi Takemura, Hiroshi Mizoguchi, Jun Takamatsu, Tsukasa Ogasawara

    International Journal of Mechatronics and Automation   Vol. 2 ( 3 ) page: 147 - 156   2012

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling more effective motion support, rehabilitation and training by explicitly specifying the target muscles. In our past research, a control method was proposed for static human motion. The results of simulation and experiments showed that it is possible to control the force of selected muscle individually. However, the past method we proposed was only considered for constant posture, which led to a large effect of non-target muscle. In this paper, a new pinpointed muscle force control method is proposed to reduce the effect of non-target muscle taking into account human motion and external force. Human motion and external force was optimised individually in a double-loop searching algorithm, which reduced the computational cost. By calculating the posture step by step, this method can also be used for quasi-static motion. The validity of this method was confirmed by measuring surface EMG signals for each muscle. © 2012 Inderscience Enterprises Ltd.

    DOI: 10.1504/IJMA.2012.049389

    Scopus

  52. Robust tracking method by Mean-Shift using spatiograms and particle-filter Reviewed

    Kazuki Tada, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   Vol. 78 ( 787 ) page: 799 - 811   2012

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    Language:Japanese   Publishing type:Research paper (scientific journal)  

    In this paper, we proposed the real time robust tracking method which combined mean-shift using the spatiograms with the particle-filter, and the proposed method can continue to track non-rigid objects with a temporal occlusion. The proposed method is using a tracker representing the center of the object and samples. At first the tracker tracks the object by using the Mean-Shift algorithm based on the spatiograms. Then, to avoid to be trapped by occlusion, the true target position is searched by using the particle-filter. The proposed method needs only small number of samples so that the computational cost can be reduced largely. We conducted experiments in order to compare the proposed method with the conventional Mean-Shift. As a result, the proposed method was more effective than the conventional method, when the object moved rotation or moved rapidly and a temporal occlusion occurred. © 2012 The Japan Society of Mechanical Engineers.

    DOI: 10.1299/kikaic.78.799

    Scopus

  53. Posture Control Using New Ankle-Foot Assist Device with Stewart Platform Type Parallel Link Mechanisms Reviewed

    Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)     page: 1385 - 1390   2012

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

    In this research, we developed a novel ankle-foot assist device for rehabilitation and walking assistant purpose. This device can measure and assist 6 DOFs movement of human ankle joint by using a Stewart Platform mechanism, which can adapt to the displacement of the rotation axis during the movement of human foot. In this paper, we validate the motion measurement and motion control performance of this developed assist device. We conducted the static measurement performance verification experiment and motion reproduction performance verification experiment. Translation error measured by this developed assist device is less than 0.5 [mm], and rotation error measured by this developed assist device is smaller than 0.6 [deg]. Mean of reproducibility that calculated by means of Cross correlation function is 0.98. These experimental results showed the validity of this developed assist device.

    DOI: 10.1109/ROBIO.2012.6491162

    Web of Science

  54. Position, Force and Stiffness Control of a Stewart-platform-type Ankle-foot Assist Device Reviewed

    Ming Ding, Takayuki Onodera, Ryojun Ikeura, Hiroshi Takemura, Hiroshi Mizoguchi

    the ASME 5th Annual Dynamic Systems and Control Conference (DSCC)     page: 11 - 18   2012

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:AMER SOC MECHANICAL ENGINEERS  

    In this research, we developed an ankle-foot assist device for foot rehabilitation and walking assistant purpose. In order to support all 6 DOFs human foot motion (the rotations of human foot and the displacement of rotation axes), a six air cylinders drive Stewart Platform Mechanism was used. In our previous work, we have proposed a measuring and calculating method to get the posture of human foot and estimate the instantaneous rotation axis of ankle joint [1]. In this paper, we further propose a new method to control the position, force and stiffness of this device. The position can be controlled even if the potentiometers do not measure the length of air cylinders directly. The force can be controlled by changing the air pressures in two chambers of each cylinder, without using any force sensors. The stiffness can also be controlled which is controlled by changing the stiffness of all cylinders, by changing the pressures in chambers. These control methods are tested in experiments for one cylinder and for developed assist device. The results show the accuracy and validity of the device and the method in the control of position, force and stiffness.

    Web of Science

  55. Development of a New Foot-ankle Assist Device with Stewart Platform Mechanism Reviewed

    Ming Ding, Takayuki Onodera, Hiroshi Takemura, Hiroshi Mizoguchi

    International Biomechanics Conference & Annual Meeting of Taiwanese Society of Biomechanics     page: TSB2011-059   2011.10

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  56. Influence of reduced plantar sensation on human gaits on various terrains Reviewed

    Shinichiro Suzuki, Akira Chaki, Kentaro Sekiguchi, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    Journal of Robotics and Mechatronics   Vol. 23 ( 2 ) page: 258 - 265   2011.4

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  57. 3D Bioimaging Sensor of Breast Cancer Cell Using Rare-Earth-Doped Ceramic Nanophosphors and Near-Infrared Reviewed

    Ryosuke Osaki, Ming Ding, Hiroshi Hyodo, Kohei Soga, Hiroshi Takemura, Hiroshi Mizoguchi

    2011 IEEE SENSORS     page: 1784 - 1787   2011

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    This paper presents a concept of a novel breast cancer detection system based on fluorescence bioimaging (FBI) which consists of rare-earth-doped ceramic nanophosphors (RED-CNP) and near-infrared (NIR). The use of NIR light in the wavelength region between 800 and 2000 nm for biomedical photonics attracts great interests since the region is so-called "biological windows", where biological tissues have minimal absorbance and also auto-fluorescence can be avoided. 3D measurement of breast cancer can be achieved by integrate NIR bioimaging which uses NIR emission under NIR excitation and laser light section method. In this paper, the 3D measurement experiments of an invisible object covered by chicken skin and meat are conducted. The experimental results suggest that the proposed method is useful for the 3D measurement breast cancer cell detection method.

    DOI: 10.1109/ICSENS.2011.6127059

    Web of Science

  58. Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device Reviewed

    Ming Ding, Tomohiro Iida, Hiroshi Takemura, Hiroshi Mizoguchi

    INTELLIGENT ROBOTICS AND APPLICATIONS   Vol. 7101   page: 221 - +   2011

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:SPRINGER-VERLAG BERLIN  

    In this research, we developed a novel ankle-foot assist device for stroke rehabilitation and walking assistant purpose. A Stewart platform mechanism is used, which can adapt to the displacement of the rotation axis of human foot. With using six potentiometer assembled cylinders, the posture of human foot can be controlled/measured in all 6-DOF direction by controlling/measuring the lengths of all cylinders. A calculating method is also proposed, to estimate the instantaneous rotation axis of ankle-foot motion. It can make foot motion assistant more accurate and comfortable. In this paper, we describe the structure and the control/estimation method of this assist device. Some initial results of experiments will show the validity of this device and the rotation axis estimation method.

    DOI: 10.1007/978-3-642-25486-4_23

    Web of Science

    J-GLOBAL

  59. Development and validation of lower limb musculoskeletal model for Pinpointed Muscle Force Control Reviewed

    Tomohiro Iida, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     page: 1355 - 1360   2011

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    In this research, in order to achieve Pinpointed Muscle Force Control (PMFC) in lower limb, we developed lower limb musculoskeletal model and use the model for calculation and control one or some selected target muscles force. PMFC is the method which can be expected the effect to rehabilitation or training by giving a stimulus to the particular muscle. In the developed model, one leg has 4 links, 7 degrees of freedom (DOFs) and 44 major muscles. This model can estimate the muscle forces by using the optimization method. Some external force which the selected muscle generates target muscle force are obtained by using this model. The validation is taken by comparing change rate of the estimated muscle force with change rate of electromyogram (EMG) of the muscle obtained from experiments. We validate effectiveness of this model and the PMFC in lower limb by result of experiments. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181477

    Scopus

  60. Constant execution time multiple human detectors regardless of target number increase based on CHLAC Reviewed

    Y. Kitano, M. Ding, H. Takemura, H. Mizoguchi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     page: 2658 - 2663   2011

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    This paper proposes the constant execution time multiple human detection system. The human detection from video sequence is important in a monitoring camera system and a robot vision. It is important not to change execution time in human detection system regardless number of persons. In this paper, the feature amount of an image was calculated by using Cubic Higher-Order Local Auto Correlation (CHLAC) in video sequence. CHLAC has position invariability and additivity. The proposed method can recognize a person and the other incoming things. We verify the human detection rate and the execution time by the number of persons. We show the system do not change the execution time in multiple human detectors. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181706

    Scopus

  61. Constant execution time multiple human detector regardless of target number increase based on HLAC Reviewed

    Yusuke Kitano, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     page: 13 - 18   2011

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

    This paper proposes the constant execution time multiple human detection system. The human detection from video sequence is important in a monitoring camera system and a robot vision. It is important not to change the execution time in human detection system regardless number of persons. In this paper, the feature amount of an image was calculated by using Higher-Order Local Auto Correlation (HLAC) in video sequence. HLAC has position invariability and additivity. We verify the human detection rate and the execution time by the number of persons. We show the system do not change the execution time in multiple human detection.

    DOI: 10.1109/AIM.2011.6027089

    Web of Science

  62. Combination of Microphone Array Processing and Camera Image Processing for Visualizing Sound Pressure Distribution Reviewed

    M. Goseki, M. Ding, H. Takemura, H. Mizoguchi

    2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     page: 139 - 143   2011

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

    This paper describes visualizing sound pressure distribution by combining microphone array processing and camera image processing. In microphone array signal processing, capturing a sound at desired position is achieved by Delay and Sum Beam Forming (DSBF). In camera image processing, taking information of 3D position is achieved by triangulation method with stereo camera. We calculate sound level with capturing sound at 3D position taken by camera image processing. In order to visualize sound pressure distribution, calculated sound levels are superimposed on camera image. Experiments were conducted to examine visualization of sound pressure distribution by using different noise and different sound pressure level.

    DOI: 10.1109/ICSMC.2011.6083656

    Web of Science

  63. Human detection method based on feature co-occurrence of HLAC and HOG Reviewed

    M. Morita, M. Ding, H. Takemura, H. Mizoguchi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     page: 1689 - 1694   2011

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    This paper proposes a new human detection method, which is robust to illumination change and does almost not confuse human with other objects even they have similar contours. This method is based on integration with two features: Higher-order Local Auto-Correlation (HLAC) features and Histograms of Oriented Gradients (HOG) features. HLAC features can give a broad pattern of gray scale image. The features are invariant to shift, but poor at illumination change. HOG features can give an accurate description of contour of human body. These are robust to illumination change, but usually confuse human with other thing that similar contour. In order to make up these deficits, we use co-occurrence of multiple features to integrate HOG and HLAC features. In our experiments, we obtain 20.1% lower value on false positive per window than other proposed method when miss rates are similar. These results proved the effectiveness of this new method. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181532

    Scopus

  64. Quantitative evaluations of stable and adaptive tracking using the updating HS-histogram method Reviewed

    Y. Kimura, M. Ding, H. Takemura, H. Mizoguchi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     page: 2949 - 2954   2011

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

    In this paper, we proposed a robust detecting and tracking method for mobile robot by using the Updating Hue and Saturation-histogram method (UHS-his), we also proposed standard quantitatively evaluation parameters for a general detecting and tracking method. Hue and Saturation are elements of HSV color space. The UHS-his method can be used indoors and outdoors as the robust detecting and tracking method of the person following robot. To use the UHS-his method as the robust detecting and tracking method for a person following robot, the method is also required to be stable for tracking and adaptive for fast moving. Therefore, the standard quantitative evaluation parameters of stable and adaptive tracking are necessary. There are no standard evaluation methods for detecting and tracking by a color camera. We proposed two parameters for the standard quantitative evaluation of detecting and tracking by an image processing. One is "Tracking Error" to evaluate the stability of the general detecting and tracking method. The other is "Limit Speed" to evaluate the adaptivity of the method. The UHS-his method is compared with the existing tracking method by using the proposed standard quantitative evaluation parameters. The results of evaluations show that Tracking Error of the UHS-his method is up to 1/5 of the existing tracking method and Limit Speed of the UHS-his method is up to 10 times fast of the existing tracking method. The experimental results suggest that the UHS-his method is stable for tracking and adaptive for fast moving. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181754

    Scopus

  65. Mobile robot system realizing autonomous locomotion - Combination of person following and autonomous returning Reviewed

    R. Arai, M. Ding, H. Takemura, H. Mizoguchi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     page: 1367 - 1372   2011

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    In recent years, robots are entering into our daily life. Many researches have been carried out for human-robot coexistence and cooperation purpose. In our research, we proposed concept for autonomous mobile robot to carry luggage automatically to the destination and return to the original location from the destination automatically. This concept includes two main categories, outward moving and homeward moving. In this paper, we propose the autonomous mobile robot system in homeward moving phase because the outward moving system was already developed in our past research. We develop a new control method for the autonomous mobile robot to realize the homeward moving. Three basic functions are included in this method, Mapping, Navigation and Obstacle Detection and Avoidance. These functions have been implemented into our robot system, and the experimental result evaluated the effectiveness of our method. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181479

    Scopus

  66. Improvement of plantar tactile sensitivity by stochastic resonance for prevention of falling Reviewed

    Satoshi Kudoh, Ming Ding, Hirohsi Takemura, Hiroshi Mizoguchi

    Proceedings - 4th International Congress on Image and Signal Processing, CISP 2011   Vol. 1   page: 182 - 185   2011

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    For a senior person, the fall is danger with the risk of the injuries such as bone fractures. Plantar tactile sensibility is one of the senses contributing to stability of gait. In this study, we develop a device improving plantar tactile sensitivity by stochastic resonance to improve stability of gait of elderly person. For development of the device, we tested whether the plantar tactile sensitivity improved by application of vibrating noise to the part except the sole of foot. As a result of experiment, we found that plantar tactile sensitivity was improved when vibration was given on tarsal tunnel. It suggested that the device which improved the stability of gait putted on the part except the sole of foot was feasible. © 2011 IEEE.

    DOI: 10.1109/CISP.2011.6100028

    Scopus

  67. Influence of Plantar Insensitive for Human Gait in Even and Uneven Terrain Reviewed

    Shinichiro Suzuki, Akira Chaki, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)     2010.10

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  68. Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing Reviewed

    Jun Ueda, Ding Ming, Vijaya Krishnamoorthy, Minoru Shinohara, Tsukasa Ogasawara

    IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING   Vol. 18 ( 4 ) page: 339 - 350   2010.8

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in movement control due primarily to their inability to modulate their muscle activation pattern in an appropriate manner. A functionality test at the level of individual muscles that investigates the activity of a muscle of interest on various motor tasks may enable muscle-level force grading. To date there is no extant work that focuses on the application of exoskeleton robots to induce specific muscle activation in a systematic manner. This paper proposes a new method, named "individual muscle-force control" using a wearable robot (an exoskeleton robot, or a power-assisting device) to obtain a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by hand. A computational algorithm systematically computes control commands to a wearable robot so that a desired muscle activation pattern for target muscle forces is induced. It also computes an adequate amount and direction of a force that a subject needs to exert against a handle by his/her hand. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests on target muscles by arbitrarily inducing muscle activation patterns. This paper presents a basic concept, mathematical formulation, and solution of the individual muscle-force control and its implementation to a muscle control system with an exoskeleton-type robot for upper extremity. Simulation and experimental results in healthy individuals justify the use of an exoskeleton robot for future muscle function testing in terms of the variety of muscle activity data.

    DOI: 10.1109/TNSRE.2010.2047116

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    PubMed

  69. INDIVIDUAL MUSCLE CONTROL USING AN EXOSKELETON ROBOT FOR MUSCLE FUNCTION TESTING Reviewed

    Jun Ueda, Ming Ding, Moiz Hyderabadwala, Tsukasa Ogasawara, Vijaya Krishnamoorthy, Minoru Shinohara

    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B     page: 371 - 378   2010

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:AMER SOC MECHANICAL ENGINEERS  

    A functionality test at the level of individual muscles by investigating the activity of a muscle of interest on various tasks may enable muscle-level force grading. This paper proposes a new method for muscle function tests using an exoskeleton robot for obtaining a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by his/her hand. A computational algorithm systematically computes control commands to a wearable robot with actuators (an exoskeleton robot, or a power-assisting device) so that a desired muscle activation pattern for target muscle forces is induced. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests for target muscles by arbitrarily inducing muscle activation patterns. Simulation results justify the use of an exoskeleton robot for muscle function testing in terms of the variety of muscle activity data.

    DOI: 10.1115/DSCC2009-2675

    Web of Science

  70. PINPOINTED MUSCLE FORCE CONTROL TAKING INTO ACCOUNT THE CONTROL DOF OF POWER-ASSISTING DEVICE Reviewed

    Ming Ding, Yuichi Kurita, Jun Ueda, Ogasawara Tsukasa

    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2010, VOL 1     page: 341 - 348   2010

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:AMER SOC MECHANICAL ENGINEERS  

    The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of senior citizen and people with disability. Other potential applications are for muscle rehabilitation and sports training. Various power-assisting devices have been developed for supporting the human joint torque in factory. The main focus of our research is to propose a Pinpointed Muscle Force Control (PMFC) method to control the load of selected muscles by using power-assisting device, thus enabling pinpointed motion support, rehabilitation, and training by explicitly specifying the target muscles. In past research, we have made some achievements. However, using the past control method, all joint torque need to be controlled individually. Limited by the current technology, it is difficult to develop such power-assisting device. In this paper, we developed the muscle force control method by taking into account the control DOF of power-assisting device. Using this method, any existing power-assisting device can be used to realize PMFC, even if this device cannot control all joint torque individually. The validity of this advanced PMFC method and the effects from the control DOF are confirmed in simulation and experiments.

    DOI: 10.1115/DSCC2010-4102

    Web of Science

  71. Pinpointed muscle force control in consideration of human motion and external force Reviewed

    Ming Ding, Kotaro Hirasawa, Yuichi Kurita, Hiroshi Takemura, Jun Takamatsu, Hiroshi Mizoguchi, Tsukasa Ogasawara

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010     page: 739 - 744   2010

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    The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling pinpointed motion support, rehabilitation and training by explicitly specifying the target muscles. In our past research, a control method was proposed for static human motion. And the result of simulation and experiments showed that it is possible to control the force of selected muscle individually. However, the past method we proposed was only considered for constant posture, which led to a large effect of non-target muscle. In this paper, a new pinpointed muscle force control method was proposed to reduce the effect of non-target muscle by human motion and external force. Human motion and external force was optimized individually in a double-loop searching algorithm, which reduced the computational cost. By calculating the posture step by step, this method can also be used for a quasi-static motion. The validity of this method was confirmed by measuring surface EMG signals for each muscle. © 2010 IEEE.

    DOI: 10.1109/ROBIO.2010.5723418

    Scopus

  72. Flexible Sensor for McKibben Pneumatic Artificial Muscle Actuator Reviewed

    Shinji Kuriyama, Ming Ding, Yuichi Kurita, Jun Ueda, Tsukasa Ogasawara

    International Journal of Automation Technology   Vol. 3 ( 6 ) page: 731 - 740   2009.11

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    DOI: 10.20965/ijat.2009.p0731

  73. 運動機能支援装具の開発と身体運動時の筋力制御 Reviewed

    小笠原 司, 丁 明, 上田 淳

    科学と工業   Vol. 83 ( 10 ) page: 453 - 461   2009.10

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  74. Pinpointed Muscle Force Control Using a Power-assisting Device Reviewed

    Ming Ding, Jun Ueda, Tsukasa Ogasawara

    Journal of Robotics Society of Japan   Vol. 27 ( 9 ) page: 1037 - 1045   2009.1

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    Authorship:Lead author, Last author, Corresponding author   Language:Japanese   Publishing type:Research paper (scientific journal)  

    DOI: 10.7210/jrsj.27.1037

  75. Flexible sensor for Mckibben pneumatic actuator Reviewed

    Shinji Kuriyama, Ming Ding, Yuichiro Kurita, Tsukasa Ogasawara, Jun Ueda

    Proceedings of IEEE Sensors     page: 520 - 525   2009

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    Publishing type:Research paper (international conference proceedings)  

    A flexible electro-conductive rubber sensor for measuring the length of a McKibben pneumatic actuator has been developed. Mckibben actuators are flexible, lightweight, and widely used to actuate power assisting devices for which compliance is required for safety. The actuator's length needs to be measured to control the devices accurately. However, the flexibility and lightweight properties might be lost if rigid sensors such as linear potentionmeters or encoders are directly attached to the actuators. To keep the desirable properties of McKibben actuators, compact and flexible sensors are necessary. In this paper, a flexible sensor using electro-conductive flexible rubber is proposed to measure the length of McKibben actuators. Using this sensor, a higher accuracy can be obtained by measuring the circumference displacement than directly measuring the axial displacement. The estimation accuracy is evaluated and the usefulness of the proposed method is verified by adopting to a multiple-link robot arm driven by the McKibben actuators. ©2009 IEEE.

    DOI: 10.1109/ICSENS.2009.5398292

    Scopus

  76. Pinpointed Muscle Force Control Using a Power-assisting Device: System Configuration and Experiment Reviewed

    Ming Ding, Jun Ueda, Tsukasa Ogasawara

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2     page: 181 - 186   2008

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    Authorship:Lead author, Last author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of elderly and disabled people. Other potential applications are for muscle rehabilitation and sports training. The main focus of this paper is to control the load of selected muscles by using a power-assisting device, thus enabling "pinpointed" motion support, rehabilitation, and training by explicitly specifying the target muscles. By taking into account the physical interaction between human muscle forces and actuator driving-forces during power-assisting, the feasibility of this muscle force control is analyzed as a constrained optimization problem. A prototype power-assisting device driven by pneumatic rubber actuators is developed. A control system is developed with a graphical user interface that provides an easy operation to designate desired forces for target muscles. The validity of the method is confirmed by experiments by measuring surface electromyographic (EMG) signals for target muscles.

    DOI: 10.1109/BIOROB.2008.4762829

    Web of Science

  77. Development of MAS - a system for pin-pointed muscle force control using a power-assisting device Reviewed

    Ming Ding, Jun Ueda, Tsukasa Ogasawara

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5     page: 1463 - 1469   2007

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

    This paper proposes a system MAS (Muscle Assistant System), which controls designated muscle forces by controlling a power-assisting device. MAS estimates muscle force based on posture measured by a Motion capture system. The feasibility of the muscle force control for an object muscle is checked based on constrained optimization problem. For realizing the target force, the driving-force of power-assisting device is calculated and controlled. Using this pin-pointed muscle force control method, the effective rehabilitation and sports training is provided.

    DOI: 10.1109/ROBIO.2007.4522380

    Web of Science

  78. Pinpointed control of muscles by using power-assisting device Reviewed

    Jun Ueda, Ming Ding, Masayuki Matsugashita, Reishi Oya, Tsukasa Ogasawara

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10     page: 3621 - +   2007

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

    The aim of this paper is to arbitrarily modify the load force of any selected muscle by using an exoskeleton, thus enabling "pinpointed" motion support, rehabilitation, and training. An advanced dynamic model, called a musculoskeletalexo-skeletal integrated human model, is developed. The driving-forces of the pneumatic actuators are designated by a muscle force control algorithm using the integrated model. A prototype power-assisting system is developed using pneumatic rubber actuators. The feasibility of the muscle force control is analyzed from a view point of nonlinear programming. The validity of the method is confirmed by measuring surface electromyographic signals of related muscles.

    DOI: 10.1109/ROBOT.2007.364033

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MISC 96

  1. Estimation of Forearm Pose Based on Upper Arm Deformation Using a Deep Neural Network Reviewed

    Sung-Gwi Cho, Tetsuya Kurasumi, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    the IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1245-1250   2019.12

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    Language:English   Publishing type:Research paper, summary (international conference)  

  2. A Parallel Gripper with a Universal Fingertip Device Using Optical Sensing and Jamming Transition for Maintaining Stable Grasps Reviewed

    Tatsuya Sakuma, Elaine Phillips, Gustavo Alfonso Garcia Ricardez, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    the IEEE International Conference on Intelligent Robots and Systems (IROS)     page: 5814-5819   2019.11

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  3. Machine-learning-based hand motion recognition system by measuring forearm deformation with a distance sensor array Reviewed

    Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    International Journal of Intelligent Robotics and Applications   Vol. 3 ( 4 ) page: 418-429   2019.11

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    DOI: 10.1007/s41315-019-00115-1

  4. Simultaneous Estimation of Elbow Joint Angle and Load Based on Upper Arm Deformation Reviewed

    Tetsuya Kurasumi, Sung-Gwi Cho, Ming Ding, G. Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS)     page: 136-141   2019.9

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  5. Prediction of Plantar Forces During Gait Using Wearable Sensors and Deep Neural Networks Reviewed

    Mikihisa Nagashima, Sung-Gwi Cho, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC)     page: 3629-3632   2019.7

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    DOI: 10.1109/EMBC.2019.8857752

  6. Generation of a tactile-based pouring motion using fingertip force sensors Reviewed

    Takuya Kiyokawa, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    IEEE/SICE International Symposium on System Integrations (SII)     page: 669-674   2019.1

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    DOI: 10.1109/SII.2019.8700365

  7. Development of Distance Sensor Array to Measure Upper Arm Deformation for the Estimation of Upper Limb Motion

    KURASUMI Tetsuya, CHO Sung-Gwi, DING Ming, GARCIA RICARDEZ Gustavo Alfonso, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2019 ( 0 ) page: 2P1 - N06   2019

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Upper limb motions play an important role in Activities of Daily Living (ADLs). Studies on the upper limb motion estimation have been conducted and applied to various fields. In this research, we develop a distance sensor array which can measure the upper arm deformation. An estimation method is proposed to calculate the elbow joint angle and the load in the hand simultaneously. The elbow joint angles are estimated using Support Vector Regression (SVR). The load is estimated using Support Vector Machine (SVM). In the experiment, we confirm the estimation accuracy by comparing the acquired and estimated angle and load.</p>

    DOI: 10.1299/jsmermd.2019.2P1-N06

  8. Estimation of Hand Motion Based on Forearm Deformation Reviewed

    Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 2291-2296   2018.12

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    DOI: 10.1109/ROBIO.2018.8664823

  9. Scoop the Semi-Liquid Objects Using a Spoon-Equipped Robot Arm for Meal Support Reviewed

    Daiki Yoshioka, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    ASME Dynamic Systems and Control Conference (DSCC)     2018.10

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  10. A Universal Gripper Using Optical Sensing to Acquire Tactile Information and Membrane Deformation Reviewed

    Tatsuya Sakuma, Felix von Drigalski, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Intelligent Robots and Systems (IROS)     page: 6431-6436   2018.10

  11. Wearable Device to Record Hand Motions based on EMG and Visual Information Reviewed

    Gustavo Alfonso Garcia Ricardez, Atsushi Ito, Ming Ding, Masahiro Yoshikawa, Jun Takamatsu, Yoshio Matsumoto, Tsukasa Ogasawara

    14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)     page: 1-6   2018.7

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  12. Estimation of the Operating Force From the Human Motion Reviewed

    Ming Ding, Ryuzo Baba, Kristada Masanthia, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara

    Annual International Conference of the IEEE Engineering in Medicine Biology Society (EMBC)     page: 1751-1754   2018.7

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    DOI: 10.1109/EMBC.2018.8512702

    PubMed

  13. Static 3D Map Reconstruction based on Image Semantic Segmentation Reviewed

    Feiran Li, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    15th International Conference on Ubiquitous Robots (UR)     page: 583-585   2018.6

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  14. Estimating the Operation of Unknown Appliances for Service Robots Using CNN and Ontology Reviewed

    Gustavo Alfonso Garcia Ricardez, Yosuke Osaki, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    Second IEEE International Conference on Robotic Computing (IRC)     page: 181-182   2018.1

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    DOI: 10.1109/IRC.2018.00039

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  15. Logging human activities using a mobile robot

    Tomoaki INOUE, Satoki TSUICHIHARA, Gustavo Alfonso, GARCIA RICARDEZ, Ming DING, Jun TAKAMATSU, Tsukasa OGASAWARA

    Abstracts of Annual Congress of The Japan Society of Home Economics   Vol. 70 ( 0 ) page: 245 - 245   2018

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    Language:Japanese   Publisher:The Japan Society of Home Economics  

    目的 移動ロボットを用いた生活の見える化、生活時間の獲得を目指す。生活中の行動の中で、会話やテレビ視聴、スマホ、新聞、雑誌を見るなど、見ている対象を推定することでわかる行動の判別を、ロボットやコンピュータ技術を利用してどれくらい認識できるかを検討する。&lt;br&gt;&lt;br&gt;方法 画像の解像度の関係から、正確な視線方向をロボットのカメラから推定することは難しいので、顔向きと視線の向きが一致すると仮定した。深層学習ベースの物体認識YOLOを用いた人・物体認識や、OpenFaceを用いた顔向き推定に基づき、見ている対象を推定する。推定精度が向上するように、ロボットの移動戦略を実装する&lt;br&gt;&lt;br&gt;結果 正面を向いた人が見た物体の推定精度が最も高く、8割以上推定に成功した。ただし、向きが正面から大きく離れると精度が悪化することが確認された。そこで、できるだけ顔の正面になるようにロボットを移動させることによって、様々な場合で8割以上の推定を維持することに成功した。

  16. Pushing Unliftable Objects Using a Multicopter

    SHIRAKURA Naoki, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2018 ( 0 ) page: 1P1 - B10   2018

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    &lt;p&gt;Research on aerial manipulation which consists of manipulation of objects with multicopters has been attracting attention in recent years. Commonly, the aerial manipulation is performed with a manipulator mounted on a multicopter. And, the motion of the manipulator affects the attitude control of the multicopter. Therefore, the combined control of manipulator and multicopter has been studied. However, the object to be manipulated in these studies is only a light object that does not affect the control of the multicopter. This research focuses on manipulating unliftable objects using a multicopter. In the proposed method, target objects are manipulated using a pushing motion. To realize this pushing motion, constructing a physical model is required. The effectiveness of the proposed method is verified in simulation.&lt;/p&gt;

  17. Measurement of Rowing Motion using IMU sensors and Distance Sensors and the Accuracy Evaluation

    KINOHISTA Shori, CHO Sung-Gwi, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of the Symposium on sports and human dynamics   Vol. 2018 ( 0 ) page: A - 15   2018

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Analyzation of the rowing motion of a boat is necessary for improving athlete's rowing technique. In this research, a system is developed to measure the rowing motion only by attached the sensors on the boat and the oars. A distance sensor and two IMU sensors are used to measure the motion of the seat, oar, and boat. From the measured data, the movement of the seat and oar can be calculated on the boat. In the evaluation experiment, we test the measurement system on a rowing machine. The accuracy is evaluated by comparing the measured data that obtained from the developed system and the optical motion capture system.</p>

    DOI: 10.1299/jsmeshd.2018.A-15

  18. Gazed Object Estimation for Obtaining Detailed Time-usage Data Using a Mobile Robot

    INOUE Tomoaki, YUGUCHI Akishige, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2018 ( 0 ) page: 2P1 - A05   2018

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    &lt;p&gt;To improve quality of life (QOL), it is important to analyze our daily activities. Among the criteria related to QOL, time-usage studies are drawing attention in the home economics field. Time-usage analysis extracts both activities and their intentions. In this paper, we propose a method for estimating gazed objects using a mobile robot to support the acquisition of detailed time-usage measurements. The gazed objects are closely related to the activities in the time-usage analysis, for example, eating and watching TV. The proposed method first recognizes the person and the surrounding objects using the camera mounted on the robot. Next the object gazed by the person is estimated based on the face orientation. If the robot decides that the estimation from the current observation is difficult, the robot changes the view direction to reduce the difficulty. The experiments verify that the accuracy of the estimation is improved by changing view directions.&lt;/p&gt;

  19. Development of Universal Gripper with Optical Sensing and Acquisition of Tactile Information

    SAKUMA Tatsuya, VON DRIGALSKI Felix, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2018 ( 0 ) page: 1P2 - I08   2018

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    &lt;p&gt;The universal gripper has attracted attention due to its simple structure and advanced grasping ability of irregularly shaped objects. In this research, we propose a novel design for a granular-jamming-based gripper, which uses a transparent filling and semi-transparent membrane to perform optical sensing to detect both the deformation and the object that is being grasped. By adjusting the refractive index of an oil mixture to the refractive index of the granular bodies, we achieve a fully transparent filling that allows the use of a camera inside the universal gripper. We present the materials and development of our prototype and confirm experimentally that it can successfully acquire tactile information.&lt;/p&gt;

  20. Gaze calibration for human-android eye contact using a single camera Reviewed

    Akishige Yuguchi, Gustavo Alfonso Garcia Ricardez, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics, (ROBIO)     page: 883-888   2017.12

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  21. Textile identification using fingertip motion and 3D force sensors in an open-source gripper Reviewed

    Felix Von Drigalski, Marcus Gall, Sung-Gwi Cho, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara, Tamim Asfour

    IEEE International Conference on Robotics and Biomimetics, (ROBIO)     page: 424-429   2017.12

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    DOI: 10.1109/ROBIO.2017.8324454

  22. Hand pose estimation and motion recognition using egocentric RGB-D video Reviewed

    Wataru Yamazaki, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 147-152   2017.12

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  23. Estimation of driver's posture using pressure distribution sensors in driving simulator and on-road experiment Reviewed

    Ming Ding, Tatsuya Suzuki, Tsukasa Ogasawara

    IEEE International Conference on Cyborg and Bionic Systems (CBS)     page: 215-220   2017.10

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  24. Modeling of natural sit-to-stand movement based on minimum jerk criterion for natural-like assistance and rehabilitation Reviewed

    Ahmed Asker, Samy F. M. Assal, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara, Adel Mahgoub Mohamed

    Advanced Robotics   Vol. 31 ( 17 ) page: 901-917   2017.9

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    Language:English  

  25. Hand motion recognition using a distance sensor array Reviewed

    Sung-Gwi Cho, Masahiro Yoshikawa, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)     page: 1459-1464   2017.8

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    DOI: 10.1109/ROMAN.2017.8172496

  26. STARE: Realtime, Wearable,Simultaneous Gaze Tracking and Object Recognition from Eye Images Reviewed

    Lotfi EI Hafi, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    SMPTE Motion Imaging Journal   Vol. 126 ( 6 ) page: 37-46   2017.8

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  27. Quantification of Elegant Motions for Receptionist Android Robot Reviewed

    Makoto Ikawa, Etsuko Ueda, Akishige Yuguchi, Gustavo Alfonso Garcia Ricardez, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    the 19th International Conference on Human-Computer Interaction (HCII)     page: 435-446   2017.7

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  28. Gaze Tracking and Object Recognition from Eye Images Reviewed

    Lotfi El Hafi, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    First IEEE International Conference on Robotic Computing (IRC)     page: 310-315   2017.4

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    DOI: 10.1109/IRC.2017.44

  29. NAIST Openhand M2S: A Versatile Two-Finger Gripper Adapted for Pulling and Tucking Textile Reviewed

    Felix Von Drigalski, Daiki Yoshioka, Wataru Yamazaki, Sung-Gwi Cho, Marcus Gall, Pedro Miguell Uriguen Eljuri, Viktor Hoerig, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara, Jessica Beltrán

    First IEEE International Conference on Robotic Computing (IRC)     page: 117-122   2017.4

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  30. Extraction of Eating Scenes to Support the Review of Eating Habits

    松浦 亮太, 築地原 里樹, GARCIA RICARDEZ Gustavo Alfonso, 丁 明, 高松 淳, 小笠原 司

    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報   Vol. 116 ( 411 ) page: 89 - 95   2017.1

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  31. Generation of comfortable lifting motion for a human transfer assistant robot Reviewed

    Ming Ding, Takamitsu Matsubara, Yoshihito Funaki, Ryojun Ikeura, Toshiharu Mukai, Tsukasa Ogasawara

    International Journal of Intelligent Robotics and Applications   Vol. 1 ( 1 ) page: 74-85   2017.1

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  32. Hand Joint Angle Estimation Based on Forearm Deformation Measured with a Distance Sensor Array Reviewed

    CHO Sung-Gwi, YOSHIKAWA Masahiro, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2017 ( 0 ) page: 2P2 - M07   2017

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    <p>In this study, we propose a method for hand joint angle estimation based on forearm deformation measured with a distance sensor array. The developed distance sensor array can fit the forearm to measure small deformation, since it was made based on a 3D model of the forearm. We show experimentally that the proposed method can estimate not only the angles of wrist flexion/extension and the hand closing/opening but also pronation/supination from the activity of the deep layer muscles. The error rate is 8.9° or less for each joint angle. The results show that the proposed method is useful for hand joint angle estimation including pronation and supination motion of the forearm.</p>

    DOI: 10.1299/jsmermd.2017.2P2-M07

  33. Development of an Elastic Finger Joint of a Robotic Gripper For Picking Up Thin, Easily Deformable Objects Reviewed

    HOERIG Viktor Gerhard, TAKAMATSU Jun, OGASAWARA Tsukasa, DRIGALSKI Felix VON, YOSHIOKA Daiki, GALL Marcus, URIGUEN ELJURI Pedro Miguel, YAMAZAKI Wataru, CHO Sung-Gwi, BELTRAN ULLAURI Jessica Gabriela, DING Ming

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2017 ( 0 ) page: 2P1 - D08   2017

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    <p>Manipulation of thin, easily deformable objects is part of daily life tasks as well as industrial applications, such as paper folding, gift wrapping, bed making and seat manufacturing. Independent from the following manipulation approach all these tasks require a pick up process before. In this paper we propose a design of a robotic gripper with an integrated torsion spring in the DIP finger joint. Thereby we are able to achieve a process to pick up thin, deformable objects from a flat surface with low control and motion planning effort.</p>

    DOI: 10.1299/jsmermd.2017.2P1-D08

  34. A robotic system for automated bed-making using a gripper specialized for textile manipulation

    DRIGALSKI Felix VON, TAKAMATSU Jun, OGASAWARA Tsukasa, YOSHIOKA Daiki, GALL Marcus, ELJURI Pedro Miguel URIGUEN, YAMAZAKI Wataru, CHO Sung-Gwi, HOERIG Viktor, ULLAURI Jessica Gabriela BELTRAN, DING Ming

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2017 ( 0 ) page: 2P2 - F10   2017

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    <p>Robots are expected to perform a variety of household tasks. Tasks such as bed making and tucking textile layers during seat manufacture represent a particular challenge, as they require both sensitive manipulation and strong pushing capabilities. In this paper, we present a robotic solution for automated bed making with a force-sensing robot arm and an end effector for textile manipulation, which can manipulate textiles, as well as apply high forces to tuck a textile into a small space. The system can also use its fingertips to confirm grasp success by detecting the grasped material. The end effector design is available open source. We experimentally confirm the proposal's effectiveness in the last part of the bed making task.</p>

    DOI: 10.1299/jsmermd.2017.2P2-F10

  35. Reviewing table manners using computer vision techniques

    Matsuura Ryota, Tsuichihara Satoki, Garcia Ricardez, Gustavo Alfonso, Ding Ming, Takamatsu Jun, Ogasawara Tsukasa

    Abstracts of Annual Congress of The Japan Society of Home Economics   Vol. 69 ( 0 )   2017

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    マナーやプレゼンテーション技術を客観的に評価し、改善するために、自分自身の行動をビデオで撮影し、振り返ってみるといった方法がある。そのためには目的の映像の頭出しや再生を繰り返す必要があり、撮影された映像が長くなれば長くなるほど、手間が増大する。必要な情報のみを要約した映像が仮に自動的に作成されたとしたら、振り返りにかかる手間の軽減が期待される。 本研究では、画像処理技術を使って、元の映像を短くまとめた要約映像を生成する方法を構築する。具体的には、食事の場面を撮影し、摂食中の映像のみを抜き出し、要約することを試みる。実際に要約された映像を閲覧することで、その効果を検証する。 計算機に目的の動作がどのようなものであるかを提示し、そこから機械学習を用いて自動で判定する必要がある。本研究では、不特定多数の人の行動認識に比べ、ある特定の人(服装なども同じ)の認識のほうが簡単であるという事実に基づき、ある特定の人に特化した機械学習をおこなうことで、提示の手間を軽減する。 実験では,複数の被験者の食事映像に対して提案手法を適用することで、箸を用いた摂食動作の約85%が抽出できた。摂食判定の結果に基づいて要約された映像の長さが,元の映像の約10%に短縮されることを確認した。要約された映像を閲覧することで,食べる順番、三角食べ、食べるときの姿勢、食事のテンポ、が人目で簡単に判断できることを確認した。

  36. System to support the reviewing of eating habits by video summarization

    MATSUURA Ryota, TSUICHIHARA Satoki, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2017 ( 0 ) page: 2P2 - G10   2017

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    &lt;p&gt;In order to improve the quality of life, it is necessary to record and review daily-life activities by oneself. In this research, we focus on review of eating habits because they are closely related to health. For this purpose, we propose a system to summarize eating scenes by detecting eating motions. The user reviews her/his eating habits by watching the eating scenes on the summarized, short video. The proposed system aggressively uses a personalized detector for each case, which reduces the complexity of the classifier and enables to train the classifier only from the first eating scene. In the experiments, we verify that the proposed system detects 86 percent of eating motions from the eating scenes of five subjects and the duration of the summarized video is only 11 percent of the original video.&lt;/p&gt;

  37. Experimental validation of a motion generation model for natural robotics-based sit to stand assistance and rehabilitation Reviewed

    Ahmed Asker, Samy F. M. Assal, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara,A. M. Mohamed

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 214-219   2016.12

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  38. Gaze Tracking Using Corneal Images Captured by a Single High-Sensitivity Camera Reviewed

    Lotfi El Hafi, Ming Ding, Jun Takamatsu, Tsukasa Ogasawara

    International Broadcasting Convention (IBC)     2016.9

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  39. Data-efficient human training of a care motion controller for human transfer assistant robots using Bayesian optimization Reviewed

    Takamitsu Matsubara, Yoshihito Funaki, Ming Ding, Tsukasa Ogasawara, Kenji Sugimoto

    IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)     page: 606-611   2016.6

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  40. ベイズ最適化を用いた双腕介護支援ロボットによる快適な抱き上げ動作の自動生成に関する検討

    舟木義人, 松原崇充, MING Ding, 小笠原司, 杉本謙二

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   Vol. 16th   page: ROMBUNNO.1B2‐3   2015.12

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    J-GLOBAL

  41. Effective Rocking Motion for Inducing Sleep in Adults - Verification of Effect of Mother's Embrace Rocking Motion Reviewed

    Keishi Ashida, Yoshifumi Morita, Ryojun Ikeura, Kiyoko Yokoyama, Ming Ding, Yuki Mori

    Journal of Robotics, Networking and Artificial Life   Vol. 1 ( 4 ) page: 285-290   2015.2

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  42. Estimation of Care Receiver's Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot Reviewed

    Yuki Mori, Ryojun Ikeura, Ming Ding

    Journal of Robotics and Mechatronics   Vol. 26 ( 6 ) page: 743-749   2014.12

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    DOI: 10.20965/jrm.2014.p0743

    J-GLOBAL

  43. Development and performance evaluation of parallel link type human ankle rehabilitation assistive device Reviewed

    Teru Yonezawa, Kenta Nomura, Takayuki Onodera, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 802-807   2014.12

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  44. Development of three-dimensional motion measuring device for the human ankle joint by using parallel link mechanism Reviewed

    Teru Yonezawa, Takayuki Onodera, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura, Takeki Ogitsu

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)     page: 4358-4361   2014.8

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    DOI: 10.1109/EMBC.2014.6944589

    PubMed

  45. Lift-up motion generation of nursing-care assistant robot based on human muscle force and body softness estimation Reviewed

    Ming Ding, Ryojun Ikeura, Yuki Mori, Toshiharu Mukai, Shigeyuki Hosoe

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)     page: 1302-1307   2014.7

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  46. ワイヤ式ポテンショメータを用いた足関節可動域計測装置の開発と性能評価

    米澤 輝, 小野寺 貴之, 小原 晃, 丁 明, 竹村 裕, 溝口 博

    日本機械学会ロボティクス・メカトロニクス講演会2014(ROBOMECH2014)講演論文集     page: 3P2-A04   2014.5

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  47. パラレルリンク機構を用いた足関節リハビリテーション支援装置の設計・開発

    米澤 輝, 小野寺 貴之, 小原 晃, 丁 明, 竹村 裕, 溝口 博

    日本機械学会関東支部 第53回学生員卒業研究発表講演会講演前刷集     2014.3

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  48. Force, Stiffness and Viscous Damping Control in Six Degrees of Freedom of the Ankle-Foot Rehabilitation Assistive Device Reviewed

    Takayuki ONODERA, Teru YONEZAWA, Ming DING, Hiroshi TAKEMURA

    Transactions of Japanese Society for Medical and Biological Engineering   Vol. 52 ( 2 ) page: 88-96   2014.2

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  49. Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator Reviewed

    Takayuki Onodera, Eiji Suzuki, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    Journal of Robotics and Mechatronics   Vol. 25 ( 6 ) page: 897-905   2013.12

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    DOI: 10.20965/jrm.2013.p0897

    J-GLOBAL

  50. Enhancement of Plantar Tactile Sensitivity by Wearable Stabilization Device Based on Stochastic Resonance for Fall Prevention Reviewed

    Satoshi Kudoh, Akira Obara, Yuu Satoh, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura

    Journal of Robotics and Mechatronics   Vol. 25 ( 6 ) page: 888-896   2013.12

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    DOI: 10.20965/jrm.2013.p0888

    J-GLOBAL

  51. Performance Evaluation of Novel Ankle-Foot Assist Device for Ankle-Foot Rehabilitation Reviewed

    Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    The 15th International Conference on Biomedical Engineering (ICBME)     page: 492-495   2013.12

  52. Measurement of human body stiffness for lifting-up motion generation using nursing-care assistant robot - RIBA Reviewed

    Ming Ding, Ryojun Ikeura, Yuki Mori, Toshiharu Mukai, Shigeyuki Hosoe

    IEEE Sensors     2013.11

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    DOI: 10.1109/ICSENS.2013.6688431

  53. Adaptive User-Centered Design for Safety and Comfort of Physical Human Nursing - Care Robot Interaction Reviewed

    Minghui Sun, Hiromichi Nakashima, Shinya Hirano, Kazuya Matsuo, Ming Ding, Chang-an Jiang, Toshiharu Mukai, Guihe Qin

    International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management (DMH)     page: 365-372   2013.7

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  54. Relaxed individual control of skeletal muscle forces via physical human-robot interaction Reviewed

    William Gallagher, Ming Ding, Jun Ueda

    Multibody System Dynamics   Vol. 30 ( 1 ) page: 77-99   2013.6

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    DOI: 10.1007/s11044-013-9362-y

  55. SP型パラレルリンク機構を用いた短下肢アシストデバイスによる力制御

    小野寺貴之, 鈴木瑛二, 丁明, 高橋昭如, 竹村裕, 溝口博

    日本機械学会ロボティクス・メカトロニクス講演会2013(ROBOMEC2013)講演論文集     page: 1A2-C08   2013.5

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  56. Design and development of Stewart platform-type assist device for ankle-foot rehabilitation Reviewed

    Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    First International Conference on Innovative Engineering Systems (ICIES)     2012.12

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    DOI: 10.1109/ICIES.2012.6530835

  57. Comfort estimation during lift-up using nursing-care robot - RIBA Reviewed

    Ming Ding, Ryojun Ikeura, Toshiharu Mukai, Hiromichi Nagashima, Shinya Hirano, Kazuya Matsuo, Minghui Sun, Chang'an Jiang, Shigeyuki Hosoe

    First International Conference on Innovative Engineering Systems (ICIES)     2012.12

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    DOI: 10.1109/ICIES.2012.6530874

  58. Posture control using new ankle-foot assist device with Stewart Platform type parallel link mechanisms. Reviewed

    Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1385-1390   2012.12

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    DOI: 10.1109/ROBIO.2012.6491162

  59. Position, Force and Stiffness Control of a Stewart-Platform-Type Ankle-Foot Assist Device Reviewed

    Ming Ding, Takayuki Onodera, Ryojun Ikeura, Hiroshi Takemura, Hiroshi Mizoguchi

    ASME Dynamic Systems Control Conference (DSCC)     page: .   2012.10

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  60. Pinpointed muscle force control via optimising human motion and external force Reviewed

    Ming Ding, Kotaro Hirasawa, Yuichi Kurita, Hiroshi Takemura, Hiroshi Mizoguchi, Jun Takamatsu, Tsukasa Ogasawara

    International Journal of Mechatronics and Automation   Vol. 2 ( 3 ) page: 147-156   2012.10

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    DOI: 10.1504/IJMA.2012.049389

  61. Design and Control of a Wearable Stewart Platform-Type Ankle-Foot Assistive Device Reviewed

    Hiroshi Takemura, , Takayuki Onodera, Ding Ming, Hiroshi Mizoguchi

    International Journal of Advanced Robotic Systems   Vol. 9 ( 5 ) page: 1-7   2012.8

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    DOI: 10.5772/52449

  62. Quantitative evaluations of stable and adaptive tracking using the updating HS-histogram method. Reviewed

    Yuta Kimura, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 2949-2954   2011.12

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    DOI: 10.1109/ROBIO.2011.6181754

  63. Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device Reviewed

    Ming Ding, Tomohiro Iida, Hiroshi Takemura, Hiroshi Mizoguchi

    4th International Conference Intelligent Robotics and Applications (ICIRA)   Vol. 7101   page: 221-229   2011.12

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    DOI: 10.1007/978-3-642-25486-4_23

    J-GLOBAL

  64. Development and validation of lower limb musculoskeletal model for Pinpointed Muscle Force Control. Reviewed

    Tomohiro Iida, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1355-1360   2011.12

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    DOI: 10.1109/ROBIO.2011.6181477

  65. Mobile robot system realizing autonomous locomotion - Combination of person following and autonomous returning Reviewed

    Ryoma Arai, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1367-1372   2011.12

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    DOI: 10.1109/ROBIO.2011.6181479

  66. Human detection method based on feature co-occurrence of HLAC and HOG. Reviewed

    Miho Morita, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1689-1694   2011.12

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    DOI: 10.1109/ROBIO.2011.6181532

  67. Constant execution time multiple human detectors regardless of target number increase based on CHLAC Reviewed

    Yusuke Kitano, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 2658-2663   2011.12

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    DOI: 10.1109/ROBIO.2011.6181706

  68. 転倒予防のための確率共鳴現象による足底触覚感度の向上

    工藤 聡, 丁 明, 竹村 裕, 溝口 博

    第32回 バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集     page: 225 - 228   2011.11

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  69. トレーニング・リハビリに向けた下肢ピンポイント筋力制御 ―任意筋活動率を達成する外力・姿勢の推定―

    飯田 智裕, 丁 明, 竹村 裕, 溝口 博

    第32回バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集     page: 149 - 152   2011.11

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  70. 足底接触面変形画像及び床反力同時測定による歩行解析

    茶木 亮, 小原 晃, 丁 明, 竹村 裕, 溝口 博

    第32回バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集     page: 31 - 34   2011.11

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  71. 屈折率を考慮した近赤外光を用いた乳がん細胞の三次元バイオイメージング

    大崎涼介, 丁 明, 竹村 裕, 兵藤 宏, 曽我 公平, 溝口 博

    第32回バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集     page: 243 - 244   2011.11

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  72. Combination of microphone array processing and camera image processing for visualizing sound pressure distribution Reviewed

    Masafumi Goseki,Ming Ding,Hiroshi Takemura,Hiroshi Mizoguchi

    IEEE International Conference on Systems, Man and Cybernetics (SMC)     page: 139-143   2011.10

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    DOI: 10.1109/ICSMC.2011.6083656

  73. Improvement of plantar tactile sensitivity by stochastic resonance for prevention of falling Reviewed

    Satoshi Kudoh, Ming Ding, Hirohsi Takemura, Hiroshi Mizoguchi

    4th International Congress on Image and Signal Processing (CISP)     2011.10

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    DOI: 10.1109/CISP.2011.6100028

  74. 3D bioimaging sensor of breast cancer cell using rare-earth-doped ceramic nanophosphors and near-infrared Reviewed

    Ryosuke Osaki, Ming Ding, Hiroshi Hyodo, Kohei Soga, Hiroshi Takemura, Hiroshi Mizoguchi

    IEEE Sensors     2011.10

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    DOI: 10.1109/ICSENS.2011.6127059

  75. 足首関節回転軸変位制御可能なスチュワートプラットホーム型下肢アシスト装置の開発

    丁明, 小野寺貴之, 飯田智裕, 竹村裕, 溝口博

    第29回日本ロボット学会学術講演会講演論文集     2011.9

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  76. Constant execution time multiple human detector regardless of target number increase based on HLAC Reviewed

    Yusuke Kitano, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    ASME Dynamic Systems Control Conference (DSCC)     2011.7

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    DOI: 10.1109/AIM.2011.6027089

  77. ピンポイント筋力制御可能な革新的下肢リハビリ支援手法に関する研究

    飯田智裕, 丁明, 竹村裕, 溝口博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集     page: 2P2-B08(1) - 2P2-B08(4)   2011.5

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  78. マイクアレイ信号処理とカメラ画像処理との連携による音圧分布の可視化

    後関 政史, 丁明, 竹村裕, 溝口博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集     page: 2P2-L02(1) - 2P2-L02(4)   2011.5

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  79. 不安定歩行早期発見を目的とした足裏接触変形・床反力同時計測装置の開発

    茶木亮, 鈴木信一郎, 丁明, 竹村裕, 溝口博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集     page: 2P2-O07(1) - 2P2-O07(4)   2011.5

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  80. 希土類含有セラミックスナノ粒子と近赤外光を用いた乳がん細胞の三次元バイオイメージング

    大崎 涼介, 丁 明, 兵藤 宏, 曽我 公平, 竹村 裕, 溝口 博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集     page: 2P2-H02(1) - 2P2-H02(4)   2011.5

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  81. 対象人物数が増えても処理時間変動がないHLAC利用人物検出システム

    北野 裕介, 丁 明, 竹村 裕, 溝口 博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集     page: 2P1-Q03(1) - 2P1-Q03(4)   2011.5

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  82. Influence of reduced plantar sensation on human gaits on various terrains Reviewed

    Shinichiro Suzuki, Akira Chaki, Kentaro Sekiguchi, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi

    Journal of Robotics and Mechatronics   Vol. 23 ( 2 ) page: 258-265   2011.4

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  83. Pinpointed muscle force control in consideration Of human motion and external force. Reviewed

    Ming Ding, Kotaro Hirasawa, Yuichi Kurita, Hiroshi Takemura, Jun Takamatsu, Hiroshi Mizoguchi, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 739-744   2010.12

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    DOI: 10.1109/ROBIO.2010.5723418

  84. 足底触覚変化が不整地歩行時の歩行速度・歩幅・歩隔に及ぼす影響

    鈴木 信一郎, 茶木 亮, 丁 明, 竹村 裕, 溝口 博

    第31回 バイオメカニズム学術講演会講演論文集     page: 247 - 250   2010.11

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  85. 不安定歩行早期発見を目的とした足裏皮膚変形測定装置の開発

    茶木 亮, 鈴木 信一郎, 丁 明, 竹村 裕, 溝口 博

    第31回 バイオメカニズム学術講演会講演論文集     page: 129 - 132   2010.11

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  86. Pinpointed Muscle Force Control Taking into Account the Control DOF of Power-Assisting Device Reviewed

    Ming Ding, Yuichi Kurita, Jun Ueda, Tsukasa Ogasawara

    ASME 2010 Dynamic Systems Control Conference (DSCC)     page: 341-348   2010.9

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    DOI: 10.1115/DSCC2010-4102

  87. Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing Reviewed

    Jun Ueda, Ming Ding, Vijaya Krishnamoorthy, Minoru Shinohara, Tsukasa Ogasawara

    IEEE Transactions on Neural Systems and Rehabilitation Engineering   Vol. 18 ( 4 ) page: 339-350   2010.8

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    DOI: 10.1109/TNSRE.2010.2047116

    PubMed

  88. 1P1-E22 Derivation of External Force and Motion for Pinpointed Muscle Force Control Reviewed

    HIRASAWA Kotaro, DING Ming, KURITA Yuichi, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2010 ( 0 ) page: _1P1 - E22_1-_1P1-E22_2   2010

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    The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling "pinpointed" motion support, rehabilitation and training by explicitly specifying the target muscles. In this research, we proposed a novel control method to realize the pinpointed muscle force control during movement. The validity of this method is confirmed by measuring surface EMG signals for each muscle.

    DOI: 10.1299/jsmermd.2010._1P1-E22_1

  89. 2A1-D16 Pinpointed Muscle Force Control Experiments Using Multiple Power-assisting Devices Reviewed

    Ding Ming, Kurita Yuichi, Ueda Jun, Takamatsu Jun, Ogasawara Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2010 ( 0 ) page: _2A1 - D16_1-_2A1-D16_2   2010

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    Although power assisting devices were already considered promising for helping elderly and disabled person, we aim at expanding the application, such as muscle rehabilitation and sports training. The main focus of this research is to control the load of selected muscles using a power-assisting device, thus enabling pinpointed motion support, rehabilitation, and training. We also consider the device which has less DOF than number of joints. Although the simulation results verify the effectiveness of the proposed framework, we verify the effectiveness through the actual experiments.

    DOI: 10.1299/jsmermd.2010._2A1-D16_1

  90. Flexible Sensor for McKibben Pneumatic Artificial Muscle Actuator Reviewed

    Shinji Kuriyama, Ming Ding, Yuichi Kurita, Jun Ueda, Tsukasa Ogasawara

    International Journal of Automation Technology   Vol. 3 ( 6 ) page: 731-740   2009.11

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    DOI: 10.20965/ijat.2009.p0731

  91. Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing Reviewed

    Jun Ueda, Moiz Hyderabadwala, Ming Ding, Tsukasa Ogasawara, Vijaya Krishnamoorthy, Minoru Shinohara

    ASME 2009 Dynamic Systems Control Conference (DSCC)     page: 371-378   2009.10

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    DOI: doi.org/10.1115/DSCC2009-2675

  92. Pinpointed Muscle Force Control Using a Power-assisting Device Reviewed

    Ming Ding, Jun Ueda, Tsukasa Ogasawara

    Journal of Robotics Society of Japan   Vol. 27 ( 9 ) page: 1037-1045   2009.1

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    DOI: 10.7210/jrsj.27.1037

  93. Pinpointed muscle force control using a power-assisting device: System configuration and experiment Reviewed

    Ming Ding, Jun Ueda, Tsukasa Ogasawara

    IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)     2008.10

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    DOI: 10.1109/BIOROB.2008.4762829

  94. 1A1-C04 Axial Displacement Estimation of McKibben Actuator using Flexible Sensor

    KURIYAMA Shinji, DING Ming, KURITA Yuichi, UEDA Jun, MATSUMOTO Yoshio, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2008 ( 0 ) page: _1A1 - C04_1-_1A1-C04_2   2008

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    For measuring the length of a Mckibben actuator, we have developed a flexible sensor by using conductive rubber. By measuring the change of electric resistance, the change of the expansion and contraction of the rubber is estimated. Higher accuracy is obtained by measuring the circumference displacement than measuring the axial displacement using this flexible sensor. We also propose a method to avoid the pretension since a flexible sensor may be damaged by the pretension in an initial state. The accuracy of the flexible sensor is confirmed by comparing the estimate values with true values.

    DOI: 10.1299/jsmermd.2008._1A1-C04_1

  95. Development of MAS - a system for pin-pointed muscle force control using a power-assisting device Reviewed

    Ming Ding, Jun Ueda, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Biomimetics (ROBIO)     page: 1463-1469   2007.12

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    DOI: 10.1109/ROBIO.2007.4522380

  96. Pinpointed control of muscles by using power-assisting device Reviewed

    Jun Ueda, Ming Ding, Masayuki Matsugashita, Reishi Oya, Tsukasa Ogasawara

    IEEE International Conference on Robotics and Automation (ICRA)     page: 3621-3626   2007.6

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    DOI: 10.1109/ROBOT.2007.364033

    J-GLOBAL

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Presentations 33

  1. Development of Distance Sensor Array to Measure Upper Arm Deformation for the Estimation of Upper Limb Motion

    KURASUMI Tetsuya, CHO Sung-Gwi, DING Ming, GARCIA RICARDEZ Gustavo Alfonso, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    Event date: 2019

    Language:Japanese  

    <p>Upper limb motions play an important role in Activities of Daily Living (ADLs). Studies on the upper limb motion estimation have been conducted and applied to various fields. In this research, we develop a distance sensor array which can measure the upper arm deformation. An estimation method is proposed to calculate the elbow joint angle and the load in the hand simultaneously. The elbow joint angles are estimated using Support Vector Regression (SVR). The load is estimated using Support Vector Machine (SVM). In the experiment, we confirm the estimation accuracy by comparing the acquired and estimated angle and load.</p>

  2. Logging human activities using a mobile robot

    Tomoaki INOUE, Satoki TSUICHIHARA, Gustavo Alfonso, GARCIA RICARDEZ, Ming DING, Jun TAKAMATSU, Tsukasa OGASAWARA

    Abstracts of Annual Congress of The Japan Society of Home Economics  2018  The Japan Society of Home Economics

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    Event date: 2018

    Language:Japanese  

    目的 移動ロボットを用いた生活の見える化、生活時間の獲得を目指す。生活中の行動の中で、会話やテレビ視聴、スマホ、新聞、雑誌を見るなど、見ている対象を推定することでわかる行動の判別を、ロボットやコンピュータ技術を利用してどれくらい認識できるかを検討する。&lt;br&gt;&lt;br&gt;方法 画像の解像度の関係から、正確な視線方向をロボットのカメラから推定することは難しいので、顔向きと視線の向きが一致すると仮定した。深層学習ベースの物体認識YOLOを用いた人・物体認識や、OpenFaceを用いた顔向き推定に基づき、見ている対象を推定する。推定精度が向上するように、ロボットの移動戦略を実装する&lt;br&gt;&lt;br&gt;結果 正面を向いた人が見た物体の推定精度が最も高く、8割以上推定に成功した。ただし、向きが正面から大きく離れると精度が悪化することが確認された。そこで、できるだけ顔の正面になるようにロボットを移動させることによって、様々な場合で8割以上の推定を維持することに成功した。

  3. Development of Universal Gripper with Optical Sensing and Acquisition of Tactile Information

    SAKUMA Tatsuya, VON DRIGALSKI Felix, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    &lt;p&gt;The universal gripper has attracted attention due to its simple structure and advanced grasping ability of irregularly shaped objects. In this research, we propose a novel design for a granular-jamming-based gripper, which uses a transparent filling and semi-transparent membrane to perform optical sensing to detect both the deformation and the object that is being grasped. By adjusting the refractive index of an oil mixture to the refractive index of the granular bodies, we achieve a fully transparent filling that allows the use of a camera inside the universal gripper. We present the materials and development of our prototype and confirm experimentally that it can successfully acquire tactile information.&lt;/p&gt;

  4. Pushing Unliftable Objects Using a Multicopter

    SHIRAKURA Naoki, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    &lt;p&gt;Research on aerial manipulation which consists of manipulation of objects with multicopters has been attracting attention in recent years. Commonly, the aerial manipulation is performed with a manipulator mounted on a multicopter. And, the motion of the manipulator affects the attitude control of the multicopter. Therefore, the combined control of manipulator and multicopter has been studied. However, the object to be manipulated in these studies is only a light object that does not affect the control of the multicopter. This research focuses on manipulating unliftable objects using a multicopter. In the proposed method, target objects are manipulated using a pushing motion. To realize this pushing motion, constructing a physical model is required. The effectiveness of the proposed method is verified in simulation.&lt;/p&gt;

  5. Measurement of Rowing Motion using IMU sensors and Distance Sensors and the Accuracy Evaluation

    KINOHISTA Shori, CHO Sung-Gwi, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of the Symposium on sports and human dynamics  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    <p>Analyzation of the rowing motion of a boat is necessary for improving athlete's rowing technique. In this research, a system is developed to measure the rowing motion only by attached the sensors on the boat and the oars. A distance sensor and two IMU sensors are used to measure the motion of the seat, oar, and boat. From the measured data, the movement of the seat and oar can be calculated on the boat. In the evaluation experiment, we test the measurement system on a rowing machine. The accuracy is evaluated by comparing the measured data that obtained from the developed system and the optical motion capture system.</p>

  6. Gazed Object Estimation for Obtaining Detailed Time-usage Data Using a Mobile Robot

    INOUE Tomoaki, YUGUCHI Akishige, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    &lt;p&gt;To improve quality of life (QOL), it is important to analyze our daily activities. Among the criteria related to QOL, time-usage studies are drawing attention in the home economics field. Time-usage analysis extracts both activities and their intentions. In this paper, we propose a method for estimating gazed objects using a mobile robot to support the acquisition of detailed time-usage measurements. The gazed objects are closely related to the activities in the time-usage analysis, for example, eating and watching TV. The proposed method first recognizes the person and the surrounding objects using the camera mounted on the robot. Next the object gazed by the person is estimated based on the face orientation. If the robot decides that the estimation from the current observation is difficult, the robot changes the view direction to reduce the difficulty. The experiments verify that the accuracy of the estimation is improved by changing view directions.&lt;/p&gt;

  7. Extraction of Eating Scenes to Support the Review of Eating Habits

    松浦 亮太, 築地原 里樹, GARCIA RICARDEZ Gustavo Alfonso, 丁 明, 高松 淳, 小笠原 司

    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報  2017.1.19  電子情報通信学会

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    Event date: 2017.1

    Language:Japanese  

  8. Reviewing table manners using computer vision techniques

    Matsuura Ryota, Tsuichihara Satoki, Garcia Ricardez, Gustavo Alfonso, Ding Ming, Takamatsu Jun, Ogasawara Tsukasa

    Abstracts of Annual Congress of The Japan Society of Home Economics  2017  The Japan Society of Home Economics

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    Event date: 2017

    Language:Japanese  

    マナーやプレゼンテーション技術を客観的に評価し、改善するために、自分自身の行動をビデオで撮影し、振り返ってみるといった方法がある。そのためには目的の映像の頭出しや再生を繰り返す必要があり、撮影された映像が長くなれば長くなるほど、手間が増大する。必要な情報のみを要約した映像が仮に自動的に作成されたとしたら、振り返りにかかる手間の軽減が期待される。 本研究では、画像処理技術を使って、元の映像を短くまとめた要約映像を生成する方法を構築する。具体的には、食事の場面を撮影し、摂食中の映像のみを抜き出し、要約することを試みる。実際に要約された映像を閲覧することで、その効果を検証する。 計算機に目的の動作がどのようなものであるかを提示し、そこから機械学習を用いて自動で判定する必要がある。本研究では、不特定多数の人の行動認識に比べ、ある特定の人(服装なども同じ)の認識のほうが簡単であるという事実に基づき、ある特定の人に特化した機械学習をおこなうことで、提示の手間を軽減する。 実験では,複数の被験者の食事映像に対して提案手法を適用することで、箸を用いた摂食動作の約85%が抽出できた。摂食判定の結果に基づいて要約された映像の長さが,元の映像の約10%に短縮されることを確認した。要約された映像を閲覧することで,食べる順番、三角食べ、食べるときの姿勢、食事のテンポ、が人目で簡単に判断できることを確認した。

  9. System to support the reviewing of eating habits by video summarization

    MATSUURA Ryota, TSUICHIHARA Satoki, GARCIA RICARDEZ, Gustavo Alfonso, DING Ming, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    &lt;p&gt;In order to improve the quality of life, it is necessary to record and review daily-life activities by oneself. In this research, we focus on review of eating habits because they are closely related to health. For this purpose, we propose a system to summarize eating scenes by detecting eating motions. The user reviews her/his eating habits by watching the eating scenes on the summarized, short video. The proposed system aggressively uses a personalized detector for each case, which reduces the complexity of the classifier and enables to train the classifier only from the first eating scene. In the experiments, we verify that the proposed system detects 86 percent of eating motions from the eating scenes of five subjects and the duration of the summarized video is only 11 percent of the original video.&lt;/p&gt;

  10. ベイズ最適化を用いた双腕介護支援ロボットによる快適な抱き上げ動作の自動生成に関する検討

    舟木義人, 松原崇充, MING Ding, 小笠原司, 杉本謙二

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2015.12.14 

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    Event date: 2015.12

    Language:Japanese  

  11. Lift-up Motion Generation of Nursing-care Assistant Robot Based on Human Muscle Force and Body Softness Estimation International conference

    Ming Ding, Ryojun Ikeura, Yuki Mori, Toshiharu Mukai, Shigeyuki Hosoe

    2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 

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    Event date: 2014.7

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  12. Experimental Evaluation of Comfort Lift-up Motion for using Nusing-Care Assistant Robot

    ROBOMECH2014 

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    Event date: 2014.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  13. ワイヤ式ポテンショメータを用いた足関節可動域計測装置の開発と性能評価

    米澤 輝, 小野寺 貴之, 小原 晃, 丁 明, 竹村 裕, 溝口 博

    日本機械学会ロボティクス・メカトロニクス講演会2014(ROBOMECH2014)講演論文集  2014.5 

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    Event date: 2014.5

    Language:Japanese  

  14. パラレルリンク機構を用いた足関節リハビリテーション支援装置の設計・開発

    米澤 輝, 小野寺 貴之, 小原 晃, 丁 明, 竹村 裕, 溝口 博

    日本機械学会関東支部 第53回学生員卒業研究発表講演会講演前刷集  2014.3 

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    Event date: 2014.3

    Language:Japanese  

  15. SP型パラレルリンク機構を用いた短下肢アシストデバイスによる力制御

    小野寺貴之, 鈴木瑛二, 丁明, 高橋昭如, 竹村裕, 溝口博

    日本機械学会ロボティクス・メカトロニクス講演会2013(ROBOMEC2013)講演論文集  2013.5 

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    Event date: 2013.5

    Language:Japanese  

  16. 転倒予防のための確率共鳴現象による足底触覚感度の向上

    工藤 聡, 丁 明, 竹村 裕, 溝口 博

    第32回 バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集  2011.11 

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    Event date: 2011.11

    Language:Japanese  

  17. 足底接触面変形画像及び床反力同時測定による歩行解析

    茶木 亮, 小原 晃, 丁 明, 竹村 裕, 溝口 博

    第32回バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集  2011.11 

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    Event date: 2011.11

    Language:Japanese  

  18. 屈折率を考慮した近赤外光を用いた乳がん細胞の三次元バイオイメージング

    大崎涼介, 丁 明, 竹村 裕, 兵藤 宏, 曽我 公平, 溝口 博

    第32回バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集  2011.11 

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    Event date: 2011.11

    Language:Japanese  

  19. トレーニング・リハビリに向けた下肢ピンポイント筋力制御 ―任意筋活動率を達成する外力・姿勢の推定―

    飯田 智裕, 丁 明, 竹村 裕, 溝口 博

    第32回バイオメカニズム学術講演会(SOBIM 2011 in Osaka) 講演論文集  2011.11 

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    Event date: 2011.11

    Language:Japanese  

  20. 足首関節回転軸変位制御可能なスチュワートプラットホーム型下肢アシスト装置の開発

    丁明, 小野寺貴之, 飯田智裕, 竹村裕, 溝口博

    第29回日本ロボット学会学術講演会講演論文集  2011.9 

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    Event date: 2011.9

    Language:Japanese  

  21. ピンポイント筋力制御可能な革新的下肢リハビリ支援手法に関する研究

    飯田智裕, 丁明, 竹村裕, 溝口博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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    Event date: 2011.5

    Language:Japanese  

  22. 希土類含有セラミックスナノ粒子と近赤外光を用いた乳がん細胞の三次元バイオイメージング

    大崎 涼介, 丁 明, 兵藤 宏, 曽我 公平, 竹村 裕, 溝口 博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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    Event date: 2011.5

    Language:Japanese  

  23. 対象人物数が増えても処理時間変動がないHLAC利用人物検出システム

    北野 裕介, 丁 明, 竹村 裕, 溝口 博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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    Event date: 2011.5

    Language:Japanese  

  24. 不安定歩行早期発見を目的とした足裏接触変形・床反力同時計測装置の開発

    茶木亮, 鈴木信一郎, 丁明, 竹村裕, 溝口博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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    Event date: 2011.5

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  25. マイクアレイ信号処理とカメラ画像処理との連携による音圧分布の可視化

    後関 政史, 丁明, 竹村裕, 溝口博

    日本機械学会 ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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    Event date: 2011.5

    Language:Japanese  

  26. 足底触覚変化が不整地歩行時の歩行速度・歩幅・歩隔に及ぼす影響

    鈴木 信一郎, 茶木 亮, 丁 明, 竹村 裕, 溝口 博

    第31回 バイオメカニズム学術講演会講演論文集  2010.11 

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    Event date: 2010.11

    Language:Japanese  

  27. 不安定歩行早期発見を目的とした足裏皮膚変形測定装置の開発

    茶木 亮, 鈴木 信一郎, 丁 明, 竹村 裕, 溝口 博

    第31回 バイオメカニズム学術講演会講演論文集  2010.11 

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    Event date: 2010.11

    Language:Japanese  

  28. Pinpointed Muscle Force Control Experiments Using Multiple Power-assisting Devices

    Ding Ming, Kurita Yuichi, Ueda Jun, Takamatsu Jun, Ogasawara Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers

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    Event date: 2010

    Language:Japanese  

    Although power assisting devices were already considered promising for helping elderly and disabled person, we aim at expanding the application, such as muscle rehabilitation and sports training. The main focus of this research is to control the load of selected muscles using a power-assisting device, thus enabling pinpointed motion support, rehabilitation, and training. We also consider the device which has less DOF than number of joints. Although the simulation results verify the effectiveness of the proposed framework, we verify the effectiveness through the actual experiments.

  29. Derivation of External Force and Motion for Pinpointed Muscle Force Control

    HIRASAWA Kotaro, DING Ming, KURITA Yuichi, TAKAMATSU Jun, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers

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    Event date: 2010

    Language:Japanese  

    The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling &quot;pinpointed&quot; motion support, rehabilitation and training by explicitly specifying the target muscles. In this research, we proposed a novel control method to realize the pinpointed muscle force control during movement. The validity of this method is confirmed by measuring surface EMG signals for each muscle.

  30. 1A1-C04 Axial Displacement Estimation of McKibben Actuator using Flexible Sensor

    KURIYAMA Shinji, DING Ming, KURITA Yuichi, UEDA Jun, MATSUMOTO Yoshio, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers

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    Event date: 2008

    Language:Japanese  

    For measuring the length of a Mckibben actuator, we have developed a flexible sensor by using conductive rubber. By measuring the change of electric resistance, the change of the expansion and contraction of the rubber is estimated. Higher accuracy is obtained by measuring the circumference displacement than measuring the axial displacement using this flexible sensor. We also propose a method to avoid the pretension since a flexible sensor may be damaged by the pretension in an initial state. The accuracy of the flexible sensor is confirmed by comparing the estimate values with true values.

  31. Axial Displacement Estimation of McKibben Actuator using Flexible Sensor

    KURIYAMA Shinji, DING Ming, KURITA Yuichi, UEDA Jun, MATSUMOTO Yoshio, OGASAWARA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers

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    Event date: 2008

    Language:Japanese  

    For measuring the length of a Mckibben actuator, we have developed a flexible sensor by using conductive rubber. By measuring the change of electric resistance, the change of the expansion and contraction of the rubber is estimated. Higher accuracy is obtained by measuring the circumference displacement than measuring the axial displacement using this flexible sensor. We also propose a method to avoid the pretension since a flexible sensor may be damaged by the pretension in an initial state. The accuracy of the flexible sensor is confirmed by comparing the estimate values with true values.

  32. Lift-up Motion Generation of Nursing-care Assistant Robot Based on Human Muscle Force and Body Softness Estimation

    Ming Ding, Ryojun Ikeura, Yuki Mori, Toshiharu Mukai, Shigeyuki Hosoe

    2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)  2014.7.8 

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    Language:English   Presentation type:Oral presentation (general)  

  33. Experimental Evaluation of Comfort Lift-up Motion for using Nusing-Care Assistant Robot International conference

    ROBOMECH2014  2014.5.25 

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    Language:Japanese   Presentation type:Poster presentation  

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KAKENHI (Grants-in-Aid for Scientific Research) 6

  1. 実測データに基づく自動運転シミュレータ上の歩行者や他車両の行動生成

    Grant number:21K12073  2021.4 - 2024.3

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    丁 明

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    Authorship:Principal investigator 

    Grant amount:\4030000 ( Direct Cost: \3100000 、 Indirect Cost:\930000 )

  2. Development of multi-modal touch-care robot and the psychological verification

    Grant number:19H01124  2019.4 - 2023.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)  Grant-in-Aid for Scientific Research (A)

    Tsukasa Ogasawara

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    Authorship:Coinvestigator(s)  Grant type:Competitive

  3. "Sensing and conveying the feelings" using a robot hand which can measure and operate soft object

    Grant number:17K13088  2017.4 - 2020.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)  Grant-in-Aid for Young Scientists (B)

    Ding Ming

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\4030000 ( Direct Cost: \3100000 、 Indirect Cost:\930000 )

    In this research, we developed a robot hand and generated the touching motion to mimic human’s stroking motion. We observed and measured the construction of human’s hand first and examined the requirements for realizing the comfortable stroking motion. The required stiffness, temperature, and such physical factors has been extracted for the development of the robot hand. Then, a robot hand which has these factors has been designed. It has same softness on the joints and skin as human’s hand. The contacting temperature can also be controlled same as human. Finally, we equipped the developed hand on the tip of a robot arm. The stroking motion could be generated based on the measured human motion. The physical and physiological effectiveness of has been verified in the experiment.

  4. 造林作業の負担軽減のための林業用アシストスーツの研究開発

    2016.4 - 2021.3

    国立研究開発法人農業・食品産業技術総合研究機構  革新的技術開発・緊急展開事業 

    小松野達也

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    Grant type:Competitive

  5. Understanding the Displacement of Roatiion Axis of Ankle Joint and Application of Assistant Device for Fall Prevention

    2011.4 - 2013.3

    Grant-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists(B)

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    Authorship:Principal investigator 

  6. Understanding the Displacement of Roation Axis of Ankle Joint and Application of Assistant Device for Fall Prevention

    Grant number:23700782  2011 - 2013

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)  Grant-in-Aid for Young Scientists (B)

    DING Ming

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    Authorship:Principal investigator  Grant type:Competitive

    Grant amount:\4420000 ( Direct Cost: \3400000 、 Indirect Cost:\1020000 )

    In this research, we developed an assistant device to support the movement of human ankle joint using a parallel mechanism. We also created an assistant system, which can measure and control the rotation angle and joint torque of ankle joint accurately. Using the measured movement, we proposed a movement model of ankle joint and proposed a control method to move the assistant device. By testing these methods with subjects using the prototype devices, the effectiveness was verified and the applications of this device were studied.

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Industrial property rights 5

  1. Fingertip contact state measurement device

    Atsutoshi Ikeda, Tsukasa Ogasawara, Jun Takamatsu, Ming Ding, Tomoyuki Kawazoe, Naoki Saito, Kazumi Koketsu

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    Application no:特願JP2017153535A  Date applied:2017.8

    Publication no:特表JP2019032239A  Date published:2019.2

  2. 学習データセット作製方法、並びに、物体認識及び位置姿勢推定方法

    友近圭汰, 清川拓哉, 小笠原司, 高松淳, 丁明

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    Application no:特願JP2018141910A  Date applied:2017.7

    Announcement no:特表JP6474179B2 

    Publication no:特表JP6474179B2  Date published:2019.2

  3. Walking support device, footwear, and walking support system

    Hiromichi Fujimoto, Seiya Matsumoto, Kazuma Yamaguchi, Yasutaka Nakai, Tatsuya Narasaki, Kaori Hasegawa, Takayuki Ito, Jun Kashima, Yuta Inomata, Tsukasa Ogasawara, Ming Ding

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    Application no:特願JP2016165039A  Date applied:2016.8

    Publication no:特表JP2018029843A  Date published:2018.3

  4. 駆動力算出装置、駆動力算出方法、筋力補助装置、駆動力算出プログラムおよびコンピュータ読み取り可能な記録媒体

    上田 淳, 小笠原 司, 丁 明

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    Applicant:国立大学法人 奈良先端科学技術大学院大学

    Application no:特願2008-011845  Date applied:2008.1

    Announcement no:特開2008-194460  Date announced:2008.8

    Patent/Registration no:特許第5098114号  Date registered:2012.10  Date issued:2012.10

    J-GLOBAL

  5. Driving force calculating device, driving force calculating method, power assisting device, driving force calculating program, and computer-readable storage medium

    Jun ueda, Tsukasa Ogasawara, Ming Ding

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    Application no:特願12/068,282 

    Patent/Registration no:特許US7529632B2  Date issued:2009.5