Details of the Researcher

PHOTO

Fuyuki Tokuda
Section
Unprecedented-scale Data Analytics Center
Job title
Assistant Professor
e-Rad No.
11034661

Research History 5

  • 2025/11 - Present
    Tohoku University　Graduate School of Information Sciences Department of System Information Sciences

  • 2025/11 - Present
    Tohoku University　Unprecedented-scale Data Analytics Center

  • 2023/04 - 2025/10
    Centre for Garment Production Limited　Research Officer

  • 2022/04 - 2025/10
    The University of Hong Kong　Department of Electrical and Electric Engineering　Visiting Research Associate

  • 2022/04 - 2023/03
    Centre for Garment Production Limited　Postdoctoral Fellow

Education 4

  • Tohoku University　Graduate School of Engineering　Department of Robotics

    2019/04 - 2022/03

  • The University of Hong Kong　Department of Electrical and Electric Engineering　Research Post Graduate Exchange Student

    2021/06 - 2022/02

  • Tohoku University　Graduate School of Engineering　Department of Robotics

    2017/04 - 2019/03

  • Nagoya Institute of Technology　Faculty of Engineering　Dept. of Mechanical Engineering

    2013/04 - 2017/03

Professional Memberships 1

  • IEEE

Research Interests 4

  • マニピュレーション

  • 知能ロボット

  • ロボットビジョン

  • ロボット工学

Research Areas 1

  • Informatics / Robotics and intelligent systems /

Awards 7

  1. Best Conference Paper Award (IEEE ICMA 2025)

    2025/08　2025 IEEE International Conference on Mechatronics and Automation　Fabric Flattening and Alignment System Using Real-time Mesh-based State Estimation and Visual Servoing

  2. Inventors College Organization Award of Excellence (9th International Invention Innovation Competition in Canada)

    2024/08　Toronto International Society of Innovation & Advanced Skills (TISIAS)　Smart Fixture-free 2D Sewing System with Automatic Fabric Alignment

  3. Gold Medal (9th International Invention Innovation Competition in Canada)

    2024/08　Toronto International Society of Innovation & Advanced Skills (TISIAS)　Smart Fixture-free 2D Sewing System with Automatic Fabric Alignment

  4. Inventors College Organization Award of Excellence (9th International Invention Innovation Competition in Canada)

    2024/08　Inventors College Organization (ICO)　Smart Fixture-free 2D Sewing System with Automatic Fabric Alignment

  5. Silver Medal (49th International Exhibition of Inventions Geneva)

    2024/04　Inventions Geneva (Salon International des Inventions Genève)　Intelligent 2D Sewing System without Fixation with Automatic Fabric Alignment

  6. 優秀発表奨励賞（第327回 計測自動制御学会東北支部研究集会）

    2020/02　計測自動制御学会（SICE）東北支部　CNNに基づくビジュアルフィードバック制御による把持物体の位置決め

  7. Best Oral Presentation Award (NANO-SciTech 2017)

    2017/02　International Conference on Nanoscience and Nanotechnology 2017　The effect of annealing graphene in O2 and N2 flow

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Papers 29

  1. Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator Peer-reviewed

    Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Kai Tang, Kazuhiro Kosuge

    IEEE Robotics and Automation Letters　11　(2)　1522-1529　2026/02

    DOI： 10.1109/lra.2025.3643335 　

    ISSN： 2377-3766

    eISSN： 2377-3766 2377-3774

  2. Robotic Fabric Alignment System for Sewing Using Global Local Weighted ICP

    Wenbo Dong, Dipankar Bhattacharya, Kai Tang, Akinari Kobayashi, Fuyuki Tokuda, Akira Seino, Norman C. Tien, Kazuhiro Kosuge

    IEEE Transactions on Automation Science and Engineering　2026

    DOI： 10.1109/TASE.2026.3713128 　

  3. Design and Development of an End-Effector for Fabric Edge Folding Along a Convex Curve With Multiple Pleats Peer-reviewed

    Akira Seino, Akinari Kobayashi, Fuyuki Tokuda, Kai Tang, Kazuhiro Kosuge

    IEEE/ASME Transactions on Mechatronics　2026

    DOI： 10.1109/TMECH.2026.3687606 　

  4. Automated Action Generation Based on Action Field for Robotic Garment Smoothing and Alignment Peer-reviewed

    Hu Cheng, Fuyuki Tokuda, Kazuhiro Kosuge

    IEEE Transactions on Automation Science and Engineering　23　5884-5896　2026

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/tase.2026.3667879 　

    ISSN： 1545-5955

    eISSN： 1558-3783

  5. Passive Actuator-Less Gripper for Pick-and-Place of a Piece of Fabric Peer-reviewed

    Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Kazuhiro Kosuge

    IEEE/ASME Transactions on Mechatronics　30　(6)　5856-5866　2025/12

    DOI： 10.1109/tmech.2025.3543557 　

    ISSN： 1083-4435

    eISSN： 1941-014X

  6. RollUP: Rolling-Up End-Effector for Fabric Handling Peer-reviewed

    Akinari Kobayashi, Wenbo Dong, Akira Seino, Fuyuki Tokuda, Kazuhiro Kosuge

    IEEE Robotics and Automation Letters　10　(11)　11204-11211　2025/11

    DOI： 10.1109/LRA.2025.3609086 　

    ISSN： 2377-3766

  7. Automated Straight-Line Sewing of Stretchable Fabrics With Different Lengths Peer-reviewed

    Bingchen Jin, Akinari Kobayashi, Dipankar Bhattacharya, Akira Seino, Fuyuki Tokuda, Norman Chihnan Tien, Kazuhiro Kosuge

    IEEE Robotics and Automation Letters　10　(11)　12165-12172　2025/11

    DOI： 10.1109/lra.2025.3619791 　

    ISSN： 2377-3766 2377-3774

  8. Fabric Flattening with Dual-Arm Manipulator via Hybrid Imitation and Reinforcement Learning Peer-reviewed

    Youchun Ma, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge

    Machines　13　(10)　2025/10/06

    DOI： 10.3390/machines13100923 　

    eISSN： 2075-1702

  9. Fixture-Free Automated Sewing System Using Dual-Arm Manipulator and High-Speed Fabric Edge Detection Peer-reviewed

    Kai Tang, Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge

    IEEE Robotics and Automation Letters　10　(9)　8962-8969　2025/09

    DOI： 10.1109/LRA.2025.3592145 　

    ISSN： 2377-3766

  10. Fabric Dynamic Motion Modeling and Collision Avoidance With Oriented Bounding Box Peer-reviewed

    Letian Li, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge

    IEEE Robotics and Automation Letters　10　(9)　9542-9549　2025/09

    DOI： 10.1109/lra.2025.3595026 　

    ISSN： 2377-3766

    eISSN： 2377-3766 2377-3774

  11. Fabric Flattening and Alignment System Using Real-Time Mesh-Based State Estimation and Visual Servoing Peer-reviewed

    Edmund Lo, Xuzhao Huang, Kai Tang, Akira Seino, Fuyuki Tokuda, Kazuhiro Kosuge

    2025 IEEE International Conference on Mechatronics and Automation (ICMA)　328-334　2025/08/03

    Publisher: IEEE

    DOI： 10.1109/icma65362.2025.11120640 　

  12. Robotic Sewing System for Fully Automated Fabric Picking, Stacking, Loading, Sewing, and Unloading Peer-reviewed

    Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Kazuhiro Kosuge

    2025 IEEE International Conference on Mechatronics and Automation (ICMA)　1124-1130　2025/08/03

    Publisher: IEEE

    DOI： 10.1109/icma65362.2025.11120842 　

  13. Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks Peer-reviewed

    Wenbo Dong, Dipankar Bhattacharya, Akinari Kobayashi, Akira Seino, Fuyuki Tokuda, Xuzhao Huang, Kai Tang, Norman C. Tien, Kazuhiro Kosuge

    2025 IEEE International Conference on Mechatronics and Automation (ICMA)　1343-1348　2025/08/03

    Publisher: IEEE

    DOI： 10.1109/icma65362.2025.11120697 　

  14. Partial Fabric Flattening for Seam Line Region Using Dual-Arm Manipulation Peer-reviewed

    Youchun Ma, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Bingchen Jin, Kazuhiro Kosuge

    2025 IEEE International Conference on Mechatronics and Automation (ICMA)　1173-1178　2025/08/03

    Publisher: IEEE

    DOI： 10.1109/icma65362.2025.11120540 　

  15. PALGRIP-Twin for Handling a Piece of Fabric Peer-reviewed

    Akira Seino, Akinari Kobayashi, Fuyuki Tokuda, Kazuhiro Kosuger

    2025 IEEE International Conference on Mechatronics and Automation (ICMA)　1137-1142　2025/08/03

    Publisher: IEEE

    DOI： 10.1109/icma65362.2025.11120740 　

  16. Modeling of Dynamic Fabric Motion Using Multiple Oriented Bounding Boxes Peer-reviewed

    Letian Li, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge

    2025 IEEE International Conference on Mechatronics and Automation (ICMA)　1110-1115　2025/08/03

    Publisher: IEEE

    DOI： 10.1109/icma65362.2025.11120544 　

  17. Fabric Manipulation Using Rubbing Motion for Local Edge Alignment Peer-reviewed

    Itsuki Yokota, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge

    2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)　1-7　2025/07/14

    Publisher: IEEE

    DOI： 10.1109/aim64088.2025.11175901 　

  18. Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System Peer-reviewed

    Fuyuki Tokuda, Ryo Murakami, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge

    IEEE Transactions on Automation Science and Engineering　22　7927-7940　2025

    DOI： 10.1109/TASE.2024.3474914 　

    ISSN： 1545-5955

    eISSN： 1558-3783

  19. SIS: Seam-Informed Strategy for T-Shirt Unfolding Peer-reviewed

    Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Dayuan Chen, Yasuhisa Hirata, Norman C. Tien, Kazuhiro Kosuge

    IEEE Robotics and Automation Letters　10　(7)　7342-7349　2025

    DOI： 10.1109/LRA.2025.3574966 　

    ISSN： 2377-3766

  20. Time-Scaling Modeling and Control of Robotic Sewing System Peer-reviewed

    Kai Tang, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge

    IEEE/ASME Transactions on Mechatronics　29　(4)　3166-3174　2024/08

    DOI： 10.1109/tmech.2024.3398713 　

    ISSN： 1083-4435

    eISSN： 1941-014X

  21. CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts. Peer-reviewed

    Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Kazuhiro Kosuge

    IEEE International Conference on Robotics and Automation(ICRA)　748-754　2023

    DOI： 10.1109/ICRA48891.2023.10160635 　

    ISSN： 1050-4729

    eISSN： 2577-087X

  22. Robot End-effector for Fabric Folding. Peer-reviewed

    Akira Seino, Junya Terayama, Fuyuki Tokuda, Akinari Kobayashi, Kazuhiro Kosuge

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM)　150-155　2023

    DOI： 10.1109/AIM46323.2023.10196184 　

    ISSN： 2159-6255

  23. Convolutional Neural Network-Based Visual Servoing for Eye-to-Hand Manipulator Peer-reviewed

    Fuyuki Tokuda, Shogo Arai, Kazuhiro Kosuge

    IEEE Access　9　91820-91835　2021

    DOI： 10.1109/ACCESS.2021.3091737 　

    ISSN： 2169-3536

  24. 6D Pose Estimation of Occlusion-Free Objects for Robotic Bin-Picking Using PPF-MEAM With 2D Images (Occlusion-Free PPF-MEAM) Peer-reviewed

    Diyi Liu, Shogo Arai, Yajun Xu, Fuyuki Tokuda, Kazuhiro Kosuge

    IEEE Access　9　50857-50871　2021

    DOI： 10.1109/ACCESS.2021.3068467 　

    ISSN： 2169-3536

  25. A Convolutional Neural Network for Point Cloud Instance Segmentation in Cluttered Scene Trained by Synthetic Data Without Color Peer-reviewed

    Yajun Xu, Shogo Arai, Fuyuki Tokuda, Kazuhiro Kosuge

    IEEE Access　8　70262-70269　2020/03/05

    DOI： 10.1109/access.2020.2978506 　

    ISSN： 2169-3536

  26. Object Positioning by Visual Servoing Based on Deep Learning Peer-reviewed

    徳田冬樹, 荒井翔悟, 小菅一弘

    計測自動制御学会論文集　55　(11)　2019

    ISSN： 0453-4654

  27. Deep-Learning based Robust Edge Detection for Point Pair Feature-based Pose Estimation with Multiple Edge Appearance Models. Peer-reviewed

    Diyi Liu, Shogo Arai, Fuyuki Tokuda, Yajun Xu, Jun Kinugawa, Kazuhiro Kosuge

    2019 IEEE International Conference on Robotics and Biomimetics(ROBIO)　2920-2925　2019

    DOI： 10.1109/ROBIO49542.2019.8961752 　

  28. The effect of annealing graphene in O2 and N2 flow Peer-reviewed

    Fuyuki Tokuda, Mitsuhiro Honda, Yo Ichikawa

    8TH INTERNATIONAL CONFERENCE ON NANOSCIENCE AND NANOTECHNOLOGY 2017 (NANO-SCITECH 2017)　1963　2018

    DOI： 10.1063/1.5036850 　

    ISSN： 0094-243X

  29. Effects of carbon defects on ZnO nanorods directly grown on graphene Peer-reviewed

    Mitsuhiro Honda, Fuyuki Tokuda, Yo Ichikawa

    JAPANESE JOURNAL OF APPLIED PHYSICS　56　(11)　2017/11

    DOI： 10.7567/JJAP.56.110306 　

    ISSN： 0021-4922

    eISSN： 1347-4065

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Misc. 3

  1. Seam-to-Graph Reconstruction for Garment Configuration

    Xuzhao Huang, Kai Tang, Fuyuki Tokuda, Norman C. Tien, Kazuhiro Kosuge

    2026/05

  2. RTFF: Random-to-Target Fabric Flattening Policy using Dual-Arm Manipulator.

    Kai Tang, Dipankar Bhattacharya, Hang Xu, Fuyuki Tokuda, Norman C. Tien, Kazuhiro Kosuge

    2025/10

    DOI： 10.48550/arXiv.2510.00814 　

    More details Close

    Robotic fabric manipulation in garment production for sewing, cutting, and ironing requires reliable flattening and alignment, yet remains challenging due to fabric deformability, effectively infinite degrees of freedom, and frequent occlusions from wrinkles, folds, and the manipulator's End-Effector (EE) and arm. To address these issues, this paper proposes the first Random-to-Target Fabric Flattening (RTFF) policy, which aligns a random wrinkled fabric state to an arbitrary wrinkle-free target state. The proposed policy adopts a hybrid Imitation Learning-Visual Servoing (IL-VS) framework, where IL learns with explicit fabric models for coarse alignment of the wrinkled fabric toward a wrinkle-free state near the target, and VS ensures fine alignment to the target. Central to this framework is a template-based mesh that offers precise target state representation, wrinkle-aware geometry prediction, and consistent vertex correspondence across RTFF manipulation steps, enabling robust manipulation and seamless IL-VS switching. Leveraging the power of mesh, a novel IL solution for RTFF-Mesh Action Chunking Transformer (MACT)-is then proposed by conditioning the mesh information into a Transformer-based policy. The RTFF policy is validated on a real dual-arm tele-operation system, showing zero-shot alignment to different targets, high accuracy, and strong generalization across fabrics and scales. Project website: https://kaitang98.github.io/RTFF_Policy/

  3. Deep Learning-based Fast Grasp Planning for Robotic Bin-picking by Small Data Set without GPU

    SHOGO ARAI, ZHUANG FENG, Fuyuki Tokuda, Adam Purnomo, Kazuhiro Kosuge

    2021/04/11

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.36227/techrxiv.14384864.v1 　

    More details Close

    <div>This paper proposes a deep learning-based fast grasp detection method with a small dataset for robotic bin-picking. We consider the problem of grasping stacked up mechanical parts on a planar workspace using a parallel gripper. In this paper, we use a deep neural network to solve the problem with a single depth image. To reduce the computation time, we propose an edge-based algorithm to generate potential grasps. Then, a convolutional neural network (CNN) is applied to evaluate the robustness of all potential grasps for bin-picking. Finally, the proposed method ranks them and the object is grasped by using the grasp with the highest score. In bin-picking experiments, we evaluate the proposed method with a 7-DOF manipulator using textureless mechanical parts with complex shapes. The success ratio of grasping is 97%, and the average computation time of CNN inference is less than 0.23[s] on a laptop PC without a GPU array. In addition, we also confirm that the proposed method can be applied to unseen objects which are not included in the training dataset. </div>

Presentations 13

  1. 視覚フィードバック統合制御に向けた視覚言語行動モデルGROOT の基礎性能評価

    石井創太, 徳田冬樹, 林部充宏

    計測自動制御学会東北支部 第358回研究集会　2026/05/25

  2. Visual Servoing Enhanced with AI Invited

    Fuyuki Tokuda

    2025 WRC Symposium on Advanced Robotics and Automation (WRC SARA)　2025/08/10

  3. CNN-based Visual Servoing for Flattening of Fabric Parts

    Fuyuki Tokuda

    IEEE ICMA 2025 Conference Workshop: Robotics for Automated Garment Production　2025/08/03

  4. Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System Invited

    Fuyuki Tokuda, Ryo Murakami, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge

    2025 IEEE International Conference on Robotics and Automation (ICRA 2025)　2025/05/20

    More details Close

    Invited presentation at ICRA 2025 based on the TASE paper.

  5. Fixture-Free Sewing System

    Fuyuki Tokuda

    IEEE/SICE SII 2025 Workshop: Systems Integration on Garment Production　2025/01/21

  6. Fixture Free Sewing of Fabric Parts

    Fuyuki Tokuda

    IEEE ROBIO 2024 Workshop: Robotics for Automated Garment Production　2024/12/12

  7. Index of grasping for improving performance of bin picking

    伊東篤大, 荒井翔悟, 徳田冬樹, 小菅一弘

    ロボティクスシンポジア予稿集　2020

  8. Grasped object positioning by CNN based visual servoing

    徳田冬樹, 荒井翔悟, 小菅一弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020

  9. 画像ヤコビアンレスビジュアルサーボによる物体の位置決め

    徳田冬樹, 荒井翔悟, 小菅一弘

    ロボティクスシンポジア予稿集　2019

  10. 畳み込みニューラルネットワークによるビジュアルフィードバック制御

    徳田冬樹, 荒井翔悟, 小菅一弘

    日本ロボット学会学術講演会予稿集(CD-ROM)　2019

  11. イメージヤコビアンを用いないビジュアルサーボによる位置決め

    徳田冬樹, 荒井翔悟, 小菅一弘

    日本ロボット学会学術講演会予稿集(CD-ROM)　2018

  12. CADデータに基づく機械学習を用いたビジュアルサーボ

    徳田冬樹, 荒井翔悟, 小菅一弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2018

  13. グラフェン上への配向性ZnOナノロッドの直接合成

    徳田冬樹, 本田光裕, 奥村竜二, 市川洋

    応用物理学会春季学術講演会講演予稿集(CD-ROM)　2016

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Industrial Property Rights 3

  1. 生地の縫製およびしわ伸ばしのためのシステムおよび方法

    小菅 一弘, 徳田 冬樹

    Property Type: Patent

  2. ロボット制御装置

    矢野 巧人, 濃野 真広, 小菅 一弘, 荒井 翔悟, 徳田 冬樹

    Property Type: Patent

  3. AUTOMATED SEWING SYSTEM AND CONTROLLING METHOD THEREOF

    Kazuhiro Kosuge, Kai Tang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Hoi Pang Ng

    Property Type: Patent

Research Projects 4

  1. Enhancing the Precision of Deformable Object Manipulation through a Novel Robot Control Method Integrating Generative Models and Imitation Learning

    Fuyuki Tokuda

    Offer Organization: The Telecommunications Advancement Foundation

    System: FY2025 Research Grant

    Institution: Tohoku University

    2026/04 - 2028/03

  2. Mesh-based Shape Estimation and Visual Feedback Control for High-Precision Manipulation of Deformable Objects

    Offer Organization: NSK Foundation for the Advancement of Mechatronics

    Institution: Tohoku University

    2026/02 - 2028/02

  3. 力学的境界条件によって形状変化する一般的な物体の操りに関する研究

    徳田 冬樹

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 特別研究員奨励費

    Institution: 東北大学

    2021/04 - 2022/03

    More details Close

    近年の世界的な少子高齢化に伴う，労働力不足を解決するために，製造工程の自動化が検討され，ロボットの工場への導入が進んできている．しかしながら，今日のロボットシステムには，未だ課題もある．産業用ロボットの利用において，大きな比重を占めるピッキング・組付け作業を例に取ると，専用ハンドや冶具を多用することに伴う，システム導入のコスト増大が挙げられる．専用ハンドや冶具の代わりに，汎用ハンドの活用が考えられるが，汎用ハンドを使用すると把持物体とハンドの相対位置姿勢が一意に決定しないため，ビジョンシステム等による把持物体の位置決めが必須となる．本研究では，把持物体の位置決め手法として，畳み込みニューラルネットワークを用いたビジュアルサーボに着目し，その位置決め精度を向上する手法を提案することで，汎用ハンドによる工業用部品の組付けを実現した．また，剛体の高精度位置決めのみならず，柔軟物体の高精度位置決めの実現に向けた研究も実施した． 研究計画では，まず，畳み込みニューラルネットワークを用いたビジュアルサーボの位置決め精度の向上を目標としていた．従来のビジュアルサーボ理論を考察することで，位置決め精度を向上させる新たなネットワーク構造を提案し，単腕6自由度マニピュレータにより位置決め実験を行った．実験により，提案手法の位置決め精度が従来手法よりも高精度かつ収束範囲が広いことを示すと共に，汎用ハンドによる工業用部品の組付けを実演した．続いて，上記の枠組みを応用することで，布を主とした柔軟物体の高精度位置決めを実現する計画であった．新たな訓練データセットやネットワーク構造を提案し，ロボットシステムにより位置決め精度検証実験を実施した．実験を通して，提案手法により柔軟物体を高精度に位置決めすることが可能であることを示した．

  4. Object Positioning Using Convolutional Neural Networks Other

    Offer Organization: Tohoku University Advanced Graduate School

    System: Graduate Program for Integration of Mechanical Systems (GP-Mech)

    2018/04 - 2022/03

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