Research Output 1988 2019

Filter
Article
2019

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

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
1 Citation (Scopus)
Open Access
end effectors
End effectors
strokes
Brain computer interface
recovery

Design, modeling, and motion analysis of a novel fluid actuated spherical rolling robot

Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E. & Yamamoto, M., Aug 1 2019, In : Journal of Mechanisms and Robotics. 11, 4, 041010.

Research output: Contribution to journalArticle

Robots
Fluids
Pipe
Torque motors
Mobile robots

Design and control of a power-assist system for pedal operation

Fujita, T., Kiguchi, K., Yabunaka, S., Takeda, Y. & Hara, T., Jan 1 2019, In : International Journal of Mechanical Engineering and Robotics Research. 8, 4, p. 651-654 4 p.

Research output: Contribution to journalArticle

Railroad cars

Experiment verification and stability analysis of iterative learning control for shape memory alloy wire

Kino, H., Mori, N., Moribe, S., Tsuda, K. & Tahara, K., Aug 2019, In : Journal of Robotics and Mechatronics. 31, 4, p. 583-593 11 p.

Research output: Contribution to journalArticle

Shape memory effect
Wire
Experiments
Manipulators
Hysteresis
1 Citation (Scopus)

Long-term effects of a soft robotic suit on gait characteristics in healthy elderly persons

Jin, S., Xiong, X., Zhao, D., Jin, C. & Yamamoto, M., May 1 2019, In : Applied Sciences (Switzerland). 9, 9, 1957.

Research output: Contribution to journalArticle

Open Access
gait
long term effects
robotics
Robotics
Patient rehabilitation

Modular optic force sensor for a surgical device using a Fabry-Perot interferometer

Arata, J., Nitta, T., Nakatsuka, T., Kawabata, T., Matsunaga, T., Haga, Y., Harada, K. & Mitsuishi, M., Sep 1 2019, In : Applied Sciences (Switzerland). 9, 17, 3454.

Research output: Contribution to journalArticle

Open Access
Fabry-Perot interferometers
surgery
Surgery
Optics
optics
1 Citation (Scopus)

Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback

Tahara, K., Hayashi, R., Masuya, K., Takagi, K., Irisawa, T., Yamauchi, T. & Tanaka, E., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2447-2454 8 p., 8653971.

Research output: Contribution to journalArticle

Open Access
Actuator
Actuators
Fiber
Feedback
Angle

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback

Hayashi, R., Masuya, K., Takagi, K., Irisawa, T., Fujino, R., Yamauchi, T., Tanaka, E. & Tahara, K., Jul 1 2019, In : IEEE Robotics and Automation Letters. 4, 3, p. 2561-2567 7 p., 8678402.

Research output: Contribution to journalArticle

Trajectory Tracking
Feedforward
Actuator
Actuators
Trajectories
Musculoskeletal system
Gravitation
Feedback
Controllers
Time delay

「ソフトロボティクス」特集について

Translated title of the contribution: On special issue “Soft Robotics”新山龍馬 & 田原健二, Jan 2019, In : 日本ロボット学会誌. 37, 1, p. 2-3 2 p.

Research output: Contribution to journalArticle

Robotics
2018
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
3 Citations (Scopus)
low pass filters
Low pass filters
Position control
sliding
Derivatives
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
2 Citations (Scopus)
Brain computer interface
Electroencephalography
Brain
Robots
Human robot interaction
1 Citation (Scopus)

Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay

Matsutani, Y., Tahara, K., Kino, H. & Ochi, H., Mar 28 2018, (Accepted/In press) In : Advanced Robotics. 32, 8, p. 1-15 15 p.

Research output: Contribution to journalArticle

Sensory feedback
Feedforward control
Force control
Feedback control
Time delay
3 Citations (Scopus)

Dynamics-Based Motion Planning for a Pendulum-Actuated Spherical Rolling Robot

Bai, Y., Svinin, M. & Yamamoto, M., Jul 1 2018, In : Regular and Chaotic Dynamics. 23, 4, p. 372-388 17 p.

Research output: Contribution to journalArticle

Motion Planning
Pendulum
Robot
Geodesic
Spherical triangle
9 Citations (Scopus)

Feedforward control of twisted and coiled polymer actuator based on a macroscopic nonlinear model focusing on energy

Masuya, K., Ono, S., Takagi, K. & Tahara, K., Jul 1 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 1824-1831 8 p.

Research output: Contribution to journalArticle

Feedforward Control
Feedforward control
Nonlinear Model
Feedforward
Actuator
1 Citation (Scopus)

Influence of a soft robotic suit on metabolic cost in long-distance level and inclined walking

Jin, S., Guo, S., Kazunobu, H., Xiong, X. & Yamamoto, M., Jan 1 2018, In : Applied Bionics and Biomechanics. 2018, 9573951.

Research output: Contribution to journalArticle

Robotics
Walking
Costs and Cost Analysis
Costs
Cost reduction

Laparoscopic ultrasound manipulator with a spring-based elastic mechanism

Arata, J., Fukami, K., Oguri, S., Onogi, S., Ikeda, T., Nakadate, R., Sakaguchi, M., Akahoshi, T., Harada, K., Mitsuishi, M. & Hashizume, M., Jul 1 2018, In : International Journal of Computer Assisted Radiology and Surgery. 13, 7, p. 1063-1072 10 p.

Research output: Contribution to journalArticle

Manipulators
Ultrasonics
Equipment and Supplies
Laparoscopy
Navigation systems
1 Citation (Scopus)

Learning task manifolds for constrained object manipulation

Li, M., Tahara, K. & Billard, A., Jan 1 2018, In : Autonomous Robots. 42, 1, p. 159-174 16 p.

Research output: Contribution to journalArticle

Robotics
Robots
Controllers
5 Citations (Scopus)

Low-Profile Two-Degree-of-Freedom Wrist Exoskeleton Device Using Multiple Spring Blades

Higuma, T., Kiguchi, K. & Arata, J., Jan 1 2018, In : IEEE Robotics and Automation Letters. 3, 1, p. 305-311 7 p., 8010418.

Research output: Contribution to journalArticle

Degrees of freedom (mechanics)
Blade
Abduction
Robot
Degree of freedom

Spherical and non-spherical combined two degree-of-freedom rotational parallel mechanism for a microsurgical robotic system

Arata, J., Kobayashi, Y., Nakadate, R., Onogi, S., Kiguchi, K. & Hashizume, M., Dec 1 2018, In : Journal of Robotics and Mechatronics. 30, 6, p. 846-854 9 p.

Research output: Contribution to journalArticle

Robotics
Rigidity
Robots
Tissue
Industry
2 Citations (Scopus)

Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips

Psomopoulou, E., Karashima, D., Doulgeri, Z. & Tahara, K., Feb 1 2018, In : Robotica. 36, 2, p. 204-224 21 p.

Research output: Contribution to journalArticle

Robotics
Controllers
Static analysis
Controller
Grasping
3 Citations (Scopus)

Towards control of a transhumeral prosthesis with EEG signals

Bandara, D. S. V., Arata, J. & Kiguchi, K., Jun 2018, In : Bioengineering. 5, 2, 26.

Research output: Contribution to journalArticle

Electroencephalography
Classifiers
Prosthetics
Neural networks
Electromyography

「マニピュレーション・レビュー」特集について

Translated title of the contribution: On special issue "Introduction to The Review of Advanced Manipulation"原田研介 & 田原健二, Jul 15 2018, In : 日本ロボット学会誌. 36, 5, p. 305-305 1 p.

Research output: Contribution to journalArticle

多指ロボットハンドの制御法

Translated title of the contribution: A Brief Survey on Control of Multi-fingered Robotic hands小澤隆太 & 田原健二, Jul 15 2018, In : 日本ロボット学会誌. 36, 5, p. 306-315 10 p.

Research output: Contribution to journalArticle

End effectors

時間遅れやノイズにロバストな運動制御戦略:—開かれた環境での運動知能—

Translated title of the contribution: A Robust Motor Control Strategy against Time-delays and Noises:—Motor Intelligence on Open Environments—田原健二, Dec 15 2018, In : 日本ロボット学会誌. 36, 9, p. 616-619 4 p.

Research output: Contribution to journalArticle

intelligence
time
2017
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
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
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
4 Citations (Scopus)

Development of a multi-DoF transhumeral robotic arm prosthesis

Bandara, D. S. V., Gopura, R. A. R. C., Hemapala, K. T. M. U. & Kiguchi, K., Oct 1 2017, In : Medical Engineering and Physics. 48, p. 131-141 11 p.

Research output: Contribution to journalArticle

Artificial Limbs
Robotic arms
Robotics
Fingers
Manipulators
15 Citations (Scopus)

Experimental Evaluation of Energy Efficiency for a Soft Wearable Robotic Suit

Jin, S., Iwamoto, N., Hashimoto, K. & Yamamoto, M., Aug 1 2017, In : IEEE Transactions on Neural Systems and Rehabilitation Engineering. 25, 8, p. 1192-1201 10 p., 7589066.

Research output: Contribution to journalArticle

Robotics
Energy efficiency
Gait
Energy Metabolism
Walking
12 Citations (Scopus)

Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point

Ozawa, R. & Tahara, K., Oct 18 2017, In : Advanced Robotics. 31, 19-20, p. 1030-1050 21 p.

Research output: Contribution to journalArticle

End effectors
Robotics
Control systems
8 Citations (Scopus)

Improving the strength of sutureless laser-assisted vessel repair using preloaded longitudinal compression on tissue edge

Nakadate, R., Omori, S., Ikeda, T., Akahoshi, T., Oguri, S., Arata, J., Onogi, S. & Hashizume, M., Jul 2017, In : Lasers in Surgery and Medicine. 49, 5, p. 533-538 6 p.

Research output: Contribution to journalArticle

Welding
Lasers
Control Groups
Semiconductor Lasers
Steel
12 Citations (Scopus)
Joule heating
convective heat transfer
Polymers
Actuators
actuators
4 Citations (Scopus)

Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons

Kino, H., Ochi, H., Matsutani, Y. & Tahara, K., Aug 18 2017, In : Advanced Robotics. 31, 16, p. 851-864 14 p.

Research output: Contribution to journalArticle

Tendons
Manipulators
Position control
Sensory feedback
Lyapunov functions
1 Citation (Scopus)

Stability enhancement of admittance control with acceleration feedback and friction compensation

Aung, M. T. S. & Kikuuwe, R., Aug 2017, In : Mechatronics. 45, p. 110-118 9 p.

Research output: Contribution to journalArticle

Friction
Acceleration measurement
Derivatives
Feedback
Position control

ねじり型釣糸人工筋アクチュエータのトルク制御

Translated title of the contribution: Torque Control of Torsional-Type Fishing-Line Artificial Muscle Actuator大岩千隼, 荒川武士, 舛屋賢, 田原健二, 入澤寿平, 安積欣志 & 高木賢太郎, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A04

Research output: Contribution to journalArticle

Torque control
Muscle
Actuators
Torque
Transfer functions

対流熱伝達の温度・速度依存性に基づく釣糸人工筋肉の変位モデリング

Translated title of the contribution: Macroscopic Displacement Model of Twisted and Coiled Polymer Actuator based on the Temperature and Velocity Dependence of Convective Heat Transfer舛屋賢, 小野秀, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A01

Research output: Contribution to journalArticle

Actuators
Heat transfer
Polymers
Temperature
Experiments

複数の釣糸アクチュエータを用いた2自由度マニピュレータの位置・剛性制御

Translated title of the contribution: Position and Stiffness Control of 2-DOF Manipulator Using Multiple Fishing Line Actuators小野秀, 舛屋賢, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A03

Research output: Contribution to journalArticle

Manipulators
Actuators
Stiffness
Fibers
Polymers

誘電エラストマーアクチュエータを用いた1自由度マニピュレータの位置・力制御

Translated title of the contribution: Position and Force Control of 1 DOF Manipulator driven by Dielectric Elastomer Actuators久保田洋輝 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-B06

Research output: Contribution to journalArticle

Force control
Position control
Elastomers
Manipulators
Actuators

釣糸人工筋肉の束を利用したアクチュエータユニットの開発

Translated title of the contribution: Development of Actuator Unit consisting of Multiple Twisted and Coiled Polymer Actuators舛屋賢, 小野秀, 高木賢太郎 & 田原健二, 2017, In : ロボティクス・メカトロニクス講演会講演概要集. 2017, 0, p. 2A1-A02

Research output: Contribution to journalArticle

Actuators
Polymers
Controllers
Fibers
Experiments
2016

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)

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
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

Design and Characterization of a Lightweight and Fully Portable Remote Actuation System for Use with a Hand Exoskeleton

Nycz, C. J., Butzer, T., Lambercy, O., Arata, J., Fischer, G. S. & Gassert, R., Jul 1 2016, In : IEEE Robotics and Automation Letters. 1, 2, p. 976-983 8 p., 7403900.

Research output: Contribution to journalArticle

Patient rehabilitation
Cables
End effectors
Rehabilitation
Cable
42 Citations (Scopus)

Design and Characterization of a Lightweight and Fully Portable Remote Actuation System for Use with a Hand Exoskeleton

Nycz, C. J., Butzer, T., Lambercy, O., Arata, J., Fischer, G. S. & Gassert, R., Jul 1 2016, In : IEEE Robotics and Automation Letters. 1, 2, p. 976-983 8 p., 7403900.

Research output: Contribution to journalArticle

Patient rehabilitation
Cables
End effectors
Rehabilitation
Cable