Research Output 1988 2020

2011
1 Citation (Scopus)

Treadmill motor current based anteroposterior force estimation using ground reaction force approximation depending on gait cycle

Nakashima, Y., Ando, T., Kobayashi, Y. & Fujie, M. G., Dec 26 2011, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011. p. 1583-1589 7 p. 6090460. (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

Exercise equipment
Gait
Walking
Heel
Toes
2010
9 Citations (Scopus)

An upper-limb power-assist exoskeleton robot with task-oriented perception-assist

Kiguchi, K., Kose, Y. & Hayashi, Y., Dec 27 2010, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. p. 88-93 6 p. 5626025. (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010).

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

Robots
Patient rehabilitation
Experiments
Exoskeleton (Robotics)

A tactile sensing for estimating the position and orientation of a joint-axis of a linked object

Matsuo, K., Murakami, K., Niwaki, K., Hasegawa, T., Tahara, K. & Kurazume, R., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 1884-1889 6 p. 5649899. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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

Point contacts
Robotics
Sensors
End effectors
Skin
2 Citations (Scopus)

A trajectory tracking control of a mobile robot for vertical walls

Katsuki, Y., Yamamoto, M. & Ikeda, T., Dec 1 2010, 2010 World Automation Congress, WAC 2010. 5665649. (2010 World Automation Congress, WAC 2010).

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

Mobile robots
Trajectories
Robots
Cleaning
Painting
Mobile robots
Trajectories
Robots
Gravitational effects
Cleaning
1 Citation (Scopus)

Attentive and corrective feedback for adapting robot's perception on fuzzy linguistic information

Izumi, K., Jayasekara, A. G. B. P., Watanabe, K. & Kiguchi, K., Jan 1 2010, Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), p. 1963-1968 6 p. 5602685. (Proceedings of the SICE Annual Conference).

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

Linguistics
Robots
Feedback
Manipulators
Controllers

Decision method of internal force for sensorless positioning of musculoskeletal system

Kino, H., Kikuchi, S. & Tahara, K., 2010, Proceedings - 2010 International Conference on Broadband, Wireless Computing Communication and Applications, BWCCA 2010. p. 731-736 6 p. 5633612

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

Musculoskeletal system
Sensory feedback
Redundancy
Muscle
1 Citation (Scopus)

Design of a flexible spoke wheel for a mobile robot of wiring task inside ceiling

Yamamoto, M., Ikeda, T. & Gao, P., 2010, 2010 World Automation Congress, WAC 2010. 5665647

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

Ceilings
Electric wiring
Mobile robots
Wheels
Bolts
54 Citations (Scopus)

Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand

Tahara, K., Arimoto, S. & Yoshida, M., 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 4322-4327 6 p. 5509372

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

End effectors
Attitude control
Position control
Computer simulation
11 Citations (Scopus)

External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion

Tahara, K., Maruta, K. & Yamamoto, M., 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 4309-4314 6 p. 5509816

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

End effectors
Computer simulation
Experiments
4 Citations (Scopus)

Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force

Tahara, K. & Kino, H., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 234-240 7 p. 5650071. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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

Damping
Muscle
Trajectories
Computer simulation
5 Citations (Scopus)

Iterative learning scheme for a redundant musculoskeletal arm: Task space learning with joint and muscle redundancies

Tahara, K. & Kino, H., 2010, Proceedings - 2010 International Conference on Broadband, Wireless Computing Communication and Applications, BWCCA 2010. p. 760-765 6 p. 5633279

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

Redundancy
Muscle
Inverse kinematics
Trajectories
Controllers
1 Citation (Scopus)

On the motion planning of human-like reaching movements by a minimum variance model

Svinin, M. M. & Yamamoto, M., Dec 1 2010, TENCON 2010 - 2010 IEEE Region 10 Conference. p. 933-938 6 p. 5686544. (IEEE Region 10 Annual International Conference, Proceedings/TENCON).

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

Motion planning
Specifications
6 Citations (Scopus)

Open core control software for surgical robots

Arata, J., Kozuka, H., Kim, H. W., Takesue, N., Vladimirov, B., Sakaguchi, M., Tokuda, J., Hata, N., Chinzei, K. & Fujimoto, H., May 2010, In : International Journal of Computer Assisted Radiology and Surgery. 5, 3, p. 211-220 10 p.

Research output: Contribution to journalArticle

Software
Equipment and Supplies
Navigation systems
Robots
Robotic surgery
77 Citations (Scopus)

Proxy-based sliding mode control: A safer extension of PID position control

Kikuuwe, R., Yasukouchi, S., Fujimoto, H. & Yamamoto, M., Aug 2010, In : IEEE Transactions on Robotics. 26, 4, p. 670-683 14 p., 5497201.

Research output: Contribution to journalArticle

Position control
Sliding mode control
Gain control
Actuators
7 Citations (Scopus)
Damping
Muscle
Trajectories
Computer simulation
4 Citations (Scopus)

Rolling stock planning for passenger trains based on ant colony optimization

Tsuji, Y., Kuroda, M., Imoto, Y. & Kondo, E., Feb 2010, In : Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 76, 762, p. 397-406 10 p.

Research output: Contribution to journalArticle

Ant colony optimization
Planning
Trucks
Inspection
Scheduling
1 Citation (Scopus)

Semiglobally strictly passive two-port network representation of rigid link manipulator under PID trajectory-tracking control

Kikuuwe, R., Dec 1 2010, 2010 49th IEEE Conference on Decision and Control, CDC 2010. p. 3529-3535 7 p. 5717792

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

Trajectory Tracking
Tracking Control
Manipulator
Manipulators
Strictly
3 Citations (Scopus)

Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system

Kawamura, A., Tahara, K., Kurazume, R. & Hasegawa, T., 2010, 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. p. 1542-1548 7 p. 5723559

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

Sensory feedback
Sensory Feedback
Attitude control
Feedback control
Arm
1 Citation (Scopus)

Simple models in trajectory planning of human-like reaching movements

Svinin, M. M., Yamamoto, M. & Goncharenko, I., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 1662-1667 6 p. 5651234. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

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

Trajectories
Planning
Boundary conditions
2009
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
Disabled persons
Wheelchairs
Air curtains
Pressure regulation
Experiments
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
5 Citations (Scopus)

A riemannian-geometry approach for dynamics and control of object manipulation under constraints

Arimoto, S., Yoshida, M., Sekimoto, M. & Tahara, K., Nov 2 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 1683-1690 8 p. 5152414. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Geometry
Stabilization
Robots
Hand tools
Euler equations
2 Citations (Scopus)

A sensor based navigation algorithm for moving obstacles assuring convergence property

Tomita, M. & Yamamoto, M., Dec 1 2009, Proceedings of the 11th IAPR Conference on Machine Vision Applications, MVA 2009. p. 295-299 5 p. (Proceedings of the 11th IAPR Conference on Machine Vision Applications, MVA 2009).

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

Navigation
Sensors
Robots
Mobile robots
3 Citations (Scopus)

A study of the effect of the femoral head diameter on prosthetic hip joint dislocation using a hip-joint motion simulator

Kiguchi, K., Horie, T., Yamashita, A., Ueno, M., Kobayashi, T., Mawatari, M. & Hotokebuchi, T., Jan 1 2009, Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. IEEE Computer Society, p. 6058-6061 4 p. 5334119. (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009).

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

Hip Dislocation
Hip Joint
Thigh
Prosthetics
Joint Dislocations
16 Citations (Scopus)

Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses

Kino, H., Kikuchi, S., Yahiro, T. & Tahara, K., 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 4195-4200 6 p. 5152196

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

Force control
Muscle
Musculoskeletal system
Feedforward control
Physiology
8 Citations (Scopus)

Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system

Tahara, K., Arimoto, S. & Yoshida, M., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 2257-2263 7 p. 5354563

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

Robotics
Torque
End effectors
Robots
Computer simulation
11 Citations (Scopus)

Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system

Kawamura, A., Tahara, K., Kurazume, R. & Hasegawa, T., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 2264-2270 7 p. 5354174

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

Computer simulation
12 Citations (Scopus)
Electromyography
Degrees of freedom (mechanics)
Robots
Controllers
Muscle
1 Citation (Scopus)

Kinematic walking analysis on a new vehicle "tread-walk" with active velocity control of treadmill belt

Ando, T., Nihei, M., Ohki, E., Nakashima, Y., Kobayashi, Y. & Fujie, M. G., Jan 1 2009, Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. IEEE Computer Society, p. 5977-5980 4 p. 5332382. (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009).

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

Velocity control
Exercise equipment
Biomechanical Phenomena
Walking
Kinematics
1 Citation (Scopus)

Manipulation of 2D object with arbitrary shape by robot finger under rolling constraint

Yoshida, M., Arimoto, S. & Tahara, K., 2009, ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. p. 695-699 5 p. 5334288

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

Robots
Equations of motion
Differential equations
Geometry
Computer simulation
1 Citation (Scopus)

Measurement of static constraints imposed by a human hand on a grasped object

Matsuo, K., Murakami, K., Hasegawa, T., Tahara, K. & Kurazume, R., 2009, 2009 International Conference on Advanced Robotics, ICAR 2009. 5174670

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

End effectors
Demonstrations
Experiments

Modeling and control for 2-D grasping of an object with arbitrary shape under rolling contact

Arimoto, S., Yoshida, M., Sekimoto, M., Tahara, K. & Bae, J. H., Jan 1 2009, In : IFAC Proceedings Volumes (IFAC-PapersOnline). 42, 16, p. 383-388 6 p.

Research output: Contribution to journalConference article

Point contacts
Equations of motion
Stabilization
Euler equations
Testbeds
18 Citations (Scopus)

On control of reaching movements for musculo-skeletal redundant arm model

Tahara, K., Arimoto, S., Sekimoto, M. & Luo, Z. W., Mar 2009, In : Applied Bionics and Biomechanics. 6, 1, p. 11-26 16 p.

Research output: Contribution to journalArticle

Muscle
Muscles
Joints
Feedback
Research
3 Citations (Scopus)

Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints

Yoshida, M., Arimoto, S. & Tahara, K., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 1805-1810 6 p. 5354836

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

Robots
Point contacts
Kinematics
Differential equations
Computer simulation
4 Citations (Scopus)

Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object

Matsuo, K., Murakami, K., Hasegawa, T., Tahara, K. & Kurazume, R., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 1767-1772 6 p. 5354069. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

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

Point contacts
End effectors
Experiments
23 Citations (Scopus)

Sensorless position control using feedforward internal force for completely restrained parallel-wire-driven systems

Kino, H., Yahiro, T., Taniguchi, S. & Tahara, K., Mar 10 2009, In : IEEE Transactions on Robotics. 25, 2, p. 467-474 8 p.

Research output: Contribution to journalArticle

Position control
Wire
Sensors
Feedback
Costs
5 Citations (Scopus)

Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands

Kawamura, A., Tahara, K., Kurazume, R. & Hasegawa, T., 2009, 2009 International Conference on Advanced Robotics, ICAR 2009. 5174819

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

Manipulators
Sensors
Computer simulation
12 Citations (Scopus)

Treadmill motor current value based walk phase estimation

Ohki, E., Nakashima, Y., Ando, T. & Fujie, M. G., Jan 1 2009, Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. IEEE Computer Society, p. 7131-7134 4 p. 5332924. (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009).

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

Exercise equipment
Leg
Body Weight
Gait
Patient rehabilitation
2008

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
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
18 Citations (Scopus)
Position control
Robotics
Trajectories
Derivatives
Sliding mode control
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
Mobile robots
Navigation
Sensors
Robots
12 Citations (Scopus)

A study of a 4DOF upper-limb power-assist intelligent exoskeleton with visual information for perception-assist

Kiguchi, K. & Liyanage, M., Sep 18 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. p. 3666-3671 6 p. 4543773. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Cameras
Sensors
Experiments
113 Citations (Scopus)

Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist

Kiguchi, K., Rahman, M. H., Sasaki, M. & Teramoto, K., Aug 31 2008, In : Robotics and Autonomous Systems. 56, 8, p. 678-691 14 p.

Research output: Contribution to journalArticle

Mobile Robot
Robot
Robots
Motion
Obstacle Avoidance
2 Citations (Scopus)

Dynamic object grasping by a triple-fingered robotic hand

Tahara, K., Arimoto, S. & Yoshida, M., Dec 1 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. p. 2685-2690 6 p. 4650702. (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

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

Position control
End effectors
Robotics
Computer simulation
15 Citations (Scopus)

Impact of network time-delay and force feedback on tele-surgery

Arata, J., Takahashi, H., Yasunaka, S., Onda, K., Tanaka, K., Sugita, N., Tanoue, K., Konishi, K., Ieiri, S., Fujino, Y., Ueda, Y., Fujimoto, H., Mitsuishi, M. & Hashizume, M., Jan 1 2008, In : International Journal of Computer Assisted Radiology and Surgery. 3, 3-4, p. 371-378 8 p.

Research output: Contribution to journalArticle

Surgery
Time delay
Feedback
Robotics
Experiments
1 Citation (Scopus)

On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints

Tahara, K., Arimoto, S., Sekimoto, M., Yoshida, M. & Luo, Z. W., Sep 18 2008, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. p. 2611-2616 6 p. 4543606. (Proceedings - IEEE International Conference on Robotics and Automation).

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

Robotics
Trajectories
Point contacts
Robots
Computer simulation