Research Output 1988 2020

1P1-X02 最大筋力を考慮した筋骨格システムの位置制御

Translated title of the contribution: 1P1-X02 Set-point Control of a Musculoskeletal System Considering Maximum Muscular Force中川大輔, 松谷祐希, 木野仁 & 田原健二, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "1P1-X02(1)"-"1P1-X02(4)"

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Feedback control
Sensory feedback
Muscle

1P2-O08 パーティクルフィルタによる物体の位置・姿勢推定値を用いた物体把持・操作手法

Translated title of the contribution: 1P2-O08 Object Manipulation using a Particle Filter to Estimate a Position and Attitude of an Grasped Object大藤康平, 辻徳生 & 田原健二, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "1P2-O08(1)"-"1P2-O08(3)"

Research output: Contribution to journalArticle

Time delay
Lasers
Sensors

2A2-K06 リニアアクチュエータを用いた歩行アシスト装置の開発と歩行シミュレーションによるアシスト効果の検証

Translated title of the contribution: 2A2-K06 Development of Wearable Walking Assist Device using Linear Actuator and Its Verification through Numerical Simulations田原健二, 岡田共史, 中島康貴 & 山本元司, May 17 2015, In : ロボティクス・メカトロニクス講演会講演概要集. 2015, p. "2A2-K06(1)"-"2A2-K06(4)"

Research output: Contribution to journalArticle

Linear actuators
Controllers
Computer simulation
Gears
Actuators

2リンク6筋を有する筋骨格システムにおけるフィードフォワード位置決めのための筋配置条件

Translated title of the contribution: Muscular Arrangement Conditions of Musculoskeletal System with Two Joints and Six Muscles for Feedforward Position Control越智裕章, 木野仁, 田原健二 & 松谷祐希, 2016, In : 日本ロボット学会誌. 34, 2, p. 133-142 10 p.

Research output: Contribution to journalArticle

Musculoskeletal system
Feedforward control
Position control
Muscle
Torque
1 Citation (Scopus)

3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control

Kino, H., Yoshitake, T., Wada, R., Tahara, K. & Tsuda, K., Jul 18 2018, In : Advanced Robotics. 32, 14, p. 766-777 12 p.

Research output: Contribution to journalArticle

Wire
Robots
Ceilings
Degrees of freedom (mechanics)
Dynamic analysis
6 Citations (Scopus)

A bio-inspired compliant parallel mechanism for high-precision robots

Kozuka, H., Arata, J., Okuda, K., Onaga, A., Ohno, M., Sano, A. & Fujimoto, H., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 3122-3127 6 p. 6224873. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Optics
Robots

A calculation method of the dynamics for a 3-RSS parallel link robot (delta type)

Hong, J. & Yamamoto, M., Dec 1 2008, p. 242-246. 5 p.

Research output: Contribution to conferencePaper

RSS
Robots
Computer simulation
11 Citations (Scopus)

A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame

Hong, J. & Yamamoto, M., Jul 1 2009, In : Robotica. 27, 4, p. 579-587 9 p.

Research output: Contribution to journalArticle

Parallel Robot
Robot
Robots
Moment
Kinematics
4 Citations (Scopus)

Acceleration feedback and friction compensation for improving positioning performance in systems with friction

Aung, M. T. S. & Kikuuwe, R., Jul 28 2015, ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., p. 4798-4803 6 p. 7172085. (Proceedings of the American Control Conference; vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Friction
Feedback
Controllers
Position control
Derivatives
3 Citations (Scopus)

Acceleration feedback and friction compensation for improving the stability of admittance control

Aung, M. T. S. & Kikuuwe, R., Sep 8 2015, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Selamat, H., Ramli, H. R. H., Faudzi, A. A. M., Rahman, R. Z. A., Ishak, A. J., Soh, A. C. & Ahmad, S. A. (eds.). Institute of Electrical and Electronics Engineers Inc., 7244611. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Position control
Friction
Feedback
Controllers
Acceleration measurement
2 Citations (Scopus)

Accident prediction based on motion data for perception-assist with a power-assist robot

Kiguchi, K. & Matsuo, R., Feb 2 2018, 2017 IEEE Symposium Series on Computational Intelligence, SSCI 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., p. 1-5 5 p. (2017 IEEE Symposium Series on Computational Intelligence, SSCI 2017 - Proceedings; vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Accidents
Robot
Robots
Motion
Prediction
9 Citations (Scopus)

A compliant-parallel mechanism with bio-inspired compliant joints for high precision assembly robot

Kozuka, H., Arata, J., Okuda, K., Onaga, A., Ohno, M., Sano, A. & Fujimoto, H., Jan 1 2013, In : Procedia CIRP. 5, p. 175-178 4 p.

Research output: Contribution to journalConference article

Compliant mechanisms
Abrasion
Lubrication
Robots
3 Citations (Scopus)

A contact force model with nonlinear compliance and residual indentation

Xiong, X., Kikuuwe, R. & Yamamoto, M., Jan 1 2014, In : Journal of Applied Mechanics, Transactions ASME. 81, 2, 021003.

Research output: Contribution to journalArticle

indentation
Indentation
continuity
Differential equations
Compliance
33 Citations (Scopus)

A control framework to generate nonenergy-storing virtual fixtures: Use of simulated plasticity

Kikuuwe, R., Takesue, N. & Fujimoto, H., Aug 1 2008, In : IEEE Transactions on Robotics. 24, 4, p. 781-793 13 p.

Research output: Contribution to journalArticle

Plasticity
Experiments

A control method with pheromone information for a transport system

Imoto, Y., Tsuji, Y. & Kondo, E., Jun 1 2011, In : Artificial Life and Robotics. 16, 1, p. 112-115 4 p.

Research output: Contribution to journalArticle

Pheromones
Chemical elements
Appointments and Schedules
Control systems
Communication

A control method with pheromone information for transport system

Imoto, Y., Tsuji, Y. & Kondo, E., 2011, Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. p. 675-678 4 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chemical elements
Control systems
Communication
Processing
28 Citations (Scopus)

Active exoskeletons for upper-limb motion assist

Kiguchi, K., Sep 1 2007, In : International Journal of Humanoid Robotics. 4, 3, p. 607-624 18 p.

Research output: Contribution to journalArticle

2 Citations (Scopus)

Adaptive gain parabolic sliding mode filter augmented with vibration observer

Paing, S. L., Aung, M. T. S. & Kikuuwe, R., Oct 6 2017, 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc., p. 602-607 6 p. (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017; vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sliding Mode
Observer
Vibration
Filter
Derivatives
1 Citation (Scopus)

Adaptive trajectory tracking control for the ball-pendulum system with time-varying uncertainties

Bai, Y., Svinin, M. & Yamamoto, M., Dec 13 2017, IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 2083-2090 8 p. 8206026. (IEEE International Conference on Intelligent Robots and Systems; vol. 2017-September).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pendulums
Trajectories
Controllers
Robots
Dynamical systems
Servomechanisms
Genetic algorithms
Systems analysis
Control systems
Multiobjective optimization
1 Citation (Scopus)

A differential-algebraic contact model with nonlinear compliance

Xiong, X., Kikuuwe, R. & Yamamoto, M., Dec 1 2012, ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012. p. 377-383 7 p. (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Indentation
Differential equations
Compliance
Tissue
Computer simulation
7 Citations (Scopus)

A differential algebraic method to approximate nonsmooth mechanical systems by ordinary differential equations

Xiong, X., Kikuuwe, R. & Yamamoto, M., Jun 11 2013, In : Journal of Applied Mathematics. 2013, 320276.

Research output: Contribution to journalArticle

Algebraic Methods
Differential Inclusions
Ordinary differential equations
Mechanical Systems
Ordinary differential equation
5 Citations (Scopus)

A differential-algebraic multistate friction model

Xiong, X., Kikuuwe, R. & Yamamoto, M., Nov 2 2012, Simulation, Modeling, and Programming for Autonomous Robots - Third International Conference, SIMPAR 2012, Proceedings. p. 77-88 12 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 7628 LNAI).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Multi-state
Friction
Model
Fidelity
Adjustment
46 Citations (Scopus)

Admittance and impedance representations of friction based on implicit Euler integration

Kikuuwe, R., Takesue, N., Sano, A., Mochiyama, H. & Fujimoto, H., Dec 1 2006, In : IEEE Transactions on Robotics. 22, 6, p. 1176-1188 13 p.

Research output: Contribution to journalArticle

Friction
Virtual reality
Experiments
1 Citation (Scopus)

A dynamically realizable reconfiguration strategy for steering a spherical rolling with two internal rotors

Svinin, M. M., Morinaga, A. & Yamamoto, M., Jan 1 2013, 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. IEEE Computer Society, p. 1-6 6 p. 6617884. (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motion planning
Rotors
Kinematics
Angular velocity
Robots

A fluid-actuated driving mechanism for rolling robots

Tafrishi, S. A., Esmaeilzadeh, E., Svinin, M. & Yamamoto, M., Jul 2019, 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., p. 256-261 6 p. 8833646. (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Actuator
Rotating
Actuators
Robot
Robots
9 Citations (Scopus)

A fundamental study on the effect of vibration stimulation for motion modification in perception-assist

Honda, K. & Kiguchi, K., Feb 6 2017, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., p. 2347-2352 6 p. 7844589. (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Vibration
Robots
Muscle
Motion
Tendons
7 Citations (Scopus)

A fundamental study on the effect of vibration stimulation on triceps brachii during elbow flexion motion for perception-assist

Honda, K. & Kiguchi, K., Jan 18 2017, 2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016. Institute of Electrical and Electronics Engineers Inc., 7824213. (2016 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motion Perception
Elbow
Vibration
stimulation
Robots
2 Citations (Scopus)

A gait phase measurement system using treadmill motor current

Ando, T., Ohki, E., Nakashima, Y., Akita, Y., Iijima, H., Tanaka, O. & Fujie, M. G., Oct 1 2012, In : Advanced Robotics. 26, 15, p. 1727-1746 20 p.

Research output: Contribution to journalArticle

Exercise equipment
Phase measurement
Switches
8 Citations (Scopus)

A gradient-based approach to collision-free quasi-optimal trajectory planning of nonholonomic systems

Iwamura, M., Yamamoto, M. & Mohri, A., 2000, IEEE International Conference on Intelligent Robots and Systems. Vol. 3. p. 1734-1740 7 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Trajectories
Collision avoidance
Planning
Cost functions
Manipulators
18 Citations (Scopus)
Position control
Robotics
Trajectories
Derivatives
Sliding mode control
1 Citation (Scopus)

Algorithm for selecting appropriate transfer support equipment based on the physical ability of the user

Matsushita, S., Nakashima, Y. & Fujie, M. G., Dec 26 2011, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011. p. 1253-1258 6 p. 6090295. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Equipment and Supplies
Ankle Joint
Knee Joint
Railings
Seats
2 Citations (Scopus)

Algorithm to demodulate an electromyogram signal modulated by essential tremor

Matsumoto, Y., Seki, M., Nakashima, Y., Ando, T., Kobayashi, Y., Iijima, H., Nagaoka, M. & Fujie, M. G., Dec 1 2017, In : ROBOMECH Journal. 4, 1, 15.

Research output: Contribution to journalArticle

electromyography
tremors
Demodulation
Torque
Additive noise

Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand

Tahara, K., Maruta, K. & Yamamoto, M., Jan 1 2011, 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation". IEEE Computer Society, p. 469-471 3 p. 6102234. (2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation").

Research output: Chapter in Book/Report/Conference proceedingConference contribution

End effectors
Equations of motion
Experiments
Computer simulation
Sensorless control
5 Citations (Scopus)

Alternative proofs of four stability properties of rigid-link manipulators under PID position control

Kikuuwe, R., Jan 1 2013, In : Robotica. 31, 1, p. 113-122 10 p.

Research output: Contribution to journalArticle

Position Control
Position control
Manipulator
Manipulators
Directly proportional
4 Citations (Scopus)

A mathematical analysis of the minimum variance model of human-like reaching movements

Svinin, M. & Yamamoto, M., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 4386-4391 6 p. 6048824. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Specifications
1 Citation (Scopus)

A Microsurgical Robotic System that Induces a Multisensory Illusion

Arata, J., Kiguchi, K., Hattori, M., Sakaguchi, M., Nakadate, R., Oguri, S. & Hashizume, M., Dec 1 2016, In : International Journal of Humanoid Robotics. 13, 4, 1650018.

Research output: Contribution to journalArticle

Robotics
Time delay
Feedback
Robotic surgery
1 Citation (Scopus)

A modular software architecture for simulating mechanical systems involving coulomb friction integrable by the Runge-Kutta method

Kikuuwe, R. & Yamamoto, M., Dec 1 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. p. 2277-2282 6 p. 4651184. (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Runge Kutta methods
Software architecture
Computer systems
Friction
27 Citations (Scopus)

A motion planning strategy for a spherical rolling robot driven by two internal rotors

Morinaga, A., Svinin, M. M. & Yamamoto, M., Jan 1 2014, In : IEEE Transactions on Robotics. 30, 4, p. 993-1002 10 p., 6766197.

Research output: Contribution to journalArticle

Motion planning
Rotors
Robots
Trajectories
4 Citations (Scopus)

A multichannel-near-infrared-spectroscopy-triggered robotic hand rehabilitation system for stroke patients

Lee, J., Mukae, N., Arata, J., Iwata, H., Iramina, K., Iihara, K. & Hashizume, M., Aug 11 2017, 2017 International Conference on Rehabilitation Robotics, ICORR 2017. Ajoudani, A., Artemiadis, P., Beckerle, P., Grioli, G., Lambercy, O., Mombaur, K., Novak, D., Rauter, G., Rodriguez Guerrero, C., Salvietti, G., Amirabdollahian, F., Balasubramanian, S., Castellini, C., Di Pino, G., Guo, Z., Hughes, C., Iida, F., Lenzi, T., Ruffaldi, E., Sergi, F., Soh, G. S., Caimmi, M., Cappello, L., Carloni, R., Carlson, T., Casadio, M., Coscia, M., De Santis, D., Forner-Cordero, A., Howard, M., Piovesan, D., Siqueira, A., Sup, F., Lorenzo, M., Catalano, M. G., Lee, H., Menon, C., Raspopovic, S., Rastgaar, M., Ronsse, R., van Asseldonk, E., Vanderborght, B., Venkadesan, M., Bianchi, M., Braun, D., Godfrey, S. B., Mastrogiovanni, F., McDaid, A., Rossi, S., Zenzeri, J., Formica, D., Karavas, N., Marchal-Crespo, L., Reed, K. B., Tagliamonte, N. L., Burdet, E., Basteris, A., Campolo, D., Deshpande, A., Dubey, V., Hussain, A., Sanguineti, V., Unal, R., Caurin, G. A. D. P., Koike, Y., Mazzoleni, S., Park, H-S., Remy, C. D., Saint-Bauzel, L., Tsagarakis, N., Veneman, J. & Zhang, W. (eds.). IEEE Computer Society, p. 158-163 6 p. 8009239. (IEEE International Conference on Rehabilitation Robotics).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Near infrared spectroscopy
Near-Infrared Spectroscopy
Robotics
End effectors
Patient rehabilitation
11 Citations (Scopus)

A multi-DoF anthropomorphic transradial prosthetic arm

Bandara, D. S. V., Gopura, R. A. R. C., Hemapala, K. T. M. U. & Kiguchi, K., Sep 30 2014, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. Carloni, R., Masia, L., Garcia-Aracil, N., Loureiro, R. C. V., Saltaren, R., Van der Kooij, H., Vanderborght, B., Zollo, L., Agrawal, S., Casadio, M., Siqueira, A. A. G., Zariffa, J., Bianchi, M., Formica, D., Godfrey, S. B., Mattos, L., Lanari Bo, A. P., Cleary, K., Fumagalli, M., Khalil, I. S. M., Munoz, V., Park, H-S., Tsagarakis, N., Lambercy, O., Squeri, V., Sabater-Navarro, J. M., Ackermann, M., Ajoudani, A., Artemiadis, P., Deshpande, A., Rodriguez Cheu, L. E., Stienen, A. H. A. & Vitiello, N. (eds.). IEEE Computer Society, p. 1039-1044 6 p. 6913917. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Prosthetics
Manipulators
Kinematics
9 Citations (Scopus)

A multistate friction model described by continuous differential equations

Xiong, X., Kikuuwe, R. & Yamamoto, M., Sep 1 2013, In : Tribology Letters. 51, 3, p. 513-523 11 p.

Research output: Contribution to journalArticle

Differential equations
differential equations
friction
Friction
sliding
Disabled persons
Wheelchairs
Air curtains
Pressure regulation
Experiments
7 Citations (Scopus)

An analysis of the motion planning problem for a spherical rolling robot driven by internal rotors

Svinin, M. M., Morinaga, A. & Yamamoto, M., Dec 1 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 414-419 6 p. 6386077. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motion planning
Rotors
Trajectories
Robots
Kinematics
Mobile robots
Navigation
Sensors
Robots
33 Citations (Scopus)

An edge-based computationally efficient formulation of Saint Venant-Kirchhoff tetrahedral finite elements

Kikuuwe, R., Tabuchi, H. & Yamamoto, M., Jan 1 2009, In : ACM Transactions on Graphics. 28, 1, 8.

Research output: Contribution to journalArticle

Conjugate gradient method
Stiffness matrix
24 Citations (Scopus)

An efficient motion planning of flexible manipulator along specified path

Mohri, A., Sarkar, P. K. & Yamamoto, M., Jan 1 1998, Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., p. 1104-1109 6 p. 677238. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Flexible manipulators
Motion planning
Manipulators
Actuators
Robots
1 Citation (Scopus)

An elastoplastic friction compensator with improved static friction behavior

Iwatani, M. & Kikuuwe, R., Nov 18 2016, 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., p. 1091-1097 7 p. 7749226. (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

static friction
compensators
Compensator
Elasto-plastic
Friction
3 Citations (Scopus)

An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control

Iwatani, M. & Kikuuwe, R., Feb 6 2017, SII 2016 - 2016 IEEE/SICE International Symposium on System Integration. Institute of Electrical and Electronics Engineers Inc., p. 45-50 6 p. 7843973. (SII 2016 - 2016 IEEE/SICE International Symposium on System Integration).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sensorless Control
Force Control
Elasto-plastic
Friction
Estimator
3 Citations (Scopus)
Self organizing maps
Information technology
Computer simulation