研究成果 1987 2019

2019

A fluid-actuated driving mechanism for rolling robots

Tafrishi, S. A., Esmaeilzadeh, E., Svinin, M. & Yamamoto, M., 7 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).

研究成果: 著書/レポートタイプへの貢献会議での発言

Actuator
Rotating
Actuators
Robot
Robots

A Study on Real-Time Detection of Interacting Motion Intention for Perception-Assist with an Upper-Limb Wearable Power-Assist Robot

Kiguchi, K. & Chathuramali, M., 1 16 2019, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., p. 900-905 6 p. 8616156. (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Motion Perception
Upper Extremity
Robots
Aptitude
Classifiers

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

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

研究成果: ジャーナルへの寄稿記事

Motion control
Muscle
Robots
Robotic arms
Kinetics

Classification for Two Recovery Action Strategies in Slipping Fall

Kobayashi, T., Nakashima, Y. & Yamamoto, M., 4 25 2019, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., p. 233-236 4 p. 8700375. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

研究成果: 著書/レポートタイプへの貢献会議での発言

recovery
Recovery
falling
Accidents
Experiments

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., Tomohiko, M., Esaki, M., iwasa, T., Ouchida, K., Akahoshi, T., Ikeda, T., Kitazono, T. & Hashizume, M., 2 15 2019, : : Surgical endoscopy. 33, 2, p. 651-657 7 p.

研究成果: ジャーナルへの寄稿記事

Swine
Equipment and Supplies
Endoscopic Mucosal Resection
Anal Canal
Colon
1 引用 (Scopus)
公開
end effectors
End effectors
strokes
Brain computer interface
recovery
1 引用 (Scopus)

Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery

Arata, J., Fujisawa, Y., Nakadate, R., Kiguchi, K., Harada, K., Mitsuishi, M. & Hashizume, M., 5 1 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 2663-2669 7 p. 8793798. (Proceedings - IEEE International Conference on Robotics and Automation; 巻数 2019-May).

研究成果: 著書/レポートタイプへの貢献会議での発言

Surgery
Manipulators
Robotics
Needles
Finite element method

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

Tafrishi, S. A., Svinin, M., Esmaeilzadeh, E. & Yamamoto, M., 8 1 2019, : : Journal of Mechanisms and Robotics. 11, 4, 041010.

研究成果: ジャーナルへの寄稿記事

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., 1 1 2019, : : International Journal of Mechanical Engineering and Robotics Research. 8, 4, p. 651-654 4 p.

研究成果: ジャーナルへの寄稿記事

Railroad cars

Effect of Frequency in Vibration Stimulation for Human Elbow Extension Motion Change: A Fundamental Study for Upper-Limb Perception-Assist

Kiguchi, K. & Honda, K., 1 16 2019, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018. Institute of Electrical and Electronics Engineers Inc., p. 391-396 6 p. 8616071. (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Elbow
Vibration
Upper Extremity
Elbow Joint
Experiments

Effect of Vibration Stimulation on a Biarticular Muscle for Elbow Joint Motion Change during Elbow/Shoulder Joint Extension Motion: A Study for the Upper-limb Perception-Assist

Honda, K. & Kiguchi, K., 1 14 2019, 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018. Institute of Electrical and Electronics Engineers Inc., p. 210-215 6 p. 8612189. (2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Tendons
Muscle
Vibration
Motion
Insertion

Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator

Tanizaki, H., Takagi, K., Oiwa, C., Masuya, K., Tahara, K., Irisawa, T., Shioya, M. & Asaka, K., 1 1 2019, Electroactive Polymer Actuators and Devices (EAPAD) XXI. Bar-Cohen, Y., Anderson, I. A. & Johnson, N. L. (版). SPIE, 109660U. (Proceedings of SPIE - The International Society for Optical Engineering; 巻数 10966).

研究成果: 著書/レポートタイプへの貢献会議での発言

fishing
Artificial muscle
muscles
Experimental Investigation
Hysteresis

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

Kino, H., Mori, N., Moribe, S., Tsuda, K. & Tahara, K., 8 2019, : : Journal of Robotics and Mechatronics. 31, 4, p. 583-593 11 p.

研究成果: ジャーナルへの寄稿記事

Shape memory effect
Wire
Experiments
Manipulators
Hysteresis

In-vivo and in-vitro mechanical properties of pig liver during needle puncture for needle insertion

Eto, M., Tsukihara, H., Kobayashi, E., Kiguchi, K., Sakuma, I. & Hashizume, M., 3 2019, 2019 IEEE 1st Global Conference on Life Sciences and Technologies, LifeTech 2019. Institute of Electrical and Electronics Engineers Inc., p. 155-159 5 p. 8883979. (2019 IEEE 1st Global Conference on Life Sciences and Technologies, LifeTech 2019).

研究成果: 著書/レポートタイプへの貢献会議での発言

Punctures
Liver
Needles
Swine
Tissue
1 引用 (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., 5 1 2019, : : Applied Sciences (Switzerland). 9, 9, 1957.

研究成果: ジャーナルへの寄稿記事

公開
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., 9 1 2019, : : Applied Sciences (Switzerland). 9, 17, 3454.

研究成果: ジャーナルへの寄稿記事

公開
Fabry-Perot interferometers
surgery
Surgery
Optics
optics

Patient-tailored classification for a NIRS triggered hand rehabilitation robot

Takemura, S., Lee, J., Mukae, N., Kiguchi, K., Iihara, K., Hashizume, M. & Arata, J., 1 14 2019, 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018. Institute of Electrical and Electronics Engineers Inc., p. 632-636 5 p. 8612169. (2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Near-infrared Spectroscopy
Rehabilitation
End effectors
Patient rehabilitation
Robotics

Physical Burden on Caregivers Pushing Wheelchairs

Kadomatsu, H., Sudo, S., Nakashima, Y. & Yamamoto, M., 4 25 2019, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., p. 401-405 5 p. 8700400. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

研究成果: 著書/レポートタイプへの貢献会議での発言

wheelchairs
Wheelchairs
pushing
muscular strength
posture
1 引用 (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., 7 1 2019, : : IEEE Robotics and Automation Letters. 4, 3, p. 2447-2454 8 p., 8653971.

研究成果: ジャーナルへの寄稿記事

公開
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., 7 1 2019, : : IEEE Robotics and Automation Letters. 4, 3, p. 2561-2567 7 p., 8678402.

研究成果: ジャーナルへの寄稿記事

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

Virtual Tunnel Generation Algorithm for Perception-Assist with an Upper-Limb Exoskeleton Robot

Hou, Y. & Kiguchi, K., 1 14 2019, 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018. Institute of Electrical and Electronics Engineers Inc., p. 204-209 6 p. 8612219. (2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Tunnel
Tunnels
Robot
Robots
Necessary

「ソフトロボティクス」特集について

新山龍馬 & 田原健二, 1 2019, : : 日本ロボット学会誌. 37, 1, p. 2-3 2 p.

研究成果: ジャーナルへの寄稿記事

Robotics
2018
1 引用 (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., 7 18 2018, : : Advanced Robotics. 32, 14, p. 766-777 12 p.

研究成果: ジャーナルへの寄稿記事

Wire
Robots
Ceilings
Degrees of freedom (mechanics)
Dynamic analysis
2 引用 (Scopus)

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

Kiguchi, K. & Matsuo, R., 2 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; 巻数 2018-January).

研究成果: 著書/レポートタイプへの貢献会議での発言

Accidents
Robot
Robots
Motion
Prediction
3 引用 (Scopus)
low pass filters
Low pass filters
Position control
sliding
Derivatives
4 引用 (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., 7 1 2018, : : Surgical endoscopy. 32, 7, p. 3386-3392 7 p.

研究成果: ジャーナルへの寄稿記事

Endoscopes
Robotics
Stomach
Swine
Hand
1 引用 (Scopus)

An LMI-based parameter selection procedure for an amplitude- and rate-saturated controller

Baiomy, N. & Kikuuwe, R., 4 2 2018, SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems. Institute of Electrical and Electronics Engineers Inc., p. 54-60 7 p. (SICE ISCS 2018 - 2018 SICE International Symposium on Control Systems; 巻数 2018-January).

研究成果: 著書/レポートタイプへの貢献会議での発言

Parameter Selection
Selection Procedures
Controller
Controllers
Sliding Mode
2 引用 (Scopus)
Brain computer interface
Electroencephalography
Brain
Robots
Human robot interaction

Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller

Kikuuwe, R., 9 10 2018, 2018 15th International Workshop on Variable Structure Systems, VSS 2018. IEEE Computer Society, p. 480-485 6 p. 8460379. (Proceedings of IEEE International Workshop on Variable Structure Systems; 巻数 2018-July).

研究成果: 著書/レポートタイプへの貢献会議での発言

Sliding mode control
Controllers
Frequency domain analysis
Low pass filters
Manipulators

Application of redundant-DOF for perception-assist of a lower-limb exoskeleton robot

Hora, T. & Kiguchi, K., 1 19 2018, 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017. Institute of Electrical and Electronics Engineers Inc., p. 277-281 5 p. (2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017; 巻数 2018-January).

研究成果: 著書/レポートタイプへの貢献会議での発言

Robot
Robots
Motion
Accidents
Cost functions

A Soft Wearable Robotic Suit for Ankle and Hip Assistance: A Preliminary Study

Jin, S., Guo, S., Hashimoto, K., Xiong, X. & Yamamoto, M., 10 26 2018, 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. Institute of Electrical and Electronics Engineers Inc., p. 1867-1870 4 p. 8512599. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; 巻数 2018-July).

研究成果: 著書/レポートタイプへの貢献会議での発言

Robotics
Ankle
Hip
Walking
Self-Help Devices

A study on the effect of vibration stimulation phase to knee joint extension motion change for perception-assist

Honda, K. & Kiguchi, K., 2 28 2018, MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science. Institute of Electrical and Electronics Engineers Inc., 巻 2018-January. p. 1-3 3 p.

研究成果: 著書/レポートタイプへの貢献会議での発言

Motion Perception
Knee Joint
Vibration
Muscle
Tendons

Brain signal acquisition methods in BCIs to estimate human motion intention-A survey

Bandara, D. S. V. & Kiguchi, K., 12 2018, MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science. Institute of Electrical and Electronics Engineers Inc., 8887072. (MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science).

研究成果: 著書/レポートタイプへの貢献会議での発言

Brain computer interface
brain
Brain
acquisition
Motion

Compact 4DOF robotic forceps with 3.5 mm in diameter for neurosurgery based on a synthetic elastic structure

Fujisawa, Y., Kiguchi, K., Harada, K., Mitsuishi, M., Hashizume, M. & Arata, J., 2 28 2018, MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science. Institute of Electrical and Electronics Engineers Inc., p. 1-3 3 p. (MHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science; 巻数 2018-January).

研究成果: 著書/レポートタイプへの貢献会議での発言

Neurosurgery
Robotics
Surgical Instruments
Compliant mechanisms
Finite Element Analysis
1 引用 (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., 3 28 2018, (受理済み/印刷中) : : Advanced Robotics. 32, 8, p. 1-15 15 p.

研究成果: ジャーナルへの寄稿記事

Sensory feedback
Feedforward control
Force control
Feedback control
Time delay
1 引用 (Scopus)

Continuous Wrist Joint Control Using Muscle Deformation Measured on Forearm Skin

Kato, A., Hirabayashi, M., Matsurnoto, Y., Nakashima, Y., Kobayashi, Y., Fujie, M. G. & Sugano, S., 9 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 1818-1824 7 p. 8460491. (Proceedings - IEEE International Conference on Robotics and Automation).

研究成果: 著書/レポートタイプへの貢献会議での発言

Muscle
Skin
Joint prostheses
Prosthetics
3 引用 (Scopus)

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

Bai, Y., Svinin, M. & Yamamoto, M., 7 1 2018, : : Regular and Chaotic Dynamics. 23, 4, p. 372-388 17 p.

研究成果: ジャーナルへの寄稿記事

Motion Planning
Pendulum
Robot
Geodesic
Spherical triangle
1 引用 (Scopus)

Evaluation of long-term effect on gait improvement for a soft robotic suit

Jin, S., Guo, S., Hashimoto, K. & Yamamoto, M., 3 23 2018, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., p. 1654-1658 5 p. (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; 巻数 2018-January).

研究成果: 著書/レポートタイプへの貢献会議での発言

Gait
Robotics
Rehabilitation
Evaluation
Patient rehabilitation

Fall Prevention Analysis during a Fall Stimulus Using the Differential Velocity of a Split Belt Treadmill

Nakashima, Y., Ueki, S., Kobayashi, T., Notsuka, H., Fukui, T. & Yamamoto, M., 8 8 2018, 2018 World Automation Congress, WAC 2018. IEEE Computer Society, p. 176-181 6 p. 8430463. (World Automation Congress Proceedings; 巻数 2018-June).

研究成果: 著書/レポートタイプへの貢献会議での発言

Exercise equipment
Recovery
Nursing
Muscle
Bone
9 引用 (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., 7 1 2018, : : IEEE Robotics and Automation Letters. 3, 3, p. 1824-1831 8 p.

研究成果: ジャーナルへの寄稿記事

Feedforward Control
Feedforward control
Nonlinear Model
Feedforward
Actuator

Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures

Tsuji, T., Seki, H., Inada, D., Morooka, K. I., Harada, K., Tahara, K., Hikizu, M. & Seki, H., 10 15 2018, 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018. Institute of Electrical and Electronics Engineers Inc., p. 1386-1392 7 p. 8492623. (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Synergy
Signature
signatures
Contact
Robots

Gray-box modeling and control of torsional fishing-line artificial muscle actuators

Oiwa, C., Masuya, K., Tahara, K., Irisawa, T., Shioya, M., Yamauchi, T., Tanaka, E., Asaka, K. & Takagi, K., 1 1 2018, Electroactive Polymer Actuators and Devices (EAPAD) XX. Bar-Cohen, Y. (版). SPIE, 巻 10594. 1059428. (Proceedings of SPIE - The International Society for Optical Engineering; 巻数 10594).

研究成果: 著書/レポートタイプへの貢献会議での発言

fishing
Artificial muscle
muscles
Muscle
boxes

Human Elbow Joint Motion Change Induced by Tonic Vibration Reflex with Vibration Stimulation

Honda, K. & Kiguchi, K., 12 2018, MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science. Institute of Electrical and Electronics Engineers Inc., 8887032. (MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science).

研究成果: 著書/レポートタイプへの貢献会議での発言

reflexes
stimulation
Muscle
Vibration
vibration
1 引用 (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., 1 1 2018, : : Applied Bionics and Biomechanics. 2018, 9573951.

研究成果: ジャーナルへの寄稿記事

Robotics
Walking
Costs and Cost Analysis
Costs
Cost reduction
2 引用 (Scopus)

Influence of maximum assistive force of a soft wearable robotic suit on metabolic cost reduction

Jin, S., Guo, S., Hashimoto, K. & Yamamoto, M., 1 29 2018, 2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., p. 146-150 5 p. (2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings; 巻数 2018-January).

研究成果: 著書/レポートタイプへの貢献会議での発言

Cost reduction
Robotics
Costs
Person
Energy Efficient

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., 7 1 2018, : : International Journal of Computer Assisted Radiology and Surgery. 13, 7, p. 1063-1072 10 p.

研究成果: ジャーナルへの寄稿記事

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

Learning task manifolds for constrained object manipulation

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

研究成果: ジャーナルへの寄稿記事

Robotics
Robots
Controllers
5 引用 (Scopus)

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

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

研究成果: ジャーナルへの寄稿記事

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