Research Output 1988 2019

Article

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
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
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
Servomechanisms
Genetic algorithms
Systems analysis
Control systems
Multiobjective optimization
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
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
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
18 Citations (Scopus)
Position control
Robotics
Trajectories
Derivatives
Sliding mode control
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
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
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
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
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
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
3 Citations (Scopus)
Self organizing maps
Information technology
Computer simulation

A Neural Network System for Calculation of Inverse Dynamics for Manipulators

Yamamoto, M. & Suematsu, H., Jan 1 1993, In : transactions of the japan society of mechanical engineers series c. 59, 559, p. 839-844 6 p.

Research output: Contribution to journalArticle

Manipulators
Neural networks
Coriolis force
3 Citations (Scopus)
low pass filters
Low pass filters
Position control
sliding
Derivatives
6 Citations (Scopus)

A new representation of systems with frictional unilateral constraints and its Baumgarte-like relaxation

Kikuuwe, R. & Brogliato, B., Mar 1 2017, In : Multibody System Dynamics. 39, 3, p. 267-290 24 p.

Research output: Contribution to journalArticle

Unilateral Constraint
Inclusion
Ordinary differential equations
Mechanical Systems
Ordinary differential equation
4 Citations (Scopus)

A new robotic-assisted flexible endoscope with single-hand control: endoscopic submucosal dissection in the ex vivo porcine stomach

Iwasa, T., Nakadate, R., Onogi, S., Okamoto, Y., Arata, J., Oguri, S., Ogino, H., Ihara, E., Ohuchida, K., Akahoshi, T., Ikeda, T., Ogawa, Y. & Hashizume, M., Jul 1 2018, In : Surgical endoscopy. 32, 7, p. 3386-3392 7 p.

Research output: Contribution to journalArticle

Endoscopes
Robotics
Stomach
Swine
Hand
131 Citations (Scopus)

An exoskeletal robot for human shoulder joint motion assist

Kiguchi, K., Iwami, K., Yasuda, M., Watanabe, K. & Fukuda, T., Mar 1 2003, In : IEEE/ASME Transactions on Mechatronics. 8, 1, p. 125-135 11 p.

Research output: Contribution to journalArticle

Robots
Controllers
Neural networks
Experiments
10 Citations (Scopus)

An identification procedure for rate-dependency of friction in robotic joints with limited motion ranges

Iwatani, M. & Kikuuwe, R., Jun 1 2016, In : Mechatronics. 36, p. 36-44 9 p.

Research output: Contribution to journalArticle

Identification (control systems)
Robotics
Friction
Manipulators
Gravitation
2 Citations (Scopus)
Brain computer interface
Electroencephalography
Brain
Robots
Human robot interaction
1 Citation (Scopus)

Application of neural network controller in the seam tracking of arc-welding robot

Gao, X., Huang, S., Akira, M. & Yamamoto, M., 1999, In : Kongzhi Lilun Yu Yinyong/Control Theory and Applications. 16, 3

Research output: Contribution to journalArticle

Electric arc welding
Robots
Neural networks
Controllers
Manipulators
4 Citations (Scopus)

Articulated minimally invasive surgical instrument based on compliant mechanism

Arata, J., Kogiso, S., Sakaguchi, M., Nakadate, R., Oguri, S., Uemura, M., Byunghyun, C., Akahoshi, T., Ikeda, T. & Hashizume, M., Nov 1 2015, In : International Journal of Computer Assisted Radiology and Surgery. 10, 11, p. 1837-1843 7 p.

Research output: Contribution to journalArticle

Compliant mechanisms
Surgical Instruments
Miniaturization
Weights and Measures
Finite Element Analysis
22 Citations (Scopus)

A sliding-mode-like position controller for admittance control with bounded actuator force

Kikuuwe, R., Jan 1 2014, In : IEEE/ASME Transactions on Mechatronics. 19, 5, p. 1489-1500 12 p., 6654326.

Research output: Contribution to journalArticle

Actuators
Controllers
Manipulators
Robotics
Derivatives
1 Citation (Scopus)
Fuzzy control
Robots
Skin
Aging of materials
Controllers
3 Citations (Scopus)

A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations

Morizono, T., Tahara, K. & Kino, H., Mar 1 2017, In : Artificial Life and Robotics. 22, 1, p. 74-82 9 p.

Research output: Contribution to journalArticle

Muscle
Robots
Muscles
Computer simulation
Motion control

A time-integration method for stable simulation of extremely deformable hyperelastic objects

Kikuuwe, R., Oct 1 2017, In : Visual Computer. 33, 10, p. 1335-1346 12 p.

Research output: Contribution to journalArticle

Linear equations
Stiffness matrix
Equations of motion
Mobile robots
Trajectories
Robots
Gravitational effects
Cleaning
1 Citation (Scopus)

Auto steering control of a transfer crane

Chikura, T., Yamamoto, M., Monzen, T., Taguchi, T. & Utida, K., May 1 2005, In : Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 71, 5, p. 1591-1596 6 p.

Research output: Contribution to journalArticle

Cranes
Containers
Gantry cranes
Low pass filters
Model structures
1 Citation (Scopus)

Biomimetic pinching movements of a musculo-skeletal dual-finger model

Tahara, K., Arimoto, S., Ozawa, R. & Luo, Z. W., Jan 1 2011, In : Advanced Robotics. 25, 1-2, p. 175-204 30 p.

Research output: Contribution to journalArticle

Biomimetics
Muscle
Kinematics
Damping
Computer simulation
9 Citations (Scopus)

Brain activation in parietal area during manipulation with a surgical robot simulator

Miura, S., Kobayashi, Y., Kawamura, K., Nakashima, Y. & Fujie, M. G., Jun 1 2015, In : International Journal of Computer Assisted Radiology and Surgery. 10, 6, p. 783-790 8 p.

Research output: Contribution to journalArticle

Brain
Simulators
Chemical activation
Manipulators
Hand
2 Citations (Scopus)

Characteristic analysis of an air cell for active air mattress of prevention for pressure ulcer

Takashima, A., Misaki, A., Takasugi, S. I. & Yamamoto, M., Apr 3 2014, In : Advanced Robotics. 28, 7, p. 497-504 8 p.

Research output: Contribution to journalArticle

Air
Nursing
Sensors
Pressure sensors

Choice of muscular forces for motion control of a robot arm with biarticular muscles

Morizono, T., Tahara, K. & Kino, H., Jan 1 2019, In : Journal of Robotics and Mechatronics. 31, 1, p. 143-155 13 p.

Research output: Contribution to journalArticle

Motion control
Muscle
Robots
Robotic arms
Kinetics

Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function

Yang, X. D., Yamamoto, M. & Mohri, A., Jan 1 1993, In : transactions of the japan society of mechanical engineers series c. 59, 568, p. 3817-3821 5 p.

Research output: Contribution to journalArticle

Motion planning
Manipulators
Computer simulation
1 Citation (Scopus)
Gradient methods
Manipulators
Trajectories
Planning
Genetic algorithms
Trajectories
Planning
Collision avoidance
Motion planning
Mobile robots
5 Citations (Scopus)

Collision-Free Trajectory Planning for Manipulator Using Potential Function

Yang, X. D., Yamamoto, M. & Mohri, A., Jan 1 1994, In : transactions of the japan society of mechanical engineers series c. 60, 575, p. 2345-2350 6 p.

Research output: Contribution to journalArticle

Manipulators
Trajectories
Planning
Boundary value problems
Torque

Collision-Free Trajectory Planning for Two Manipulators (The Case of Specified Joint Paths)

Mohri, A., Marushima, S. & Yamamoto, M., Jan 1 1991, In : transactions of the japan society of mechanical engineers series c. 57, 538, p. 1985-1990 6 p.

Research output: Contribution to journalArticle

Manipulators
Trajectories
Planning
Dynamic programming
Torque

Colorectal endoscopic submucosal dissection using novel articulating devices: a comparative study in a live porcine model

Okamoto, Y., Nakadate, R., Nakamura, S., Arata, J., Oguri, S., Moriyama, T., Esaki, M., Iwasa, T., Ohuchida, K., Akahoshi, T., Ikeda, T., Kitazono, T. & Hashizume, M., Feb 15 2019, In : Surgical endoscopy. 33, 2, p. 651-657 7 p.

Research output: Contribution to journalArticle

Swine
Equipment and Supplies
Endoscopic Mucosal Resection
Anal Canal
Colon
2 Citations (Scopus)
Open Access
end effectors
End effectors
strokes
Brain computer interface
recovery
Electromyography
Muscle Fatigue
Fuzzy rules
Muscle
Fatigue of materials