Updated on 2021/03/24

写真a

 
AKIYAMA Yasuhiro
 
Organization
Graduate School of Engineering Mechanical Systems Engineering 2 Assistant Professor
Graduate School
Graduate School of Engineering
Undergraduate School
School of Engineering Mechanical and Aerospace Engineering
Title
Assistant Professor

Degree 1

  1. 博士(工学) ( 2011.3   東京大学 ) 

Research Interests 4

  1. 歩行

  2. 転倒

  3. 安全

  4. 装着型ロボット

Research Areas 3

  1. Informatics / Mechanics and mechatronics

  2. Social Infrastructure (Civil Engineering, Architecture, Disaster Prevention) / Social systems engineering

  3. Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Aerospace engineering

Professional Memberships 4

  1. IEEE

  2. The Japan Society of Mechanical Engineers

  3. The Robotics Society of Japan

  4. The Japan Society for Aeronautical and Space Sciences

Committee Memberships 1

  1. 日本機械学会 技術と社会部門   年次大会担当委員  

    2019.4 - 2021.3   

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    Committee type:Academic society

Awards 1

  1. 日本機械学会東海支部賞 奨励賞

    2017.3   日本機械学会東海支部   装着型ロボット装着者に対するリスク要因に関する研究

    秋山 靖博

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    Award type:Award from Japanese society, conference, symposium, etc.  Country:Japan

 

Papers 41

  1. HumTouch: Localization of Touch on Semi-Conductive Surfaces by Sensing Human Body Antenna Signal Reviewed International journal

    Hsia Tzu Hsuan, Okamoto Shogo, Akiyama Yasuhiro, Yamada Yoji

    SENSORS   Vol. 21 ( 3 )   2021.2

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

    DOI: 10.3390/s21030859

    Web of Science

  2. The influence of hip joint rotation of a physical assistant robot on curving motion Reviewed International journal

    Kuboki Yosuke, Akiyama Yasuhiro, Okamoto Shogo, Yamada Yoji

    ADVANCED ROBOTICS   Vol. 35 ( 2 ) page: 108 - 117   2021.1

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

    DOI: 10.1080/01691864.2020.1857304

    Web of Science

  3. Validation of Lumbar Compressive Force Simulation in Forward Flexion Condition Reviewed International journal

    Xiang Xiaohan, Yamada Yoji, Akiyama Yasuhiro, Tao Ziliang, Kudo Naoki

    APPLIED SCIENCES-BASEL   Vol. 11 ( 2 )   2021.1

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

    DOI: 10.3390/app11020726

    Web of Science

  4. Characteristics of Recovery Motion Resulting From Side Contact With a Physical Assistant Robot Worn During Gait Reviewed International journal

    Akiyama Yasuhiro, Kushida Ryota, Okamoto Shogo, Yamada Yoji

    IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS   Vol. 50 ( 6 ) page: 518 - 528   2020.12

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

    DOI: 10.1109/THMS.2020.3016098

    Web of Science

  5. Measurement of Shear Strain Field in a Soft Material Using a Sensor System Consisting of Distributed Piezoelectric Polymer Film

    Li Fengyu, Akiyama Yasuhiro, Wan Xianglong, Okamoto Shogo, Yamada Yoji

    SENSORS   Vol. 20 ( 12 )   2020.6

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

    DOI: 10.3390/s20123484

    Web of Science

  6. Safety considerations for forward falls

    Abdolshah Saeed, Rajaei Nader, Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    JOURNAL OF MUSCULOSKELETAL & NEURONAL INTERACTIONS   Vol. 20 ( 2 ) page: 176-184   2020.6

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

    Web of Science

  7. Monitoring Contact Behavior During Assisted Walking With a Lower Limb Exoskeleton Reviewed International journal

    Wan Xianglong, Liu Yi, Akiyama Yasuhiro, Yamada Yoji

    IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING   Vol. 28 ( 4 ) page: 869 - 877   2020.4

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

    DOI: 10.1109/TNSRE.2020.2979986

    Web of Science

  8. Investigation into Hand Impact Force During Forward Falls on Uneven Terrain Reviewed International coauthorship International journal

    Abdolshah Saeed, Rajaei Nader, Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING   Vol. 21 ( 3 ) page: 509 - 517   2020.3

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

    DOI: 10.1007/s12541-019-00244-4

    Web of Science

  9. Effects of exoskeletal gait assistance on the recovery motion following tripping Reviewed International journal

    Akiyama Yasuhiro, Fukui Yusuke, Okamoto Shogo, Yamada Yoji

    PLOS ONE   Vol. 15 ( 2 )   2020.2

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

    DOI: 10.1371/journal.pone.0229150

    Web of Science

  10. Effect of Material Hardness on Friction Between a Bare Finger and Dry and Lubricated Artificial Skin Reviewed International journal

    Inoue Koki, Okamoto Shogo, Akiyama Yasuhiro, Yamada Yoji

    IEEE TRANSACTIONS ON HAPTICS   Vol. 13 ( 1 ) page: 123 - 129   2020

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

    DOI: 10.1109/TOH.2020.2966704

    Web of Science

  11. Lower-limb moments during sit-to-stand movement with different handrail grip position and trunk tilt angle

    Qiu Chongyang, Okamoto Shogo, Akiyama Yasuhiro, Yamada Yoji

    2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     page: 305-310   2020

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

    Web of Science

  12. Encouragement of Squat-Lifting: Feasibility Study of a Highly Usable Passive Knee Assistive Device

    Cheng Chen-Yu, Okamoto Shogo, Li Pengcheng, Akiyama Yasuhiro, Qiu Chongyang, Yamada Yoji

    2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     page: 504-508   2020

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

    Web of Science

  13. Effective position of the rotation axis of an ankle stretching machine and the effect of misalignment

    SHIRAISHI Yuma, OKAMOTO Shogo, YAMADA Naomi, INOUE Koki, AKIYAMA Yasuhiro, YAMADA Yoji

    Journal of Biomechanical Science and Engineering     2020

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

    DOI: 10.1299/jbse.20-00202

    CiNii Article

  14. Principal motion analysis of manual stretching techniques for the ankle joints

    Yamada Naomi, Okamoto Shogo, Akiyama Yasuhiro, Yamada Yoji

    Journal of Physical Therapy Science   Vol. 32 ( 9 ) page: 584-590   2020

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

    DOI: 10.1589/jpts.32.584

    CiNii Article

  15. Principal motion ellipsoids: Gait variability index based on principal motion analysis

    Iwasaki Tomoyuki, Okamoto Shogo, Akiyama Yasuhiro, Yamada Yoji

    2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     page: 489-494   2020

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

    Web of Science

  16. Principal Motion Ellipsoids: Gait Variability Index Invariant With Gait Speed Reviewed International journal

    Iwasaki Tomoyuki, Okamoto Shogo, Akiyama Yasuhiro, Yamada Yoji

    IEEE ACCESS   Vol. 8   page: 213330 - 213339   2020

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

    DOI: 10.1109/ACCESS.2020.3041158

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  17. Knee Pain Patient Simulation for Recommendation of Sit-to-Stand Handrail Positions Reviewed International journal

    Yamakawa Kohei, Okamoto Shogo, Kubo Ryu, Yamada Naomi, Akiyama Yasuhiro, Yamada Yoji

    IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS   Vol. 49 ( 5 ) page: 461 - 467   2019.10

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

    DOI: 10.1109/THMS.2019.2896487

    Web of Science

  18. Technique to reduce the minimum toe clearance of young adults during walking to simulate the risk of tripping of the elderly Reviewed International journal

    Ullauri Jessica Beltran, Akiyama Yasuhiro, Okamoto Shogo, Yamada Yoji

    PLOS ONE   Vol. 14 ( 6 )   2019.6

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

    DOI: 10.1371/journal.pone.0217336

    Web of Science

  19. Experimental analysis of the fall mitigation motion caused by tripping based on the motion observation until shortly before ground contact Reviewed

    AKIYAMA Yasuhiro, MITSUOKA Kento, OKAMOTO Shogo, YAMADA Yoji

    Journal of Biomechanical Science and Engineering   Vol. 14 ( 1 ) page: 18-00510-18-00510   2019

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

    DOI: 10.1299/jbse.18-00510

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  20. Effect of the relative rotation axis position of the stretching machine and ankle

    Shiraishi Yuma, Okamoto Shogo, Yamada Naomi, Inoue Koki, Akiyama Yasuhiro, Yamada Yoji

    2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019)     page: 403-407   2019

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

    Web of Science

  21. Body-Ownership Illusion by Gazing at a Blurred Fake Hand Image

    Hasegawa Hikaru, Okamoto Shogo, Rajaei Nader, Hara Masayuki, Kanayama Noriaki, Akiyama Yasuhiro, Yamada Yoji

    HAPTIC INTERACTION: PERCEPTION, DEVICES AND ALGORITHMS   Vol. 535   page: 9-14   2019

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

    DOI: 10.1007/978-981-13-3194-7_3

    Web of Science

  22. Validation of trip-induction system on a treadmill by comparison with a walking lane

    MIYATA Hazuki, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2019 ( 0 ) page: 2A2-O01   2019

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

    <p>Trip-related falls, which account for a significant proportion of falls in the elderly, often result in the serious injury. A highly accurate fall-risk evaluation method will be increasingly required in the aged society. For this purpose, it is necessary to observe more realistic reaction motion against tripping. Thus, we developed a method to induce tripping at arbitrary timing during walking in the laboratory using a treadmill and evaluated the validity of the method by analyzing the reaction motion. At the same time, another experiment, which induces trip in a walking lane, was conducted. Then, they were compared each other. In this study, the difference in sensory comfort rate between treadmill walking and ground walking was focused on. It is necessary to determine whether individual differences in response to trip-induction depends on what kind of conditions. It is considered to be either the experimental system and conditions, or the gait difference inherent to the subject.</p>

    DOI: 10.1299/jsmermd.2019.2A2-O01

    CiNii Article

  23. The influence of hip joint rotation of a wearable robot on curving motion

    KUBOKI Yosuke, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2019 ( 0 ) page: 1A1-I08   2019

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

    <p>Physical assistant robots are developed for daily living activities. However, the risk of fall is a major concern of physical assistant robots. In this study, we focus on curving motion, because fall is likely to occur during turning owing due to restricted degrees of freedom of joints. We developed new physical assistant robot, which could adjust the degree of freedom, and compared the curving motion. As a result, some subjects had a decrease in step length, when the hip rotation was restricted while curving. Additionally, the analysis of gait stability suggested that restriction affected the stability when they were curving.</p>

    DOI: 10.1299/jsmermd.2019.1A1-I08

    CiNii Article

  24. Decreasing the Risk of Fall by Non-Actuated Walking Assist Device for Elderly

    OHASHI Koichiro, NAITO Syusuke, AKIYAMA Yasuhiro, OKAMOTO Shogo, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2019 ( 0 ) page: 2P2-L07   2019

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

    <p>The gait ability of the elderly decreases and the risk of fall increases. Thus, we developed wearable assist devices which improved dorsal flexion and minimum foot clearance (MFC) of the elderly. This device uses upper body muscle as a power source instead of an actuator. Attached strings transfer muscle power from the upper body to foot for assisting walking. To improve the efficiency of assist pattern, string paths were optimized through joint torque simulation. This simulator made three optimal paths which apply dorsal flexion torque. As a result of walking experiments, one of three optimal paths improved elderly MFC.</p>

    DOI: 10.1299/jsmermd.2019.2P2-L07

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  25. Effects of the skin softness on coefficient of friction while a finger slides on the skin

    INOUE Koki, OKAMOTO Shogo, AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2019 ( 0 ) page: 1P1-U02   2019

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

    <p>Human touches his/her skin using fingers on a daily basis. It is important to understand the tribological phenomena while fingers slide over soft surfaces such as skin. We investigate the coefficients of friction when a bare finger slides over artificial skins of different softness levels whereas most of the earlier studies employed a rigid friction probe sliding over the skin. We found that the coefficient of friction is constant irrespective to the finger's normal force when the artificial skins are harder than the finger pad. In contrast, the coefficient of friction decreases as the the finger's normal force increases for the artificial skins softer than the finger pad. Furthermore, the coefficient of friction itself and its speed dependence component become greater for the softer artificial skin.</p>

    DOI: 10.1299/jsmermd.2019.1P1-U02

    CiNii Article

  26. Evaluation of contact between a human hand and a robot end tip for designing a dummy

    IKI Yumena, YAMADA Yoji, AKIYAMA Yasuhiro, OKAMOTO Shogo, NIWA Kuniyuki, Liu Jian

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2019 ( 0 ) page: 2A1-F08   2019

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    <p>In the field of robot-human collaboration, while safety verification data are already provided in ISO/TS 15066 as informative data, a testing method for validation is not established. In our study, we design the dummy hand the mechanical property of which is close to that of human to propose the testing method using the dummy. In order to design such dummy, we estimate human physical parameters by conducting dynamic experiment in which three points in each hand of the subjects were clamped as demonstrating the worst case of impacting a hand as the first step. For conducting dynamic experiment, we design impact force measurement device in consideration of safety enough. As a result, we measure transition of impact force, and estimate human physical parameters under various conditions.</p>

    DOI: 10.1299/jsmermd.2019.2A1-F08

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  27. Longitudinal Rollover Strategy as Effective Intervention to Reduce Wrist Injuries During Forward Fall Reviewed

    Abdolshah Saeed, Rajaei Nader, Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    IEEE ROBOTICS AND AUTOMATION LETTERS   Vol. 3 ( 4 ) page: 4187-4192   2018.10

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

    DOI: 10.1109/LRA.2018.2864646

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  28. Classification and analysis of the natural corner curving motion of humans based on gait motion Reviewed

    Akiyama Yasuhiro, Toda Hitoshi, Ogura Takao, Okamoto Shogo, Yamada Yoji

    GAIT & POSTURE   Vol. 60   page: 15-21   2018.2

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

    DOI: 10.1016/j.gaitpost.2017.10.008

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  29. Gait motion for naturally curving variously shaped corners Reviewed

    Akiyama Yasuhiro, Okamoto Shogo, Toda Hitoshi, Ogura Takao, Yamada Yoji

    ADVANCED ROBOTICS   Vol. 32 ( 2 ) page: 77-88   2018

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

    DOI: 10.1080/01691864.2017.1396251

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  30. Evaluation of effects caused by individual differences in human shape that affect the safe utilization of wearable robots Reviewed

    Yuma Sakai, Yasuhiro Akiyama, Yoji Yamada, and Shogo Okamoto

    ROBOMECH Journal   Vol. 5 ( 1 ) page: 20   2018

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  31. A Three-Dimensional Skin-Shape Reproduction Mechanism for Evaluating the Risk of Wounds When Using a Wearable Robot Reviewed

    SAKAI Yuma, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

      Vol. 11 ( 2 ) page: 128-135   2018

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

    DOI: 10.9746/jcmsi.11.128

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  32. Characteristics of Dummy Skin Contact Mechanics During Developing Process of Skin Abrasion Trauma Reviewed

    Mao Xuewei, Yamada Yoji, Akiyama Yasuhiro, Okamoto Shogo

    TRIBOLOGY LETTERS   Vol. 65 ( 4 )   2017.12

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

    DOI: 10.1007/s11249-017-0916-7

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  33. Safety verification method for preventing friction blisters during utilization of physical assistant robots Reviewed

    Mao Xuewei, Yamada Yoji, Akiyama Yasuhiro, Okamoto Shogo, Yoshida Kengo

    ADVANCED ROBOTICS   Vol. 31 ( 13 ) page: 680-694   2017

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

    DOI: 10.1080/01691864.2017.1318716

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  34. Measurement of Contact Behavior Including Slippage of Cuff When Using Wearable Physical Assistant Robot Reviewed

    Akiyama Yasuhiro, Okamoto Shogo, Yamada Yoji, Ishiguro Kenji

    IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING   Vol. 24 ( 7 ) page: 784-793   2016.7

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

    DOI: 10.1109/TNSRE.2015.2464719

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  35. Interaction forces beneath cuffs of physical assistant robots and their motion-based estimation Reviewed

    Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    ADVANCED ROBOTICS   Vol. 29 ( 20 ) page: 1315-1329   2015.10

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

    DOI: 10.1080/01691864.2015.1055799

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  36. Knee Joint Misalignment in Exoskeletons for the Lower Extremities: Effects on User's Gait Reviewed

    Zanotto Damiano, Akiyama Yasuhiro, Stegall Paul, Agrawal Sunil K.

    IEEE TRANSACTIONS ON ROBOTICS   Vol. 31 ( 4 ) page: 978-987   2015.8

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

    DOI: 10.1109/TRO.2015.2450414

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  37. Simulated crepitus and its reality-based specification using wearable patient dummy Reviewed

    Ishikawa Shun, Okamoto Shogo, Akiyama Yasuhiro, Isogai Kaoru, Yamada Yoji

    ADVANCED ROBOTICS   Vol. 29 ( 11 ) page: 699-706   2015.6

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

    DOI: 10.1080/01691864.2014.1002530

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  38. Assessment of Robotic Patient Simulators for Training in Manual Physical Therapy Examination Techniques Reviewed

    Ishikawa Shun, Okamoto Shogo, Isogai Kaoru, Akiyama Yasuhiro, Yanagihara Naomi, Yamada Yoji

    PLOS ONE   Vol. 10 ( 4 )   2015.4

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

    DOI: 10.1371/journal.pone.0126392

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  39. Construction of Sustainable Mars Logistics System -The Analysis of the Interplanetary Trajectory and the Effect of Stay Cycle-

    AKIYAMA Yasuhiro, INATANI Yoshifumi

    TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN   Vol. 12 ( 29 ) page: Pk_77-Pk_82   2014

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

    DOI: 10.2322/tastj.12.Pk_77

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  40. Construction of Sustainable Mars Logistics System and Feasibility Assessment

    AKIYAMA Yasuhiro, INATANI Yoshifumi

    Transactions of the Japan Society for Aeronautical and Space Sciences   Vol. 56 ( 4 ) page: 215-222   2013.7

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

    DOI: 10.2322/tjsass.56.215

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  41. Construction of System Architecture for Sustainable Manned Mars Habitation

    AKIYAMA Yasuhiro, INATANI Yoshifumi

    JAXA research and development report   Vol. 12   page: 1-194   2012.8

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    One of the important goal of human space exploration is to construct sustainable outpost which can be operated without resupply transformation from Earth. Sustainable human Mars exploration will become important milestone to achieve this goal. Mars outpost must prepare to long time isolation because several hundred of days are needed to transfer materials between Earth and Mars. On the other hand, essential materials such as air and water will be extracted from Mars air and soil. In this research, method of sustainable operation of long-distance outpost is focused in contrast to previous short-distance outpost, depending on short time and frequent transportation to and from Earth. Especially, improvement of survivability and reduction of initial mass in LEO are aimed and logistics system of in sustainable manned Mars exploration is constructed. One important suggestion resulting from the consideration using sustainable manned Mars exploration logistics system is that, huge materials as same amount as ISS must be transferred to LEO every year to maintain Mars base if Mars mission is done in present technology level. So, developing new technologies such as nuclear propulsion, advanced life support system and in-situation resource utilization are required. In this research effect of these new technologies are evaluated quantitatively. At last, feature of logistics method of sustainable manned Mars habitation is totally discussed.

    CiNii Article

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Presentations 78

  1. Generalized principal motion analysis: Classification of sit-to-stand motions International conference

    Tomoyuki Iwasaki, Shogo Okamoto, Yasuhiro Akiyama, Yoji Ymada

    IEEE Global Conference on Consumer Electronics (GCCE'19) 

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    Event date: 2019.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  2. HumTouch: Finger gesture recognition on hydrogel-painted paper using hum-driven signals International conference

    Kyoichi Tachi, Shogo Okamoto, Yasuhiro Akiyama, Yoji Yamada

    IEEE Global Conference on Consumer Electronics (GCCE'19) 

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    Event date: 2019.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  3. Shear force sensor for soft material with built-in piezoelectric polymer films International conference

    Fengyu Li, Yasuhiro Akiyama, Xianglong Wan, Yoji Ymada, Shogo Okamoto

    IEEE Global Conference on Consumer Electronics (GCCE'19) 

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    Event date: 2019.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  4. Validation of trip-induction system on a treadmill by comparison with a walking lane International conference

    Hazuki Miyata, Yasuhiro Akiyama, Yoji Yamada, Shogo Okamoto

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    Event date: 2019.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Korea, Republic of  

  5. The effect of the relative position of the rotation axis of the stretching machine and the ankle International conference

    Yuma Shiraishi, Shogo Okamoto, Naomi Yamada, Koki Inoue, Yasuhiro Akiyama, Yoji Yamada

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    Event date: 2019.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Korea, Republic of  

  6. Development of adaptive gait assist algorithm using ground reaction force International conference

    Joint 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS), and 1st IFAC Workshop on Robot Control (WROCO) 

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    Event date: 2019.9

    Language:English   Presentation type:Poster presentation  

    Country:Korea, Republic of  

  7. 無動力歩行補助デバイスによる高齢者の転倒リスク低減

    大橋航一郎, 内藤崇介, 秋山靖博, 岡本正吾, 山田陽滋

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  8. 手部ダミー作製のためのロボットと人間の接触実験の評価

    伊木夢奈, 山田陽滋, 秋山靖博, 岡本正吾, 丹羽邦幸, 劉建

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  9. トレッドミル上でつまずき転倒を誘発する実験装置の歩行レーン上でのつまずき動作との比較による妥当性検証

    宮田羽月, 秋山靖博, 山田陽滋, 岡本正吾

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  10. 指で皮膚を擦る時に皮膚の柔らかさが摩擦係数に与える影響

    井上公貴, 岡本正吾, 秋山靖博, 山田陽滋

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  11. 躓きによる転倒回避動作を対象とした装着型アシストロボットのアシストパターンの効果評価

    福井雄佑, 秋山靖博, 山田陽滋, 岡本正吾

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  12. 装着型ロボットの股関節回旋自由度が歩容および歩行安定性に与える影響

    久保木陽亮, 秋山靖博, 山田陽滋, 岡本正吾

    ロボティクス・メカトロニクス講演会2019 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  13. Development of a non-actuated wearable device to prevent knee buckling International conference

    Shusuke Naito, Yasuhiro Akiyama, Koichiro Ohashi, Yoji Yamada, Shogo Okamoto

    2019 IEEE 1st Global Conference on Life Sciences and Technologies 

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    Event date: 2019.3

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  14. Evaluation of assist pattern's effect by a physical assistant robot on the recovery motion against tripping International conference

    FUKUI Yusuke, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2019

    Language:English   Presentation type:Oral presentation (general)  

    <p>Wearable devices are being expected for utilization in daily life, so that the elderly can improve activity of daily living. However, there are some unique concerns about the wearable robot, especially when the intention of a human and the robot are mismatched. In this study, the effect of assist pattern on fall recovery motion against tripping during walking was observed and analyzed. Margin of stability of recovery steps became significantly larger when the assist torque was continuously applied that it stopped. Thus, it was suggested that the assist torque perhaps decrease the fall risk.</p>

    DOI: 10.1299/jsmermd.2019.1P1-H06

    CiNii Article

  15. 高齢者の転倒予防を目的とした筋力伝達式歩行補助デバイスの開発

    大橋航一郎,秋山靖博,内藤崇介,山田陽滋,岡本正吾

    LIFE2018 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京都   Country:Japan  

  16. The Change of Gait Motion During Curvilinear Obstacle Avoidance while Restricted by a Wearable Robotic Device International conference

    Erik Kramer, Yasuhiro Akiyama, Yusuke Fukui, and Yoji Yamada

    IEEE International Conference on Biomedical Robotics and Biomechatronics 

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    Event date: 2018.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Enschede   Country:Netherlands  

  17. Rigid Material on Top of a Compliant Flooring Effectively Reduces the Impact Force In The Event of a Forward Fall International conference

    Nader Rajaei, Saeed Abdolshah, Yasuhiro Akiyama, Yoji Yamada, and Shogo Okamoto

    IEEE International Conference on Intelligence and Safety for Robotics 

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    Event date: 2018.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  18. Evaluation of Forward Fall on the Outstretched Hand Using MADYMO Human Body Model International conference

    Nader Rajaei, Saeed Abdolshah, Yasuhiro Akiyama, Yoji Yamada, and Shogo Okamoto

    IEEE International Conference on Biomedical Robotics and Biomechatronics 

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    Event date: 2018.8

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Enschede   Country:Netherlands  

  19. Estimation of compressive force acting on human sacrum during dynamic condition International conference

    Xiaohan Xiang, Yoji Yamada, Yasuhiro Akiyama, Ziliang Tao, and Naoki Kudo

    8th World Congress of Biomechanics 

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    Event date: 2018.7

    Language:English   Presentation type:Oral presentation (general)  

    Venue:Dublin   Country:Ireland  

  20. Patient Simulation for Knee Osteoarthritis by Using Pain-warning Electric Stimulation:-Should the handrail be at impaired or healthy side?-

    YAMAKAWA Kohei, OKAMOTO Shogo, YAMADA Naomi, AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of Conference of Tokai Branch 

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    Event date: 2018

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmetokai.2018.67.612

    CiNii Article

  21. Rigid Material on Top of a Compliant Flooring Effectively Reduces the Impact Force In The Event of a Forward Fall International conference

    Rajaei Nader, Abdolshah Saeed, Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    2018 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR) 

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    Event date: 2018

    Language:English   Presentation type:Oral presentation (general)  

  22. Improvement of an Equipment for Evaluating Wounds Risk of a Physical Assistant Robot

    OZAKI Takeshi, YAMADA Yoji, AKIYAMA Yasuhiro

    The Proceedings of Conference of Tokai Branch 

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    Event date: 2018

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmetokai.2018.67.615

    CiNii Article

  23. Study of the relationship between degree of freedom of hip joint and turning motion with a wearable robot

    KUBOKI Yosuke, AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of Conference of Tokai Branch 

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    Event date: 2018

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmetokai.2018.67.614

    CiNii Article

  24. The influence of hip joint rotation of wearable robot on curving motion

    KUBOKI Yosuke, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2018

    Language:Japanese   Presentation type:Poster presentation  

    <p>Physical assistant robots are developed for daily living activities. However, the risk of fall is a major concern of physical assistant robots. In this study, we focus on curving motion, because fall is likely to occur due to restricted degrees of freedom. We developed new physical assistant robot, which had another degree of freedom and analyzed curving motion. According to the experiment, some subjects had a decrease in hip rotation angle, pelvis yaw angle and stride length when the hip rotation was restricted while curving. In addition, some subjects did spin motion, which compensate for decreasing rotation angle. In conclusion, we examined the influence of degree of freedom on falls.</p>

    DOI: 10.1299/jsmermd.2018.1P1-B13

    CiNii Article

  25. Study on knee fold prevention effect using non-powered walking assist device

    NAITO Shusuke, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2018

    Language:Japanese   Presentation type:Poster presentation  

    <p>Elderly people are more likely to fall because of physical ability diminishes with aging. Furthermore, fall is one of the factors of nursing care. Thus, it is important to reduce the risk of fall of the elderly. In this research, we develop a wearable device aiming at preventing knee buckling, which is one of the factors of falling. The developed device doesn't use actuator. So, it is lightweight and easy to attach and detach. The device utilize the motion of the wearer as the tension of string, which was fixed on his/her body. Thus, it is possible to adjust assistive force and pattern by adjusting the string path placed on the body. Moreover, a string length adjustment mechanism was also attached as a part of the device. Then, we validated the device by measuring force that prevents knee flexion. However, a string length adjustment mechanism did not work well. As a result, it affected normal walking.</p>

    DOI: 10.1299/jsmermd.2018.2A1-E03

    CiNii Article

  26. Three-dimensionally controllable stretching machine for equinovarus:-Automation of stretching and estimation of ankle joint parameters-

    SHIRAISHI Yuma, OKAMOTO Shogo, KIMURA Takuzo, YAMADA Naomi, AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2018

    Language:Japanese   Presentation type:Poster presentation  

    <p>Equinovarus is a foot deformity typically caused by paralysis of lower leg. Since continuous stretching is essential as rehabilitation for equinovarus, an automated stretching machine for home-use has been desired. However, currently, no automated stretching machines are commercially available. We previously developed a prototype which can three-dimensionally control a deformed foot by using pneumatic actuators and wire mechanisms [1]. In the present study, we automated the foot stretching by using PI-controllers. Furthermore, we estimated ankle joint parameters related to the muscle stiffness. They can be a reference for treatment and be used to automatically set the desired stretching angles and to measure the effect of stretching using the machine for a long time.</p>

    DOI: 10.1299/jsmermd.2018.2A2-H05

    CiNii Article

  27. Development and validation of trip-induction system by using a treadmill

    MIYATA Hazuki, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2018

    Language:Japanese   Presentation type:Poster presentation  

    <p>Trip-related falls account for a significant proportion of falls in older adults, often resulting in serious injury. A highly accurate fall-risk evaluation method will be increasingly required in the aged society. For this purpose, it is necessary to measure more realistic motion against tripping. We developed a method to induce tripping at arbitrary walking distance and timing in the laboratory using a treadmill and evaluated the validity of it by measuring reaction motion. With respect to each joint angle, it does not greatly deviate from the result of the previous study in the walking lane, and its transition was similar. However, the transition of the forward moment after tripping was very different. By adjusting the treadmill acceleration condition at the same time as the obstacle collision, it would be possible to measure a more realistic motion against tripping.</p>

    DOI: 10.1299/jsmermd.2018.2A2-H02

    CiNii Article

  28. Development and validation of trip-induce system by using a treadmill

    MIYATA Hazuki, AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of Conference of Tokai Branch 

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    Event date: 2018

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmetokai.2018.67.616

    CiNii Article

  29. A String Driven Walking Assist Device by Using Muscle Transfer System

    OHASHI Koichiro, AKIYAMA Yasuhiro, OKAMOTO Shogo, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2018

    Language:Japanese   Presentation type:Poster presentation  

    <p>The elderly sometimes fall due to the decreasing of dorsal flexion and minimum foot clearance (MFC). Thus, some wearable assist devices, which prevent such problems to reduce the risk of trip, are developed. For improving assist ability and usability, we developed string driven assist device. Strings, which connect lower and upper body, transfer muscle power from body to foot to assist gait motion. To make better the efficiency of the assist, string paths were optimized using joint torque simulation. This simulator made an optimal path, which applied dorsal torque in the swing phase. Furthermore, thinness and lightness enhanced the usability. As a result, the device increased dorsal flexion and MFC during swing phase.</p>

    DOI: 10.1299/jsmermd.2018.2A1-E01

    CiNii Article

  30. Development of Non-Actuated Walking Assist Device

    NAITO Shusuke, AKIYAMA Yasuhiro, OHASHI Koichiro, YAMADA Yoji

    The Proceedings of Conference of Tokai Branch 

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    Event date: 2018

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmetokai.2018.67.613

    CiNii Article

  31. Ankle stretching rehabilitation machine for equinovarus: Design and evaluation from clinical aspects International conference

    Noami Yamada, Shogo Okamoto, Yasuhiro Akiyama, Kaoru Isogai, Yoji Yamada

    IEEE International Conference on Systems, Man, and Cybernetics 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  32. The change of gait motion When curving a corner owing to the motion restriction caused by a wearable device International conference

    Yusuke Fukui, Yasuhiro Akiyama, Yoji yamada, and Shogo okamoto

    IEEE International Conference on Systems, Man, and Cybernetics 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  33. Development of a string-driven walking assist device powered by upper body muscles International conference

    Koichiro Ohashi, Yasuhiro Akiyama, Shogo Okamoto, Yoji Yamada

    IEEE International Conference on Systems, Man, and Cybernetics 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  34. Ankle stretching rehabilitation machine for equinovarus: Automation of eversion and flexion control International conference

    Takuzo Kimura, Shogo Okamoto, Naomi Yamada, Yasuhiro Akiyama, Kaoru Isogai, Yoji Yamada

    IEEE International Conference on Systems, Man, and Cybernetics 

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    Event date: 2017.10

    Language:English   Presentation type:Poster presentation  

    Country:Canada  

  35. Analysis of upper extremity motion during trip-induced falls International conference

    IEEE International Symposium on Robot and Human Interactive Communication 

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    Event date: 2017.8

    Language:English   Presentation type:Oral presentation (general)  

    Country:Portugal  

  36. 人間の自然な角曲がり動作戦略の分類 ―装着型ロボットに求められる矢状面外関節動作範囲の提案―

    秋山靖博,戸田均,小倉崇生,山田陽滋,岡本 正吾

    ロボティクス・メカトロニクス講演会2017 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  37. 装着型ロボット使用時に想定される矢状面外の動作の拘束がカーブ動作に与える影響

    福井雄佑,秋山靖博,山田陽滋,岡本 正吾

    ロボティクス・メカトロニクス講演会2017 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  38. ワイヤーを用いた筋力伝達式歩行補助デバイスの製作

    大橋航一郎,秋山靖博,岡本 正吾,山田陽滋

    ロボティクス・メカトロニクス講演会2017 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  39. ロボット装着時創傷リスク評価を目的とした皮膚3次元形状再現機構の開発

    境勇真,秋山靖博,山田陽滋,岡本正吾

    第22回ロボティクスシンポジア 

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    Event date: 2017.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  40. 装着型アシストロボット着用者の固定障害物との接触に対する転倒回避動作の研究

    櫛田諒太,秋山靖博,山田陽滋,岡本正吾

    第22回ロボティクスシンポジア 

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    Event date: 2017.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  41. A Verification Method for Testing Abrasion in the Use of Restraint Type Personal Care Robots International conference

    Yamada Yoji, Mao Xuewei, Yoshida Kengo, Akiyama Yasuhiro, Okamoto Shogo

    WEARABLE ROBOTICS: CHALLENGES AND TRENDS 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1007/978-3-319-46532-6_34

  42. Ankle stretching rehabilitation machine for equinovarus: Automation of eversion and flexion control International conference

    Kimura Takuzo, Okamoto Shogo, Yamada Naomi, Akiyama Yasuhiro, Isogai Kaoru, Yamada Yoji

    2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

  43. Analysis of Upper Extremity Motion during Trip-Induced Falls International conference

    Abdolshah Saeed, Akiyama Yasuhiro, Mitsuoka Kento, Yamada Yoji, Okamoto Shogo

    2017 26TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

  44. Ankle Stretching Rehabilitation Machine for Equinovarus: Design and Evaluation from Clinical Aspects International conference

    Yamada Naomi, Okamoto Shogo, Akiyama Yasuhiro, Isogai Kaoru, Yamada Yoji

    2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 

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    Event date: 2017

    Language:English   Presentation type:Poster presentation  

  45. Development of a mechanism which reproduces shape of human for evaluation of wounds risk when using wearable robot

    SAKAI Yuma, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 

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    Event date: 2017

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmebio.2017.29.2E43

    CiNii Article

  46. Measurement of contact status of a wearable robot cuff on human skin during assisted motion

    LIU Yi, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 

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    Event date: 2017

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmebio.2017.29.1D43

    CiNii Article

  47. Effect on Corner Curving Motion Caused by the Restriction of Out-of-Sagittal-Plane Motion Applied by a Wearable Device

    FUKUI Yusuke, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2017

    Language:Japanese   Presentation type:Poster presentation  

    <p>For developing a mechanism which can enable an assist device to turn a corner naturally, we analyzed the effects on curving motion from the restriction of hip joint. To check the effects of restricted out-of-sagittal-plane motion, subjects wore a wearable device which can restrict the hip joint. Then, Subjects walked along a curved path with or without the restriction. In the restricted condition, the rotation and adduction or abduction angle of hip joint was decreased. This lead subjects to change their movement of COM. This potentially causes fall during outer footstep.</p>

    DOI: 10.1299/jsmermd.2017.1P2-K08

    CiNii Article

  48. Reproduction of Loading Pattern under a Cuff using Manipulator for Safety Evaluation of a Physical Assistant Robot

    OZAKI Takeshi, YAMADA Yoji, AKIYAMA Yasuhiro, KATO Akihiro

    The Proceedings of the Bioengineering Conference Annual Meeting of BED/JSME 

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    Event date: 2017

    Language:Japanese   Presentation type:Oral presentation (general)  

    DOI: 10.1299/jsmebio.2017.29.2E35

    CiNii Article

  49. Classification of the Gait Motion when Turning Corner Naturally:-Range of motion of hip joint on the out-of-sagittal plane required for wearable robot-

    AKIYAMA Yasuhiro, TODA Hitoshi, OGURA Takao, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2017

    Language:Japanese   Presentation type:Poster presentation  

    <p>The curving motion in the daily living environment was not analyzed enough. However, such out-of-sagittal plane motion is required for a wearable assistant robot to be used in such complex environment. Thus, in this study, various natural turning motion of the human was recorded using corner paths with different radius and different stepping timing. As a result of cluster analysis using maximum and minimum pelvis and lumbar angle as the representative parameters of the whole turning motion, five turning strategies, which were also characterized by the range of motion of hip rotation angles, were identified. In addition, the range of motion of hip joint which is required for corner turning became clear.</p>

    DOI: 10.1299/jsmermd.2017.2P2-L10

    CiNii Article

  50. Development of a Wire Driven Walking Assist Device by Muscle Strength

    OHASHI Koichiro, AKIYAMA Yasuhiro, OKAMOTO Shogo, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2017

    Language:Japanese   Presentation type:Poster presentation  

    <p>The elderly sometimes fall due to the decreasing of dorsal flexion. Thus, a wearable assist device which increases dorsal flexion to reduce the risk of tripping is developed. This device applies torque to foot joint from strong muscle through wires attached on the whole body during the swing phase. To improve the efficiency of the assist, wire paths were optimized by joint torque simulation. In this study, two wire path patterns which apply dorsal torque in swing phase were considered. As a result, the wearable assist device we developed successfully increased dorsal flexion and minimum foot clearance during swing phase.</p>

    DOI: 10.1299/jsmermd.2017.1P2-K09

    CiNii Article

  51. The Change of Gait Motion When Curving a Corner Owing to the Motion Restriction Caused by a Wearable Device International conference

    Fukui Yusuke, Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

  52. Development of a String-Driven Walking Assist Device Powered by Upper Body Muscles International conference

    Ohashi Koichiro, Akiyama Yasuhiro, Okamoto Shogo, Yamada Yoji

    2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 

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    Event date: 2017

    Language:English   Presentation type:Oral presentation (general)  

  53. 歩行中のつまずき転倒時における受傷程度推定手法の開発

    秋山靖博,Esam Hafez,山田陽滋,岡本正吾,光岡賢人

    LIFE2016 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  54. ワイヤーを用いた歩行補助およびワイヤーパスの最適化に関する研究

    大橋航一郎,秋山靖博,山田陽滋,岡本 正吾

    ロボティクス・メカトロニクス講演会2016 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  55. 歩行中のつまずき転倒現象の計測および危害推定

    秋山靖博,光岡賢人,山田陽滋,岡本 正吾

    ロボティクス・メカトロニクス講演会2016 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Poster presentation  

    Country:Japan  

  56. Patient Simulator Using Wearable Robot to Estimate the Burden of Knee-Osteoarthritis Patients during Sitting-down and Standing-up Motions International conference

    Kubo Ryu, Hirukawa Ayaka, Okamoto Shogo, Yamada Naomi, Akiyama Yasuhiro, Yamada Yoji

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 

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    Event date: 2016

    Language:English   Presentation type:Oral presentation (general)  

  57. Patient Simulator Using Wearable Robot to Estimate Knee-OA Patient's Burden during Sitting-down and Standing-up Motions

    KUBO Ryu, HIRUKAWA Ayaka, OKAMOTO Shogo, YAMADA Naomi, AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016

    Language:Japanese   Presentation type:Poster presentation  

    <p>Estimation of physical burdens that people with motor impairment suffer from aids us to establish welfare techniques and systems comprising personal care equipment and assessment of critical risks such as fall. We developed a wearable robot for a healthy person and its control algorithm to simulate the representative motions of knee osteoarthritis patients. We then calculated the knee exion and extension moment of the simulated patient during standing-up and sitting-down motions to estimate the physical burdens of incurred by the knee malfunctions.The burdens estimated under some conditions qualitatively match those clinically considered, which corroborates the validity of our patient simulation techniques.</p>

    DOI: 10.1299/jsmermd.2016.1P1-02a3

    CiNii Article

  58. An Analysis of Fall Motion and Estimation of Severity against the Tripping During Gait

    AKIYAMA Yasuhiro, Mitsuoka Kento, YAMADA Yoji, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016

    Language:Japanese   Presentation type:Poster presentation  

    <p>Relationship between the limitation of the fall avoidance motion and severity of the fall should be explained because the fall is one of the most severe risks in the industrial site. However, the study which recorded whole of the fall motion is rarely performed because of the difficulty of reproducing fall in the laboratory due to the safety concerns. In this study, the fall motion, which was caused artificially, was recorded as long as possible within the bounds of safety. Then, the successive motion until the ground contact was simulated. As a result, the position and velocity of the ground contact could be connected to the fall avoidance motion, which means the step length after tripping, and the motion during the fall, forward tilt of the body and vertical velocity of CoM.</p>

    DOI: 10.1299/jsmermd.2016.1A2-13a3

    CiNii Article

  59. Development of the Wire Driven Walking Assist Device with the Optimized Wire Passes

    OHASHI Koichiro, AKIYAMA Yasuhiro, OKAMOTO Shogo, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2016

    Language:Japanese   Presentation type:Poster presentation  

    <p>The elderly sometimes fall due to the decreasing of dorsal flexion. Thus, a wearable assist device which increases dorsal flexion to reduce the risk of tripping is developed. This device applies torque to foot joint through wires attached on the lower leg during the swing phase. To improve the efficiency of the assist, wire passes were optimized under the evaluation function which consisted of joint torque of knee and foot joint. As a result, the wearable assist device we developed successfully increased dorsal flexion during swing phase without the effect to the knee joint.</p>

    DOI: 10.1299/jsmermd.2016.2A1-14a5

    CiNii Article

  60. 1A1-P06 An Analysis of a Collision of a Physical Assistance Robot and an Obstacle

    KUSHIDA Ryota, YAMADA Yoji, OKAMOTO Shogo, HARA Susumu

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2015

    Language:Japanese   Presentation type:Poster presentation  

    A purpose of this study is detecting typical pattern in a motion of a physical assistant robot user for a development of the robots. A contact of side part of the robot and an obstacle was simulated. In this situation, a twist motion of the user is predicted. A subject was one young healthy man. An experiment was conducted changing timing and a location of a contact. A motion of a subject and contact force are recorded by a motion capture system, a video camera and force sensors. Twist angles of shoulders, a pelvis and foots are calculated. The twist motion of the subject is observed as expected. The subject was able to recover from the contact without falling under the all conditions. More experiments and analysis about stability are planned.

    DOI: 10.1299/jsmermd.2015._1A1-P06_1

    CiNii Article

  61. Analysis of Skip Motion as a Recovery Strategy after an Induced Trip International conference

    Mitsuoka Kento, Akiyama Yasuhiro, Yamada Yoji, Okamoto Shogo

    2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS 

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    Event date: 2015

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/SMC.2015.167

  62. An Analysis of Recovery Motion of a Man Wearing Physical Assistant Robot in Response to Collision International conference

    Akiyama Yasuhiro, Kushida Ryota, Yamada Yoji, Okamoto Shogo

    2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS 

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    Event date: 2015

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/SMC.2015.195

  63. Development of a novel test method for skin safety verification of physical assistant robots International conference

    Mao Xuewei, Yamada Yoji, Akiyama Yasuhiro, Okamoto Shogo, Yoshida Kengo

    PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015) 

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    Event date: 2015

    Language:English   Presentation type:Poster presentation  

  64. PS7-11 A STUDY ON A NOVEL SAFETY VERIFICATION METHOD FOR GENERATING EXPERIMENTAL FRICTION BLISTERS(PS7: Poster Short Presentation VII,Poster Session) International conference

    Mao Xuewei, Yamada Yoji, Akiyama Yasuhiro, Okamoto Shogo, Yoshida Kengo

    Proceedings of the ... Asian Pacific Conference on Biomechanics : emerging science and technology in biomechanics 

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    Event date: 2015

    Language:English   Presentation type:Poster presentation  

    DOI: 10.1299/jsmeapbio.2015.8.347

    CiNii Article

  65. Patient Simulator Using Wearable Robot: leRepresentation of Invariant Sitting-down and Standing-up Motions of Patients with Knee-OA International conference

    Kubo Ryu, Okamoto Shogo, Nezaki Shogo, Yamada Naomi, Akiyama Yasuhiro, Yamada Yoji

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 

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    Event date: 2015

    Language:English   Presentation type:Oral presentation (general)  

  66. Muscle Activity Restriction Taping Technique Simulates the Reduction in Foot-Ground Clearance in the Elderly International conference

    Ullauri Jessica Beltran, Akiyama Yasuhiro, Yamada Naomi, Okamoto Shogo, Yamada Yoji

    PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015) 

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    Event date: 2015

    Language:English   Presentation type:Poster presentation  

  67. 1A1-D02 Equinovarus Simulator by Wearable Mechanism(Welfare Robotics and Mechatronics (1))

    OKUMURA Hirohi, OKAMOTO Shogo, ISHIKAWA Shun, AKIYAMA Yasuhiro, ISOGAI Kaoru, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2014

    Language:Japanese   Presentation type:Poster presentation  

    It is indispensable for physical therapists in training to experience various symptoms during their period of education; however, such chances are limited in educational institutions. We developed a prototype of a wearable dummy-robot system to simulate equinovarus, which is a typical disorder of the foot caused by stroke, to enhance the training of physical therapists (PTs). The wearable dummy system enables us to simulate joint disorders while allowing the trainees to learn humans' complex joint movements such as those observed in human feet. The dummy system deformed the foot of its healthy wearer through a wire mechanism such that the resultant foot posture and resistance force required for therapeutic operations resemble those of typical equinovarus. Through evaluation experiments involving PTs, we explored design parameters to well represent equinovarus in the acute and chronic phases. The results suggest that the dummy simulator is expected to be an effective training tool to aid the trainees of physical therapy with potential future improvements.

    DOI: 10.1299/jsmermd.2014._1A1-D02_1

    CiNii Article

  68. Analysis of Recovery Motion of Human to Prevent Fall in Response to Abnormality with a Physical Assistant Robot International conference

    Akiyama Yasuhiro, Higo Ikuma, Yamada Yoji, Okamoto Shogo

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 

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    Event date: 2014

    Language:English   Presentation type:Oral presentation (general)  

  69. 3A1-G05 An Analysis of the Effect of Wearable Robot's Interference on Fall(Robotics with Safety and Reliability)

    HIGO Ikuma, AKIYAMA Yasuhiro, YAMADA Yoji, OKAMOTO Syogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2014

    Language:Japanese   Presentation type:Poster presentation  

    There is a social demand on a wearable robot that is useful in enhancing wearer's locomotive capabilities.However,a wearable robot has some unique risks.Fall is one of the most severe risk.This study focuses on the effect of applying sudden motion interference to the wearer when using a wearable robot.A motion capture system and forceplates record the human response to the perturbation to assess a risk of fall.We observe a characterized response like circumduction gait and effectiveness of the recovery despite the change in the joint angles and COPs.

    DOI: 10.1299/jsmermd.2014._3A1-G05_1

    CiNii Article

  70. 理学療法士養成を支援する装着型内反尖足ダミー:パラメータ調整による内反尖足の個人差の表現

    奥村 宏, 岡本 正吾, 石川 俊, 磯貝 香, 柳原 南欧美, 秋山 靖博, 山田 陽滋

    理学療法学Supplement 

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    Event date: 2014

    Language:Japanese   Presentation type:Oral presentation (general)  

    【はじめに,目的】PTの技術習得には様々な症状の体験が必要であるが,養成機関ではそれらを体験する機会が限られている。また,臨床実習では,資格を取得していない学生が患者の治療に携わることが倫理的な観点から問題視されており,ここでも症状を体験する機会は十分ではないのが現状である。そこで,筆者らは症状を模擬するダミーロボットを開発し,PTの養成を支援することを目指している。本研究では,PTが臨床現場で体験することが多く,患者のQOLへの影響が大きい内反尖足を模擬するロボットの開発を行っている。尖足は足部の多自由度の関節挙動を伴うため,ロボットによってこれを模擬することは課題が多い。そこで,著者らは,装着型の機構によって尖足を模擬する。また,機構が有する設計パラメータを調整することにより,尖足の個人差を表現することが可能であることを測定実験により示す。【方法】本研究では装着型ダミーのプロトタイプの開発を行った。この枠組みでは,機構を健常者の下腿と足に装着し,アクチュエータによりに足部に力を加え,尖足の症状を模擬する。尖足の要因となる後脛骨筋に沿った腱駆動により,手技の学習を妨げないコンパクトな機構を実現した。さらに,この機構によって,足部の内転に伴う,回外と底屈のような複雑な関節動作を実現した。また,装着型ダミーは皮膚や骨,人体の重さや形状などの特徴を表現することができる。このように装着型ダミーにより,人体の特徴を維持したまま,アクチュエータにより内反尖足や痙性などの症状の模擬が可能となる。開発した装着型ダミーは,膝関節下部に装着されたカフと足底を覆う装具から成る。足底から延びたワイヤが後脛骨筋に沿っており,そのワイヤを下腿のカフに取付けたDCモータで巻き取ることにより,後脛骨筋の緊張亢進による内反尖足を模擬する。また,DCモータのトルクを制御することにより,ROM制限や痙性の症状を提示することができる。装着型ダミーは後脛骨筋に沿ったワイヤの終点位置を変えることにより,足部に加わる張力の向きが変化する。その結果,手技の学習者が感じる内転方向の抵抗力が主に変化する。著者らは足部に加わる力が,どのように変化するかを力センサを用いて測定した。足部を基本肢位の状態に保ち,内側に力センサを配置した。その状態から,モータに張力を発生させ,それにより発生する内転方向の力を測定した。ワイヤ終点を拇指球にあたる位置から踵にかけてほぼ均等に配置されたI―IIIの3点のいずれかとした。各終点において20回,内転方向の抵抗力を測定し,それらの平均値を算出した。この間,ワイヤの張力が8.3 Nとなるようにモータを制御した。【倫理的配慮,説明と同意】本研究はダミーロボットの開発を目的としており,参加者実験を行っていない。【結果】ワイヤの終点をIにしたときの内転方向の抵抗力の平均が4.68±0.96 N,終点IIでは3.58±0.72 N,終点IIIでは2.58±0.42 Nであった。また,装着型機構により,足部の内転,底屈,回外の動作が同時に生起されることを確認した。【考察】計測によりワイヤ終点をIからIIIへ変更するにつれ,ダミーが発生させる足部内転方向の力が減少した。この結果は事前に作成した装着型ダミーの物理モデルの結果と一致した。以上からワイヤの終点を変更することにより,模擬する内反尖足の程度が調整され,患者間の個人差が表現され得ることがわかった。【理学療法学研究としての意義】複雑な関節動作を伴う内反尖足を,装着型ダミーにより模擬した。ダミーを用いることにより,臨床実習以外で患者に触れることができない学生が,内反尖足の症状を体験したり,手技を学習することができるようになる。また,患者間の個人差を表現できる本ダミーを用いて,Ashworth scaleなどの評価指標の採点基準をPT間で統一することができ,評価の信頼性向上に貢献することができる。

    DOI: 10.14900/cjpt.2013.1614

    CiNii Article

  71. 1A1-G09 A Test Method of Contact Safety of a Wearable Robot(NEDO Project for Practical Applications of Service Robots)

    AKIYAMA Yasuhiro, YAMADA Yoji, ITO Koji, ODA Shiro, OKAMOTO Shogo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2013

    Language:Japanese   Presentation type:Poster presentation  

    Although development of a method of safety test is important to spread wearable robot, it is not established. However, it is difficult to use human subject to evaluate the wearable robot because of the ethical reason. Therefore, a lower limb dummy was developed in this study to evaluate the safety of a wearable robot by measuring the burden of a wearer. The force applied to the wearer will affect the skin of the wearer. Therefore, it is important to expect the burden of the skin. However, there are many parameters which change the force. Now, the effect of the attitude of the wearer is considered in this study. The result suggests that the relative position between robot and human and the attitude of human hip affect the force. Further experiment is necessary for the safety test to cover individuality of motion and physical frame.

    DOI: 10.1299/jsmermd.2013._1A1-G09_1

    CiNii Article

  72. 2A2-I01 The Analysis about the Effect of Wearable Robot against Falling of Wearer(Robotics with Safety and Reliability)

    AKIYAMA Yasuhiro, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2013

    Language:Japanese   Presentation type:Poster presentation  

    A wearable robot is useful in expanding the locomotion ability of the user. However, there exists a risk due to ergonomic mismatch between the robot and the wearer. Typical hazard is a falling. In view of the safety issue, the risk of falling should be evaluated to qualify or improve the safety of the wearable robot. By measuring the gait motion of the subject, gait parameters of the subject with the wearable robot are measured in this study. As a result, some gait parameters such as step length, swing time and stance ratio changed when using the wearable robot. Although, part of the change of gait parameters can be described as the effect of the wearable robot, more experiments are needed to analyze the mechanism of falling caused by the wearable robot. In addition, further experiments are needed to evaluate the risk of falling in multiple situations.

    DOI: 10.1299/jsmermd.2013._2A2-I01_1

    CiNii Article

  73. 2A1-B08 Wearable dummy to simulate joint impairment: A variety of symptoms typical for knee joint disease and stroke(Welfare Robotics and Mechatronics (1))

    ISHIKAWA Shun, OKAMOTO Shogo, AKIYAMA Yasuhiro, ISOGAI Kaoru, YAMADA Yoji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2013

    Language:Japanese   Presentation type:Poster presentation  

    Physical therapists master manual examination techniques for testing impaired motor functions. We developed a wearable robotic dummy joint to simulate disordered joint resistances for supporting physical therapists to learn such techniques. We implemented 5 symptoms seen in knee joint diseases and strokes. The implemented models were validated based on the introspection of physical therapists, and some simulated resistances well matched with their experiences. The symptom models and dummy joint have been continuously undergoing improvement cycles.

    DOI: 10.1299/jsmermd.2013._2A1-B08_1

    CiNii Article

  74. Evaluation of the mechanical characteristics of human thighs for developing complex dummy tissues International conference

    Aso Masaya, Yamada Yoji, Yoshida Kengo, Akiyama Yasuhiro, Ito Yasumi

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 

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    Event date: 2013

    Language:English   Presentation type:Oral presentation (general)  

  75. Wearable Dummy to Simulate Joint Impairment: Severity-based Assessment of Simulated Spasticity of Knee Joint International conference

    Ishikawa Shun, Okamoto Shogo, Isogai Kaoru, Akiyama Yasuhiro, Yanagihara Naomi, Yamada Yoji

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 

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    Event date: 2013

    Language:English   Presentation type:Oral presentation (general)  

  76. Wearable Dummy to Simulate Equinovarus for Training of Physical Therapists International conference

    Okumura Hiroshi, Okamoto Shogo, Ishikawal Shun, Akiyama Yasuhiro, Isogai Kaoru, Hirano Yuji, Yamada Yoji

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 

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    Event date: 2013

    Language:English   Presentation type:Oral presentation (general)  

  77. 1P1-S05 Research of A Test Method Using A Lower-Limb Dummy for Human Wearable Robot Safety : 2^<nd> Report: Proposal of Dummy Skin to Mimic the Body Shape(Robotics with Safety and Reliability)

    Ishiguro Kenji, Akiyama Yasuhiro, Yamada Yoji, Hara Susumu, Okamoto Syogo, Onishi Tadashi, Ito Koji

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 

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    Event date: 2012

    Language:Japanese   Presentation type:Poster presentation  

    The paper concerns a safety testing method for human wearable robots applied to their lower-limbs. Our group has been studying a lower-limb dummy to assess safety of a wearable robot. This study focused on approximating characteristic of a dummy to a human by mimicking a human body shape. First, we investigated cross sectional shape of a human body by MRI. Second, we developed the lower-limb dummy to mimic a body shape by air pressure actuators. Finally, we evaluated the degree of reproducibility of shape. Then, we measured interactive tensile force vector data between the dummy and the robot, and analyzed the tendency of the force vector data.

    DOI: 10.1299/jsmermd.2012._1P1-S05_1

    CiNii Article

  78. Wearable dummy to simulate joint impairment: Model for the discontinuous friction resistance due to arthritis International conference

    Ishikawa Shun, Okamoto Shogo, Akiyama Yasuhiro, Isogai Kaoru, Yamada Yoji, Hara Susumu

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) 

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    Event date: 2012

    Language:English   Presentation type:Oral presentation (general)  

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KAKENHI (Grants-in-Aid for Scientific Research) 5

  1. Novel safety control strategy at the time of collision under the worst condition for a robot with a single fault detection capability

    Grant number:20H02114  2020.4 - 2023.3

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    Authorship:Coinvestigator(s) 

  2. 装着型ロボットの転倒時アシストの可能性およびそれによる転倒リスク軽減効果の評価

    2017.4 - 2020.3

    科学研究費補助金  基盤研究(C)

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    Authorship:Principal investigator 

  3. ロボット装着部における創傷発生機序の解明および装着部安全性試験装置の開発

    2016.4 - 2019.3

    科学研究費補助金  基盤研究(B)

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    Authorship:Coinvestigator(s) 

  4. 日常生活環境における潜在的装着型ロボット起因型転倒リスクの評価と低減方策の検討

    2014.4 - 2017.3

    科学研究費補助金  若手研究(B)

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    Authorship:Principal investigator 

  5. 装着型ロボットの使用により生じる転倒リスクの定量化とその低減方法の提案

    2012.4 - 2014.3

    科学研究費補助金  若手研究(B)

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    Authorship:Principal investigator 

Industrial property rights 2

  1. 計測システム

    李豊羽,秋山靖博,岡本正吾,山田陽滋,万象隆

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    Application no:2019-179219  Date applied:2019.9

    Country of applicant:Domestic  

  2. 歩行補助装置

    秋山 靖博,大橋 航一郎,岡本 正吾,山田 陽滋

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    Application no:2016-223828  Date applied:2016.11

    Country of applicant:Domestic