Details of the Researcher

PHOTO

Yasuhisa Hirata
Section
Graduate School of Engineering
Job title
Professor
Degree

  • 博士（工学）（東北大学）

  • 修士（工学）（東北大学）

Research History 10

  • 2016/04 - Present
    Tohoku University　Graduate School of Engineering　Professor

  • 2013/04 - 2017/09
    Sendai National College of Technology　Part-time Lecturer

  • 2007/04 - 2016/03
    Tohoku University　Associate Professor

  • 2007/09 - 2013/03
    Tohoku Gakuin University　Part-time Lecturer

  • 2012/03 - 2012/10
    The Universite de Versailles Saint-Quentin-en-Yvelines, France　Visiting Researcher

  • 2006/04 - 2011/09
    Sendai National College of Technology　Part-time Lecturer

  • 2006/04 - 2007/03
    Tohoku University　Associate Professor

  • 2006/10 - 2006/11
    The Universite de Versailles Saint-Quentin-en-Yvelines, France　Visiting Researcher

  • 2002/11 - 2006/03
    PRESTO, Japan Science and Technology Corporation (JST)　Researcher

  • 2000/04 - 2006/03
    Tohoku University　Research Associate

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Education 2

  • Tohoku University　Graduate School, Division of Engineering　機械知能工学専攻

    - 2000/03/24

  • Tohoku University　Faculty of Engineering　機械知能工学科

    - 1998/03/25

Committee Memberships 75

  • IEEE-RAS　Administrative Commitee Member

    2020/01 - Present

  • 介護ロボット ニーズ・シーズ連携協調協議会プロジェクトコーディネーター

    2019/04 - Present

  • 日本ロボット学会 欧文誌委員会　アドバイザリーボード

    2019 - Present

  • 自動車技術会　論文集・IJAE（英文論文集）校閲委員

    2018 - Present

  • 計測自動制御学会 東北支部 顧問　委員

    2017/01 - Present

  • IEEE-RAS　Associate Vice President

    2016/07 - Present

  • IEEE-RAS　Co-Chair of TC on Rehabilitation and Assistive Robotics

    2016 - Present

  • 計測自動制御学会 ロボティクス部会　委員

    2015/01 - Present

  • 日本機械学会　和文論文集 アソシエイトエディタ

    2014/05 - Present

  • 2025 IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2025)　Program Committee

    2025/08 - 2025/08

  • IEEE　IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2025) Associate Editor

    2025/02 - 2025/04

  • IEEE International Conference on Advanced Robotics and Mechatronics 2024(IEEE ARM 2024)　Genearal Co-Chair

    2024/07 - 2024/07

  • 計測自動制御学会　第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)アドバイザリ委員会委員

    2023/12 - 2023/12

  • 2023 Symposium on Advanced Robotics and Automation (SARA) (WRC SARA 2023)　Program Committee

    2023/08 - 2023/08

  • Program Committee

    2023/08 - 2023/08

  • Associate Editor

    2023/04 - 2023/04

  • 計測自動制御学会　第23回計測自動制御学会 システムインテグレーション部門講演会 アドバイザリ委員

    2022/12 - 2022/12

  • International Program Committee

    2022/08 - 2022/09

  • member of Program Committee

    2022/08 - 2022/08

  • Invited/Organized Session Chairs

    2022/08 - 2022/08

  • Program Committee

    2022/08 - 2022/08

  • International Conference on Intelligent Autonomous Systems (IAS-17)　program committee of IAS-17

    2022/06 - 2022/06

  • member of Program Committee

    2021/08 - 2021/08

  • IEEE ISR2021　Awards Chair

    2021/03 - 2021/03

  • 日本ロボット学会　代議員

    2017/03 - 2021/03

  • 日本ロボット学会 欧文誌委員会　シニアエディター

    2013/01 - 2019

  • IEEE ISR2018　Publicity Chair

    2018/08 - 2018/08

  • 計測自動制御学会 SI部門表彰委員　委員

    2017/04 - 2018/03

  • 計測自動制御学会 SI部門運営委員　委員

    2015/04 - 2018/03

  • IEEE-RAS, RA-Letter　Associate Editor

    2015/04 - 2018

  • 計測自動制御学会 東北支部 顧問　委員

    2017/01 - 2017/12

  • 日本ロボット学会 欧文誌委員会　委員長

    2016/04 - 2017/03

  • 日本ロボット学会 欧文誌Best Paper Award選考小委員会　幹事

    2016/04 - 2017/03

  • 日本ロボット学会　理事

    2015/04 - 2017/03

  • 日本機械学会 ロボティクス・メカトロニクス部門　運営委員

    2015/04 - 2017/03

  • 計測自動制御学会 東北支部 専門委員　委員

    2014/01 - 2016/12

  • 計測自動制御学会 東北支部 専門委員　委員

    2014/01 - 2016/12

  • 日本ロボット学会 欧文誌Best Paper Award選考小委員会　副幹事

    2015/04 - 2016/03

  • 日本機械学会 機械力学・計測制御部門 広報・出版委員会　委員長

    2015/04 - 2016/03

  • 日本ロボット学会 欧文誌委員会　副委員長

    2015/04 - 2016/03

  • 日本機械学会 機械力学・計測制御部門　運営委員

    2014/04 - 2016/03

  • 日本ロボット学会 実用化技術賞選考委員会　委員

    2014/04 - 2016/03

  • 日本機械学会 ロボティクス・メカトロニクス部門　第1地区技術委員会委員長

    2014/04 - 2016/03

  • 日本機械学会 機械力学・計測制御部門　運営委員

    2014/04 - 2016/03

  • 自動車技術会　論文校閲委員

    2013/04 - 2016/03

  • 日本機械学会 機械力学・計測制御部門 広報・出版委員会　幹事

    2014/04 - 2015/03

  • 日本機械学会 機械力学・計測制御部門　運営委員

    2014/04 - 2015/03

  • 日本機械学会 ロボティクス・メカトロニクス部門　運営委員

    2014/04 - 2015/03

  • 計測自動制御学会 ロボティクス部会　主査

    2013/01 - 2014/12

  • 日本機械学会 ロボティクス・メカトロニクス部門 表彰委員会　委員

    2013/04 - 2014/03

  • 日本ロボット学会 欧文誌Best Paper Award選考小委員会　委員

    2013/04 - 2014/03

  • 日本機械学会校閲委員会　委員

    2011/04 - 2014

  • 日本機械学会 医工学テクノロジー推進会議　運営委員

    2011/04 - 2014

  • 日本ロボット学会 論文賞選考小委員会　委員

    2011/04 - 2013/03

  • 日本ロボット学会　代議員

    2011/03 - 2013/03

  • 計測自動制御学会 SI部門表彰委員会　委員

    2010/04 - 2013/03

  • 計測自動制御学会 ロボティクス部会　副査

    2011/01 - 2012/12

  • 日本ロボット学会 欧文誌委員会　委員

    2008/04 - 2012/12

  • 計測自動制御学会ファナック賞選考委員会　委員

    2011/06 - 2012/03

  • 日本機械学会「長期的視点からの提言を作成する活動」委員会　ＷＧ２（人工物に対する信頼性・ロバスト性の 確立と危機に対する管理制御方法）委員

    2011/05 - 2012/03

  • 日本ロボット学会 電子化運営委員会　委員

    2008/04 - 2012

  • 計測自動制御学会 相互作用と賢さ部会　委員

    2008/01 - 2012

  • 計測自動制御学会 論文集委員会　委員

    2010/04 - 2011/03

  • 日本ロボット学会 実用化技術賞選考委員会　委員

    2009/04 - 2011/03

  • 日本機械学会会誌編修部会　委員

    2009/04 - 2011/03

  • 計測自動制御学会 SI部門運営委員会　委員

    2009/04 - 2011/03

  • 日本ロボット学会　評議員

    2008/03 - 2011/03

  • 計測自動制御学会 ロボティクス部会　幹事

    2009/01 - 2010/12

  • 日本機械学会校閲委員会　委員

    2008/04 - 2009/03

  • 計測自動制御学会 ロボティクス部会　委員

    2005/01 - 2009/03

  • 日本ロボット学会 研究奨励賞選考委員会　委員

    2007/12 - 2008/09

  • 日本ロボット学会 会誌編集委員会　委員

    2006/04 - 2008/03

  • 計測自動制御学会 相互作用と賢さ部会　幹事

    2006/01 - 2007/12

  • 日本機械学会 ロボティクス・メカトロニクス部門　第二技術委員会 幹事

    2005/04 - 2007/03

  • 計測自動制御学会 相互作用と賢さ部会　委員

    2003/01 - 2005/12

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Professional Memberships 4

  • 日本機械学会

  • The Society of Instrument and Control Engineers

  • 日本ロボット学会

  • IEEE

Research Interests 3

  • Passive Robotics

  • Multiple Robots Coordination

  • Human-Robot Interaction

Research Areas 3

  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering /

  • Informatics / Mechanics and mechatronics /

  • Informatics / Robotics and intelligent systems /

Awards 62

  1. 日本ロボット学会フェロー

    2025/09　一般社団法人 日本ロボット学会

  2. 学術業績賞

    2025/06　一般社団法人 日本機械学会 ロボティクス・メカトロニクス部門

  3. SI2024優秀講演賞

    2024/12　Garment Handling by Dual Manipulators with Diffusion Planning

  4. SI2024優秀講演賞

    2024/12　計測自動制御学会　洋上風車点検のための複数台ドローン協調制御による昇降システムの開発

  5. 2024 IROS DISTINGUISHED SERVICE AWARD

    2024/10　IEEE/RSJ

  6. 「第11回 ロボット大賞」 優秀賞（介護・医療・健康分野）

    2024/09　「第11回 ロボット大賞」 事務局　スマーター・インクルーシブ・ダンス

  7. Best Application Video Award, 2024 IEEE 20th International Conference on Automation Science and Engineering（CASE2024）

    2024/08　IEEE　Adaptive Incremental Hybrid Impedance Control for Robotic Garment Manipulation

  8. 9th IEEE International Conference on Advanced Robotics & Mechatronics Best Conference Paper Finalist

    2024/07　IEEE　A Human-Guided Approach for Garment Manipulation Tasks by Using Real-Time Body Tracking and Impedance Control

  9. SI2023 優秀講演賞

    2023/12　計測自動制御学会　ハンドルにかかる荷重の時系列情報と骨格情報を用いた自転車屋外走行時の上半身の姿勢推定

  10. SI2023 優秀講演賞

    2023/12　Estimation of people's gaze targets by the mobile robot equipped with a 360-degree camera

  11. SI2022 優秀講演賞

    2022/12　計測自動制御学会　適応自在AIロボットによる介護支援に向けたデジタルプラットフォームの開発

  12. SI2022 優秀講演賞

    2022/12　計測自動制御学会　人に歩く挑戦を促す寄り添い型歩行支援ロボットの開発

  13. SI2022 優秀講演賞

    2022/12　計測自動制御学会　使用者へのアカウンタビリティを考慮した起立・歩行・着座支援ロボット

  14. 学術論文顕彰之証

    2022/04　公益財団法人 油空圧機器技術振興財団　既存6輪ダンプトラックの自律走行のためのレトロフィット型ハンドル駆動用エアモータの速度制御

  15. 日本機械学会東北支部技術研究賞

    2021/03　日本機械学会 東北支部　レトロフィットによる自社保有／レンタルと既存大型6輪ダンプトラックの自動運転

  16. Toshio Fukuda Best Paper Award in Mechatronics

    2020/10　IEEE ICMA 2020　2020 IEEE International Congerence on Mechatronics and Automation

  17. 第6回永守賞

    2020/09　公益財団法人 永守財団

  18. SI2019優秀講演賞

    2019/12　計測自動制御学会　コイルばねを用いた足漕ぎ車椅子のためのペダリングアシスト装置の開発

  19. SI2018優秀講演賞２

    2018/12　計測自動制御学会　複合現実型視覚情報と振動触覚情報の提示による作業支援

  20. SI2018優秀講演賞１

    2018/12　計測自動制御学会　Tempo Training using Vibrotactile Cues Based on Phantom Sendation

  21. SII2016プログラム委員長

    2017/12　計測自動制御学会システムインテグレーション部門

  22. SI2017優秀講演賞３

    2017/12　計測自動制御学会　操舵制御可能なキャスタを用いた歩行支援システムの開発 -操舵キャスタの運動特性解析-

  23. SI2017優秀講演賞２

    2017/12　計測自動制御学会　ファントムセンセーションに基づく振動刺激を利用した手先の経路追従

  24. SI2017優秀講演賞１

    2017/12　計測自動制御学会　無段変速機とクラッチを用いた足こぎ車いすの踏力評価

  25. 部門貢献表彰

    2017/05　日本機械学会ロボティクス・メカトロニクス部門　LIFE2016実行委員長

  26. SI2016優秀講演賞

    2016/12　計測自動制御学会　3次元空間におけるワイヤ駆動型パッシブ運動支援システムの位置姿勢制御

  27. Advanced Robotics Best Paper Award

    2016/09/08　The Robotics Society of Japan　Motion Control of Wearable-Type Walking Support System based on the Spring-Mass Model

  28. ベストプレゼンテーション表彰

    2015/05/18　日本機械学会ロボティクス・メカトロニクス部門　足こぎ車椅子の片脚漕ぎのためのペダリング支援制御

  29. 研究奨励賞

    2014/12/16　計測自動制御学会システムインテグレーション部門　ブレーキ制御による足こぎ車椅子の操舵ハンドルアシスト

  30. Best Paper Award Finalist

    2014/07/09　IEEE/ASME International COnference on Advanced Intelligent Mechatronics　Walking Support by Wearable System Based on the Spring-Mass Model

  31. ベストプレゼンテーション表彰

    2014/05/27　日本機械学会ロボティクス・メカトロニクス部門　サーボブレーキを用いた足こぎ車椅子の操舵制御

  32. 科学技術分野 文部科学大臣表彰 若手科学者賞

    2014/04/15　文部科学省

  33. SI2013優秀講演賞

    2013/12　計測自動制御学会　ブレーキ制御による足こぎ車椅子の操舵ハンドルアシスト

  34. NTF Award Finalist for Entertainment Robots and Systems

    2013/11/06　New Technology Foundation　Steering Assist System for a Cycling Wheelchair Based on Braking Control

  35. SI2012優秀講演賞

    2012/12　計測自動制御学会　回生ブレーキを利用した足こぎ車椅子の受動的走行支援制御

  36. 貢献表彰

    2011/12/24　計測自動制御学会システムインテグレーション部門

  37. ベストプレゼンテーション表彰

    2011/05/27　日本機械学会ロボティクス・メカトロニクス部門　サーボブレーキを用いたワイヤ型運動支援システムの運動制御特性の解析

  38. SI2010優秀講演賞

    2010/12/25　計測自動制御学会　片麻痺患者の動作支援を目的とした協調型歩行支援システムの提案

  39. ICMA2009 Best Conference Paper Award

    2009/08　ICMA2009　Development of an Automatic Dishwashing Robot System

  40. Finalist of the Tzyh-Jong Tarn Best Paper Award

    2009/02　2008 IEEE International Conference on Robotics and Biomimetics　Development of Omni-directional Mobile Base with Servo Brakes for Passive Dance Partner Robot

  41. Finalist of Best Paper Award

    2008/08　2008 IEEE International Conference on Mechatronics and Automation　Development of Passive Wearable Walking Support System Based on Brake Control

  42. SI2007優秀講演賞

    2007/12/22　計測自動制御学会　歩行支援機を利用した立ち上がり支援の検討

  43. SI2007優秀講演賞

    2007/12/22　計測自動制御学会　複数のパッシブ型搬送ロボットによる物体の可変運動特性制御

  44. NTF Award for Entertainment Robots and Systems

    2007/10　New Technology Foundation　Dance Partner Robot -Ms DanceR-

  45. SI2006優秀講演賞

    2006/12/16　計測自動制御学会　RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御

  46. SI2006優秀講演賞

    2006/12/16　計測自動制御学会　フリージョイント把持機構を有するパッシブ型移動ロボットと人間とによる物体の協調搬送

  47. ファナックFAロボット財団 論文賞

    2006/03/10　ファナックFAロボット財団　キャスタ特性を有した複数の人間協調型移動ロボット(DR Helper)と人間との協調による単一物体の搬送

  48. SI2005ベストセッション講演賞

    2005/12/18　計測自動制御学会　サーボブレーキを利用したパッシブ型知的歩行支援機のための転倒防止機能

  49. 日本ロボット学会 論文賞

    2005/09/16　日本ロボット学会　キャスタ特性を有した複数の人間協調型移動ロボット（DR Helper）と人間との協調による単一物体の搬送

  50. ICASE Best Paper Award Finalist

    2005/08/04　2004 IEEE/RSJ International Conference on Intelligent Robots and Systems　Passive-type Intelligent Walking Support System "RT Walker"

  51. Finalist for Best Conference Paper

    2005/07/01　2005 IEEE International Conference on Robotics and Biomimetics　Checking Movable Configuration Space in C-Closure Object for Object Caging and Handling

  52. ROBOMECH表彰

    2005/06/10　日本機械学会 ロボティクス・メカトロニクス部門　Cagingを用いた物体の搬送のための複数ロボットのフォーメーション制御の提案

  53. 日本機械学会賞（論文）

    2005/04/08　日本機械学会　仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング

  54. SI2004ベストセッション講演賞-1

    2004/12/19　計測自動制御学会　Variable Center of Rotation Control for Walking Support System Based on Environment Information

  55. SI2004ベストセッション講演賞-2

    2004/12/19　計測自動制御学会　RoBEを用いたモバイルマニピュレータの実時間自己衝突回避制御

  56. SI2004ベストセッション講演賞-3

    2004/12/19　計測自動制御学会　立ち上がり動作支援システムの動力学解析

  57. 青葉工学振興会 研究奨励賞

    2004/12/08　青葉工学振興会　パッシブ型歩行支援システムに関する研究

  58. ICASE Best Paper Award Finalist

    2004/10/01　2003 IEEE/RSJ International Conference on Intelligent Robots and Systems　Dance Partner Robot-Ms DanceR-,

  59. Best Paper in Robotics Award

    2004/08　2004 IEEE International Conference on Robotics and Biomimetics　From Human to Pushing Leader Robot: Leading a Decentralized Multirobot System for Object Handling

  60. ICRA Best Manipulation Paper Finalist

    2004/05　2004 IEEE International Conference on Robotics and Automation　Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots

  61. ICASE Best Paper Award Finalist

    2003/09　2002 IEEE/RSJ International Conference on Intelligent Robots and Systems　Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coordination

  62. 日本ロボット学会研究奨励賞

    2001/09/19　日本ロボット学会　分散型ロボットヘルパーと人間との協調による単一物体の搬送（第５回ロボティクスシンポジア）

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Papers 314

  1. Task Planning for a Factory Robot Using Large Language Model

    Yosuke Tsushima, Shu Yamamoto, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE ROBOTICS AND AUTOMATION LETTERS　10　(3)　2383-2390　2025/03

    DOI： 10.1109/LRA.2025.3531153 　

    ISSN： 2377-3766

  2. Task Planning for a Factory Robot Using Large Language Model.

    Yosuke Tsushima, Shu Yamamoto, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE Robotics Autom. Lett.　10　(3)　2383-2390　2025/03

    DOI： 10.1109/LRA.2025.3531153 　

  3. Real-Time Sit-to-Stand Phase Classification With a Mobile Assistive Robot From Close Proximity Utilizing 3D Visual Skeleton Recognition

    Anas Mahdi, Zonghao Dong, Jonathan Feng-Shun Lin, Yue Hu, Yasuhisa Hirata, Katja Mombaur

    IEEE Robotics and Automation Letters　10　(3)　2160-2167　2025/03

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2025.3527280 　

    eISSN： 2377-3766 2377-3774

  4. Open Vocabulary Object Search Utilizing Large Language Models and Fuzzy Inferencing.

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    SII　345-351　2025

    DOI： 10.1109/SII59315.2025.10870891 　

  5. Vibrotactile Feedback for Training Tempo and Stroke Length in Golf Putting.

    Jose Victorio Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata

    SII　127-133　2025

    DOI： 10.1109/SII59315.2025.10870998 　

  6. Adaptive Simulation-Trained Cloth Manipulation Control with Human Guidance for Real-World Robotics Tasks

    Yukuan Zhang, Dayuan Chen, Alberto Elías Petrilli Barceló, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)　1164-1171　2024/12/10

    Publisher: IEEE

    DOI： 10.1109/robio64047.2024.10907753 　

  7. Innovating Robotic Garment Handling Through the Integration of Large Language Models and Behavior Trees

    Saeed Shiry Ghidary, Dayuan Chen, Fatemeh Mohammadi, Alberto Elías Petrilli Barceló, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)　595-600　2024/12/10

    Publisher: IEEE

    DOI： 10.1109/robio64047.2024.10907326 　

  8. AI robots pioneer the Smarter Inclusive Society

    Yasuhisa Hirata

    Artificial Life and Robotics　29　(4)　431-437　2024/10/15

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1007/s10015-024-00975-2 　

    ISSN： 1433-5298

    eISSN： 1614-7456

    More details Close

    Abstract This paper outlines a project aimed at realizing a “Smarter Inclusive Society” by 2050 through the integration of AI robots into various public facilities. Led by the Cabinet Office’s “Moonshot Research and Development Program,” the project focuses on developing Adaptable AI-enabled Robots that enhance self-efficacy by supporting users’ abilities while maintaining their sense of independence. Key to the project is the Robotic Nimbus, a soft and flexible robot designed to provide tailored assistance while preserving user agency. The concept of “Adaptable AI-enabled Robots” is introduced to ensure versatility in accommodating user needs and preferences. In addition to physical assistance, the project emphasizes creating engaging experiences through activities like dance and sports, fostering excitement and inclusivity. Collaborations, such as the “Yes We Dance!” performance, demonstrate the potential of AI technology in enhancing rehabilitation opportunities and promoting social participation. By 2050, the project aims to establish a society where AI robots contribute to mental, physical, and social wellbeing, empowering individuals to engage in independent activities and fostering a vibrant, inclusive community. This paper is a compilation of articles/papers/presentations previously presented on the Moonshot Hirata project.

  9. SIS: Seam-Informed Strategy for T-shirt Unfolding

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

    eprint arXiv:2409.06990　2024/09/11

  10. Enhancing Manipulator Flexibility: Real-time Positional Control for Variable Assembly Environments using AprilTag Markers and Edge Detection

    Kamogelo Teddy Theodore Moyo, Jose Victorio Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata, Morozumi Shota

    2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)　3932-3939　2024/08/28

    Publisher: IEEE

    DOI： 10.1109/case59546.2024.10711707 　

  11. Adaptive Incremental Hybrid Impedance Control for Robotic Garment Manipulation

    Yukuan Zhang, Dayuan Chen, Alberto Elías Petrilli Barceló, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)　2045-2051　2024/08/28

    Publisher: IEEE

    DOI： 10.1109/case59546.2024.10711346 　

  12. Enhancing Wheelchair Mobility: Virtual Training System Integrating Lateral Trunk Motion

    Jhedmar Callupe Luna, Selsabil Bougherara, Eric Monacelli, Yasuhisa Hirata

    2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)　674-679　2024/08/26

    Publisher: IEEE

    DOI： 10.1109/ro-man60168.2024.10731208 　

  13. A B-spline Approach for Improved Environmental Awareness in Virtual Walking System using Avatar Robot

    Alessandra Miuccio, Ricardo Manríquez-Cisterna, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata, Paolo Rocco

    2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)　189-195　2024/08/26

    Publisher: IEEE

    DOI： 10.1109/ro-man60168.2024.10731425 　

  14. Concept and Prototype Development of Adaptive Touch Walking Support Robot for Maximizing Human Physical Potential

    Junya Terayama, Ankit A. Ravankar, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　9　(8)　6935-6942　2024/08

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2024.3415928 　

    eISSN： 2377-3766 2377-3774

  15. Real-Time Human Gaze Target Estimation in 360-degree Vision via Integration of Human Gaze Direction and Scene Saliency Analysis

    Jialin Tu, Yusuke Tamura, Yasuhisa Hirata

    2024/07/18

    Publisher: Springer Science and Business Media LLC

    DOI： 10.21203/rs.3.rs-4221025/v1 　

    More details Close

    Abstract <p>In the realm of robot autonomous navigation and human-robot interaction, human gaze information offers subtle yet rich clues. Enabling robots to access human gaze information allows them to predict human intentions or goals, thereby enhancing the human-robot interaction experience and even enabling robots to move smoothly in complex human environments. This study proposes a method for real-time estimation of human gaze targets in the surrounding environment using a 360-degree panoramic camera. We employ deep learning techniques to track human gaze in real-time from the robot's perspective. Building upon previous work, our method utilizes a dual-path prediction network to address the two gaze modes of human subjects in panoramic images. We have improved the network structure by leveraging the gaze heatmap as an interpretable network component, combined with the scene saliency heatmap, to estimate people's gaze targets. We emphasize the challenges of real-time gaze tracking on robots and demonstrate our model's performance improvements in gaze estimation.</p>

  16. Robotic Shopping Guidance System for the Visually Impaired Users Using Servo Brakes*

    Zhan Shi, Yusuke Tamura, Zhenyu Liao, Weizan He, Yasuhisa Hirata

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)　1416-1421　2024/07/15

    Publisher: IEEE

    DOI： 10.1109/aim55361.2024.10637058 　

  17. A Human-Guided Approach for Garment Manipulation Tasks by Using Real-Time Body Tracking and Impedance Control

    Dayuan Chen, Zhenyu Liao, Alberto Elías Petrilli-Barceló, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2024 International Conference on Advanced Robotics and Mechatronics (ICARM)　25-30　2024/07/08

    Publisher: IEEE

    DOI： 10.1109/icarm62033.2024.10715750 　

  18. 柔らかい支援がもたらす身体的・精神的・社会的ウェルビーイングの実現

    平田 泰久

    計測と制御　63　(5)　260-265　2024/05/10

    DOI： 10.11499/sicejl.63.260 　

  19. Safety for Human-Robot Interaction with a Shared Autonomy

    SA Tafrishi, AA Ravankar, Y Hirata

    3　4　2024/05/01

  20. Development of a Living Laboratory to Verify Assistive Technology in Simulated Indoor and Outdoor Spaces

    Kenji Kato, Tatsuya Yoshimi, Daiki Shimotori, Keita Aimoto, Naoki Itoh, Kohei Okabe, Naoyuki Kubota, Yasuhisa Hirata, Izumi Kondo

    Journal of Advanced Computational Intelligence and Intelligent Informatics　28　(1)　169-178　2024/01/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jaciii.2024.p0169 　

    ISSN： 1343-0130

    eISSN： 1883-8014

    More details Close

    Assistive robots and technologies can play a key role in supporting the independence and social participation of older people, helping them living healthy lives and reducing the burden on caregivers. To support the effective development of assistive robots and technologies, it is important to develop a “living laboratory” to verify and adapt technology in real-life living spaces. The purpose of this study is to validate assistive robots using a living laboratory that simulates typical indoor and outdoor real-life situations. The rationale is to enable evaluation of daily living activities of older people in a simulated living space. To minimize the risk of trauma after falls, a ceiling suspension system was installed in the living laboratory. Six different commercially available mobility and transfer support robots were introduced and tested. We demonstrated that effective scenarios could be implemented using these assistive robots within the living laboratory. We implemented a 3D markerless motion capturing system in the outdoor space and showed that outdoor activities, including walking up and down a ramp, could be verified with sufficient accuracy in three cases: (i) normal use without a robot, (ii) use of the ceiling suspension system, and (iii) use of a mobility support robot on three healthy subjects. These results suggest that the proposed living laboratory can support testing and verification of assistive robots in simulated living environments.

  21. SPIRO: A Compliant Spiral Spring–Damper Joint Actuator With Energy-Based Sliding-Mode Controller Peer-reviewed

    Seyed Amir Tafrishi, Yasuhisa Hirata

    IEEE/ASME Transactions on Mechatronics　1-13　2024/01/09

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/tmech.2023.3346278 　

    ISSN： 1083-4435

    eISSN： 1941-014X

  22. Radiation Source Localization Considering Shielding Effect of Structures Using 3D Object Recognition

    Baduy Nguyen, Yusuke Tamura, Yasuhisa Hirata

    2024 IEEE/SICE International Symposium on System Integration (SII)　122-128　2024/01/08

    Publisher: IEEE

    DOI： 10.1109/sii58957.2024.10417481 　

  23. Semantic-Based Multi-Object Search Optimization in Service Robots Using Probabilistic and Contextual Priors

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE Access　12　113151-113164　2024

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/access.2024.3444478 　

    eISSN： 2169-3536

  24. Asia-Pacific region: Japan

    Yasuhisa Hirata, Tomoyuki Noda, Ichiro Miyai

    Rehabilitation Robots for Neurorehabilitation in High-, Low-, and Middle-Income Countries　167-178　2024

    Publisher: Elsevier

    DOI： 10.1016/b978-0-323-91931-9.00011-6 　

  25. Real-Time Marker-Based Monocular Autonomous Docking in Semi-Unstructured Indoor Environments.

    Sebastian Chinchilla, Takumi Saito, Ryosuke Oikawa, Tomoaki Yamada, Naoto Toshiki, Satsuki Yamane, Jose Salazar, Ankit A. Ravankar, Yasuhisa Hirata

    SII　1561-1568　2024

    DOI： 10.1109/SII58957.2024.10417484 　

  26. Spiral model development of retrofitted robot for tele-operation of conventional hydraulic excavator

    Tomohiro Komatsu, Keiji Nagatani, Yasuhisa Hirata

    ROBOMECH Journal　10　(1)　2023/12/18

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1186/s40648-023-00267-7 　

    eISSN： 2197-4225

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    Abstract This paper describes the effect of applying spiral model to the development process of robot system for a new entrant company. The robot system was developed to remotely control a conventional hydraulic excavator in order to improve the safety of operators in disaster emergency restoration. The issues of development are the definition of requirements and integration for a practical system in a real environment by a new entrant company. The constraints to the new entry of smaller companies are the following three points. (1) Lack of industry knowledge and data to define requirements (2) Lack of on-site environment and machinery for investigation and testing (3) Lack of experience in robot development To solve the problems under these constraints, the spiral model divides the development based on the prototype into 4-steps, and repeats this series of processes. This method was applied to clarify the necessary functions and performance of the robot step by step, and to construct a system with robustness in a real environment. As a result, this robot system has been successfully utilized in emergency disaster recovery tasks due to landslides, and removing debris in the Fukushima Daiichi Nuclear Power Plant, reducing the mental and physical burden on the operators.

  27. A Novel Under-Actuated Robotic Hand for Production Tasks

    Xinhao Chen, Jose Victorio Salazar Luces, Alberto Elías Petrilli Barceló, Yasuhisa Hirata

    2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)　2023/12/04

    Publisher: IEEE

    DOI： 10.1109/robio58561.2023.10354610 　

  28. Preferential Multi-Target Search in Indoor Environments using Semantic SLAM

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio, Salazar Luces, Yasuhisa Hirata

    arXiv preprint arXiv:2309.14063　2023/09/25

  29. Volting, a Novel Dancing Wheelchair with Augmented Mobility: Pushing Lateral Inclinations

    Jhedmar Callupe Luna, Juan Martinez Rocha, Eric Monacelli, Lorentz Dutrievoz, Stéphane Delaplace, Yasuhisa Hirata

    2023 International Conference on Rehabilitation Robotics (ICORR)　2023/09/24

    Publisher: IEEE

    DOI： 10.1109/icorr58425.2023.10304755 　

  30. Development of ADL Motion Database to Promote Co-creative Care Support

    Kohei Okabe, Kenji Kato, Naoyuki Kubota, Yasuhisa Hirata

    2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)　2023/09/06

    Publisher: IEEE

    DOI： 10.23919/sice59929.2023.10354252 　

  31. Trajectory prediction considering the behavior of pedestrians intersecting with vehicles Peer-reviewed

    Soichiro Tanno, Yusuke Tamura, Yasuhisa Hirata

    Advanced Robotics　37　(18)　1198-1209　2023/09/04

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2023.2252046 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  32. A geometric motion planning for a spin-rolling sphere on a plane

    Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto, Yasuhisa Hirata

    Applied Mathematical Modelling　121　542-561　2023/09

    Publisher: Elsevier BV

    DOI： 10.1016/j.apm.2023.05.009 　

    ISSN： 0307-904X

  33. Running Guidance for Visually Impaired People Using Sensory Augmentation Technology Based Robotic System

    Zhenyu Liao, Jose V.Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　8　(9)　5323-5330　2023/09/01

    DOI： 10.1109/LRA.2023.3294718 　

    eISSN： 2377-3766

  34. A Performance Evaluation of Overground Gait Training With a Mobile Body Weight Support System Using Wearable Sensors

    Zonghao Dong, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata

    IEEE Sensors Journal　23　(11)　12209-12223　2023/06/01

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/jsen.2023.3269031 　

    ISSN： 1530-437X

    eISSN： 1558-1748 2379-9153

  35. Dance Gestures Recognition for Wheelchair Control

    Juan Martinez Rocha, Jhedmar Callupe Luna, Eric Monacelli, Gladys Foggea, Maflohé Passedouet, Stéphane Delaplace, Yasuhisa Hirata

    2023 8th International Conference on Control and Robotics Engineering (ICCRE)　2023/04/21

    Publisher: IEEE

    DOI： 10.1109/iccre57112.2023.10155605 　

  36. リビングラボを利用した次世代介護ロボット開発

    平田 泰久

    26　(2)　2023/03/31

  37. Table of Contents

    IEEE Robotics &amp; Automation Magazine　30　(1)　1-2　2023/03

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/mra.2023.3243144 　

    ISSN： 1070-9932

    eISSN： 1558-223X

  38. Enabling Homecare With Robotic Technologies [From the Guest Editors]

    Weihua Sheng, Hesheng Wang, Yingzi Lin, Yasuhisa Hirata, Stefano Mazzoleni

    IEEE Robotics &amp; Automation Magazine　30　(1)　7-100　2023/03

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/mra.2023.3237439 　

    ISSN： 1070-9932

    eISSN： 1558-223X

  39. CARE: Cooperation of ai Robot Enablers to Create a Vibrant Society

    Ankit A. Ravankar, Seyed Amir Tafrishi, Jose V. Salazar Luces, Fumi Seto, Yasuhisa Hirata

    IEEE Robotics &amp; Automation Magazine　30　(1)　8-23　2023/03

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/mra.2022.3223256 　

    ISSN： 1070-9932

    eISSN： 1558-223X

  40. Nursing Care Teaching System Based on Mixed Reality for Effective Caregiver-Patient Interaction

    Goro Aoki, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    2023 IEEE/SICE International Symposium on System Integration (SII)　2023/01/17

    Publisher: IEEE

    DOI： 10.1109/sii55687.2023.10039419 　

  41. An Object-oriented Navigation Strategy for Service Robots Leveraging Semantic Information

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Yasuhisa Hirata

    2023 IEEE/SICE International Symposium on System Integration (SII)　2023/01/17

    Publisher: IEEE

    DOI： 10.1109/sii55687.2023.10039409 　

  42. Path-Following Guidance for Powered Wheelchair Users Using Mixed-Reality Technology with Shared Control Policy

    Zhenyu Liao, Jose Salazar, Ankit Ravankar, Sebastian Chinchilla, Eric Monacelli, Yasuhisa Hirata

    2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022　380-385　2023

    DOI： 10.1109/CBS55922.2023.10115329 　

  43. Cooperation of Assistive Robots to Improve Productivity in the Nursing Care Field

    Yasuhisa Hirata, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi

    Springer Proceedings in Advanced Robotics　27 SPAR　287-294　2023

    DOI： 10.1007/978-3-031-25555-7_19 　

    ISSN： 2511-1256

    eISSN： 2511-1264

  44. Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks.

    Hirokazu Kondo, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE　8940-8947　2022/10/23

    DOI： 10.1109/IROS47612.2022.9982134 　

  45. A Study of Management to Develop Adaptable AI-enabled Robots toward Inclusive Society

    Kohei Okabe, Yasuhisa Hirata

    2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)　2022/09/06

    Publisher: IEEE

    DOI： 10.23919/sice56594.2022.9905811 　

  46. PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum Peer-reviewed

    Seyed Amir Tafrishi, Ankit A Ravankar, Yasuhisa Hirata

    arXiv preprint arXiv:2207.14556　abs/2207.14556　2022/07/29

    DOI： 10.48550/arXiv.2207.14556 　

  47. A novel single-stroke path planning algorithm for 3D printers using continuous carbon fiber reinforced thermoplastics Peer-reviewed

    Kohei Yamamoto, Jose Victorio Salazar Luces, Keiichi Shirasu, Yamato Hoshikawa, Tomonaga Okabe, Yasuhisa Hirata

    Additive Manufacturing　55　102816-102816　2022/07/01

    Publisher: Elsevier BV

    DOI： 10.1016/j.addma.2022.102816 　

    ISSN： 2214-8604

    eISSN： 2214-8604

  48. Open-hole tensile properties of 3D-printed continuous carbon-fiber-reinforced thermoplastic laminates: Experimental study and multiscale analysis Peer-reviewed

    Yamato Hoshikawa, Keiichi Shirasu, Kohei Yamamoto, Yasuhisa Hirata, Ryo Higuchi, Tomonaga Okabe

    Journal of Thermoplastic Composite Materials　36　(7)　2836-2861　2022/06/24

    Publisher: SAGE Publications

    DOI： 10.1177/08927057221110791 　

    ISSN： 0892-7057

    eISSN： 1530-7980

    More details Close

    The mechanical properties of open-hole tensile (OHT) specimens made of 3D-printed continuous carbon-fiber-reinforced thermoplastics (CFRTPs) were investigated. The stacking sequence of the OHT specimens were [0/90]2s, and the as-printed specimens possessed higher porosity (15.19%) than conventional fiber reinforced composites. The OHT tests demonstrated that the tensile modulus and fracture strength of the as-printed specimens exhibited 36.7 ± 0.3 GPa and 226.0 ± 9.0 MPa, respectively. To evaluate the effects of voids on the OHT properties, the 3D-printed CFRTPs were hot-pressed, where fiber orientation and porosity (3.41 ± 0.10%) were improved. Additionally, the tensile modulus was increased to 45.1 ± 0.8 GPa, which is 23% higher than the as-printed specimens, even though the fracture strength were comparable or lower than that of as-printed specimens. To validate such OHT properties, a numerical multiscale model was introduced, with a microscale periodic unit cell (PUC) analysis for determining the effective tensile moduli and mesoscale extended finite element method (XFEM) analysis for OHT properties. In the PUC analysis, we considered a two-scale numerical model including a fiber-resin scale with fiber orientation for effective tensile moduli of a CFRTP filament, and filament-void scale for those of a CFRTP laminate. The porosity and fiber orientation were measured by X-ray computed tomography and digital microscopy observations, and the porosity for the 0° specimen were 14.86%. By substituting the effective tensile moduli of the filament-void scale and those of the fiber-resin scale into the XFEM, respectively, the stress-strain responses of the computational OHT models were found to be in good agreement with those of the experimental results of as-printed and hot-pressed CFRTP, respectively. Both the OHT models showed that the Weibull criterion was satisfied without significant delamination at the failure strain, corresponding to the brittle failure mode due to fiber breakage, which agreed reasonably well with the experimental observations.

  49. Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling Peer-reviewed

    Seyed Amir Tafrishi, Xiaotian Dai, Yasuhisa Hirata, Alan Burns

    arXiv preprint arXiv:2206.05994　2022/06/13

  50. WISP, Wearable Inertial Sensor for Online Wheelchair Propulsion Detection Peer-reviewed

    Jhedmar Callupe Luna, Juan Martinez Rocha, Eric Monacelli, Gladys Foggea, Yasuhisa Hirata, Stéphane Delaplace

    Sensors　22　(11)　4221-4221　2022/06/01

    Publisher: MDPI AG

    DOI： 10.3390/s22114221 　

    eISSN： 1424-8220

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    Manual wheelchair dance is an artistic recreational and sport activity for people with disabilities that is becoming more and more popular. It has been reported that a significant part of the dance is dedicated to propulsion. Furthermore, wheelchair dance professionals such as Gladys Foggea highlight the need for monitoring the quantity and timing of propulsions for assessment and learning. This study addresses these needs by proposing a wearable system based on inertial sensors capable of detecting and characterizing propulsion gestures. We called the system WISP. Within our initial configuration, three inertial sensors were placed on the hands and the back. Two machine learning classifiers were used for online bilateral recognition of basic propulsion gestures (forward, backward, and dance). Then, a conditional block was implemented to rebuild eight specific propulsion gestures. Online paradigm is intended for real-time assessment applications using sliding window method. Thus, we evaluate the accuracy of the classifiers in two configurations: “three-sensor” and “two-sensor”. Results showed that when using “two-sensor” configuration, it was possible to recognize the propulsion gestures with an accuracy of 90.28%. Finally, the system allows to quantify the propulsions and measure their timing in a manual wheelchair dance choreography, showing its possible applications in the teaching of dance.

  51. Mixed-reality human-machine-interface for motor learning of physical activities Peer-reviewed

    Sebastian Chinchilla Gutierrez, Jose Salazar, Yasuhisa Hirata

    Advanced Robotics　36　(12)　583-599　2022/05/28

    DOI： 10.1080/01691864.2022.2076569 　

  52. Immersive Virtual Walking System Using an Avatar Robot Peer-reviewed

    Kengkij Promsutipong, Jose V. Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata

    2022 International Conference on Robotics and Automation (ICRA)　9325-9331　2022/05/23

    Publisher: IEEE

    DOI： 10.1109/icra46639.2022.9811588 　

    ISSN： 1050-4729

  53. A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots Peer-reviewed

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2022 International Conference on Robotics and Automation (ICRA)　5755-5761　2022/05/23

    Publisher: IEEE

    DOI： 10.1109/icra46639.2022.9811593 　

  54. Driving Assistance for Personal Mobility Considering Sense of Agency Based on User’s Destination Estimation Peer-reviewed

    AKIRA OKAMOTO, YUSUKE TAMURA, Ankit RAVANKAR, YASUHISA HIRATA

    27　126-128　2022/03/11

  55. Modality Influence on the Motor Learning of Ballroom Dance with a Mixed-Reality Human-Machine Interface Peer-reviewed

    Sebastian Fernando Chinchilla Gutierrez, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2022 IEEE/SICE International Symposium on System Integration (SII)　177-182　2022/01/09

    Publisher: IEEE

    DOI： 10.1109/sii52469.2022.9708803 　

  56. Design-Centered HRI Governance for Healthcare Robots Peer-reviewed

    Yueh-Hsuan Weng, Yasuhisa Hirata

    Journal of Healthcare Engineering　2022　1-8　2022/01/07

    Publisher: Hindawi Limited

    DOI： 10.1155/2022/3935316 　

    ISSN： 2040-2295

    eISSN： 2040-2309

    More details Close

    Recent developments have shown that not only are AI and robotics growing more sophisticated, but also these fields are evolving together. The applications that emerge from this trend will break current limitations and ensure that robotic decision making and functionality are more autonomous, connected, and interactive in a way which will support people in their daily lives. However, in areas such as healthcare robotics, legal and ethical concerns will arise as increasingly advanced intelligence functions are incorporated into robotic systems. Using a case study, this paper proposes a unique design-centered approach which tackles the issue of data protection and privacy risk in human-robot interaction.

  57. Robot Path Planning in Narrow Environments Using Improved Roadmap Sampling

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Seyed Amir TAFRISHI, Jose Victorio SALAZAR Luces, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-M03　2022

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-m03 　

    eISSN： 2424-3124

  58. Simulation-based Mobile Robot Navigation for Precision Agriculture Monitoring Application

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Jose Victorio SALAZAR Luces, Seyed Amir TAFRISHI, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-A08　2022

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1p1-a08 　

    eISSN： 2424-3124

  59. Dynamic Motion Planning For Mobile Robots Considering Moving Obstacles

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Jose Victorio SALAZAR Luces, Seyed Amir TAFRISHI, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1A1-T12　2022

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1a1-t12 　

    eISSN： 2424-3124

  60. Standing, Walking, and Sitting Support Robot That Operate by Estimating User’s State

    TAKEDA Mizuki, SATO Kaiji, HIRATA Yasuhisa, KATAYAMA Takahiro, MIZUTA Yasuhide, KOUJINA Atsushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A1-D02　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a1-d02 　

    eISSN： 2424-3124

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    Care robots have yet to be widely adopted even though the demand for care robots is increasing with the aging of the population. Care robots are required to be small and simple for general household use as well as high functionality. We have developed a small robot that can assist the user in standing up, walking, and sitting down in daily life. By using the user’s center-of-gravity candidate, we were able to estimate the user’s condition and determine abnormalities with a small number of sensors. The experiments verify that the robot can switch the appropriate support according to the estimated state and prevent falls.

  61. Development of an Autonomous Mobile Robot for Passive Welfare Object Transportation

    DONG Zonghao, SALAZAR Luces Jose Victorio, RAVANKAR Ankit A., TAFRISHI Seyed Amir, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-B06　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-b06 　

    eISSN： 2424-3124

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    In this research, we propose a novel autonomous mobile robot for transporting passive welfare objects in medical facilities. To actuate the robot, together with a welfare object, a differential wheeled robot is developed. Additionally, to combine the robot with various types of welfare objects safely, the robot can adjust its geometrical shape in the vertical direction by using a mechanism called zip chain actuator. When considering the task of transporting a welfare object, the robot must localize itself properly and detect the environmental information continuously. Furthermore, the robot must be able to handle the payload of such combined objects. To achieve this, we implement a Move Base Interface, where various kinds of sensory information including the data of IMU, wheel encoder and laser scanners are fused by using a localization algorithm called Adaptive Monte Carlo Localization (AMCL). In addition, the direction towards the robot moves is reversed during the transportation task, so that it is possible to pull the object and maintain localization simultaneously. Through experimental validation, we confirmed that the proposed mobile robot can follow the local planner trajectory ideally and reached the destination regardless the partial occlusion and unknow dynamics of passive objects.

  62. Nursing Care Teaching System Using Mixed Reality Technology

    AOKI Goro, Luces Jose Victorio Salazar, Ravankar Ankit A., Tafrishi Seyed Amir, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-G07　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-g07 　

    eISSN： 2424-3124

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    We propose a novel system for teaching nursing care movements using mixed reality technology and human pose estimation technology. This paper proposes a teaching system that guides a patient from a lying posture to a sitting posture. This nursing care operation is not easy to learn because it requires several steps to guide the patient to an appropriate posture. In this method, a mixed reality headset is attached to the caregiver, and “how-to guide the patient” is projected onto the real world to teach the caregiving operation intuitively. The system uses a camera mounted above the patient’s bed to estimate the patient’s pose and then uses a mixed reality headset mounted on the caregiver to project nursing care instructions based on the patient’s pose.

  63. Development of Non-wearable Walking Assist Robot for Preventing Falling Accident

    TERAYAMA Junya, Tafrishi Seyed Amir, Ravankar Ankit A., Luces Jose Victorio Salazar, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-C06　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-c06 　

    eISSN： 2424-3124

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    In this research, we propose a novel lightweight and compact walking-assist robot to prevent users from falling accidents. We propose the concept for a new walking assist robot. A two-legged wheeled balancing robot is developed to follow the user’s walking motion based on the concept. Each leg consists of a two-link structure, including one driving wheel and two revolute joints. A base frame was connected by the base of both links. Three basic controllers were developed to keep the base frame at a specific angle, change the robot’s overall height and keep the robot’s balance for moving. We utilize a motion capture system called VIVE to keep the specific distance between humans and robots. The validation experiment shows that the proposed robot can follow user’s walking while keeping balance simultaneously.

  64. Tempo Synchronization of Physical Activities with a Mixed-Reality Human-Machine-Interface Peer-reviewed

    Sebastian Chinchilla, Jose Salazar, Yasuhisa Hirata

    2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021　364-371　2021/12/27

    Publisher: IEEE

    DOI： 10.1109/robio54168.2021.9739486 　

  65. Standing, Walking, and Sitting Support Robot Based on User State Estimation Using a Small Number of Sensors Peer-reviewed

    Mizuki Takeda, Kaiji Sato, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    IEEE Access　9　152677-152687　2021/11/13

    DOI： 10.1109/access.2021.3127275 　

    ISSN： 2169-3536

    eISSN： 2169-3536

  66. Path Planning of a Spin-Rolling Sphere on a Plane Peer-reviewed

    Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto, Yasuhisa Hirata

    arXiv preprint arXiv:2110.12397　2021/10/24

  67. Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback Peer-reviewed

    Zhenyu Liao, Jose V. Salazar Luces, Yasuhisa Hirata

    IROS　8325-8331　2021/09/27

    Publisher: IEEE

    DOI： 10.1109/IROS51168.2021.9636567 　

  68. Special Issue on Nursing Robots and Support Systems for Welfare Sites Peer-reviewed

    Shoichiro Fujisawa, Masahiro Takaiwa, Yasuhisa Hirata, Shinya Kotosaka, Daisuke Chugo

    Journal of Robotics and Mechatronics　33　(4)　711-712　2021/08/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2021.p0711 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    Japan’s population is aging at a speed unprecedented in the world, and its shortage of caregivers has become a major issue. At the same time, the Internet of Things (IoT) is expected to create unprecedented new value by connecting all people and things, allowing them to share various kinds of knowledge and information. In addition, as artificial intelligence (AI) and big data are undergoing a transformation that is changing the value of human labor, robots incorporating these innovative technologies are expected to solve the problems of the aging society. On the other hand, in the field of nursing care, the relationship between the caregiver and the care-receiver is basically a person-to-person connection. There is a question of how people and technology can coexist and produce new creations in such fields. This special issue on Nursing Robots and Support Systems for Welfare Sites includes one review paper and 23 other interesting papers that cover the following topics: ı Research on independence support and systems to watch over the elderly. ı Research on support systems for diet, recreation, medication, etc. for people with dementia. ı Research on control and sensor systems for vital signs and excretion. ı Research on rehabilitation equipment for the physically handicapped. ı Research on assistive technologies for mobility support. ı Research on upper and lower limb power assistance devices and robots. We thank all authors and reviewers of the papers as well as the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue.

  69. Use of Human Computation for Coordinating Robotic Mobility Aids Based on User Impairments Peer-reviewed

    Heikki Saul, Yasuhisa Hirata, Yueh-Hsuan Weng

    2021 30th IEEE International Conference on Robot &amp; Human Interactive Communication (RO-MAN)　858-864　2021/08/08

    Publisher: IEEE

    DOI： 10.1109/ro-man50785.2021.9515468 　

  70. Control of planar passive wire-driven support systems using servo brakes

    Bahman Nouri Rahmat Abadi, Yasuhisa Hirata

    Mechanics Based Design of Structures and Machines　51　(7)　3905-3921　2021/07/05

    Publisher: Informa UK Limited

    DOI： 10.1080/15397734.2021.1945931 　

    ISSN： 1539-7734

    eISSN： 1539-7742

  71. Control and Evaluation of Body Weight Support Walker for Overground Gait Training Peer-reviewed

    Zonghao Dong, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　6　(3)　4632-4639　2021/07

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2021.3068691 　

    ISSN： 2377-3766

    eISSN： 2377-3774

  72. Tracking and Visualizing Signs of Degradation for Early Failure Prediction of Rolling Bearings Peer-reviewed

    Sana Talmoudi, Tetsuya Kanada, Yasuhisa Hirata

    Journal of Robotics and Mechatronics　33　(3)　629-642　2021/06/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2021.p0629 　

    ISSN： 0915-3942

    eISSN： 1883-8049

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    Predictive maintenance, which means detection of failure ahead of time, is one of the pillars of Industry 4.0. An effective method for this technique is to track early signs of degradation before failure occurs. This paper presents an innovative failure predictive scheme for machines. The proposed scheme combines the use of the full spectrum of vibration data from the machines and a data visualization technology. This scheme requires no training data and can be started quickly after installation. First, we proposed to use the full spectrum (as high-dimensional data vectors) with no cropping and no complex feature extraction and to visualize the data behavior by mapping the high-dimensional vectors into a two-dimensional (2D) map. This ensures simplicity of the process and less possibility of overlooking important information as well as provide a human-friendly and human-understandable output. Second, we developed a real-time data tracker that can predict failure at an appropriate time with sufficient allowance for maintenance by plotting real-time frequency spectrum data of the target machine on a 2D map created from normal data. Finally, we verified our proposal using vibration data of bearings from real-world test-to-failure measurements obtained from the IMS dataset.

  73. An Unsupervised Big Data Visualization-Based Scheme for Anomalous Sound Detection of Facilities

    Sana Talmoudi, Tetsuya Kanada, Yasuhisa Hirata

    Mapping Intimacies　2021/01/14

    Publisher: Research Square Platform LLC

    DOI： 10.21203/rs.3.rs-139087/v1 　

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    Abstract This paper is dedicated to validating the scalability and generalization of our previously proposed "machinery failure predictive scheme". Our aim is to have a generic core technology to provide a solution applicable in industry that is low-cost and low-intrusive. Background: In our previous works, we proposed an unsupervised predictive scheme combining the use of full spectrum of vibration / audio data and data visualization techniques. We then proposed a real time data tracker (RTDT) and we applied our proposal on vibration data of bearings. In this paper, we are applying our predictive scheme on a facility (composite system) rather than a specific mechanical component (singular system). We chose to apply our proposal on the MIMII dataset as it was used in task 2 of the DCASE 2020 challenge for the detection of anomalous sounds given normal data only. Methodology: We adopted two approaches: (1) the same scheme used in our application on bearing vibration data and (2) with a slightly modified approach where we apply a high pass filter (HPF) on the audio data to reduce the effect of the background noise. To effectively evaluate the accuracy of our scheme in detecting and recognizing anomalous sounds, we are comparing our results to the performance of the baseline system proposed by the organizers of the challenge as well as the results from the 40 participating teams. For the evaluation, we used the same metrics used in the challenge: the area under the receiver operation characteristic (ROC) curve (AUC) and the partial AUC (pAUC). Results: We obtained satisfactory values of AUC and pAUC compared to the related works. We also outperformed the baseline system in 13 out of 16 machines in terms of AUC and 15 out of 16 machines in terms of pAUC. Merits: Compared to the current related works, our "machinery failure predictive scheme" is featured by 0-training, and no complex preprocessing or de-noising techniques. Furthermore, our solution based on our scheme is provided as a white box, users will have the following merits: (1) our solution can be in operation right after a normal data set is obtained usually in a few days and (2) our solution can be built into conventional operation and maintenance systems without advanced background in artificial intelligence or data science.

  74. Development of Walking Assist Robot with Body Weight Support Mechanism Peer-reviewed

    Zonghao Dong, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2021 IEEE/SICE International Symposium on System Integration (SII)　2021　(IEEECONF)　554-559　2021/01/11

    Publisher: IEEE

    DOI： 10.1109/ieeeconf49454.2021.9382656 　

  75. A Geometric Assistive Controller for the Users of Wheeled Mobile Robots without Desired States. Peer-reviewed

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021　1953-1959　2021

    Publisher: IEEE

    DOI： 10.1109/ROBIO54168.2021.9739645 　

  76. Evaluation of an Avatar Robot with a Physically Immersive Telepresence. Peer-reviewed

    Koen Hertenberg, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021　99-104　2021

    Publisher: IEEE

    DOI： 10.1109/ROBIO54168.2021.9739326 　

  77. Velocity Control of Pneumatic Motor Attached to Retrofit-type Steering Handle for Autonomous Navigation of Conventional Six-wheeled Dump Truck Peer-reviewed

    Tomohiro KOMATSU, Keiji NAGATANI, Yasuhisa HIRATA, Takahiro SUZUKI, Kazunori OHNO

    Transactions of the Society of Instrument and Control Engineers　57　(10)　433-444　2021

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr.57.433 　

    ISSN： 0453-4654

    eISSN： 1883-8189

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    This paper describes an improvement of pneumatic motor response for autonomous steering of conventional six-wheel dump trucks. Pneumatic motors are robust against overload, so it is considered suitable for the steering actuator of six-wheel dump trucks from the hardware point. However, a disadvantage of the pneumatic motor is the low performance of path tracking of the vehicle because of phase delay and dead time of the motor. Therefore, to improve the problem, in this research, the following four points were implemented: (1) modeling of the plant, (2) identification of model parameters, (3) designing feedforward controller with the inverse model of the plant, (4) evaluation of responsiveness by simulation. According to the above implementations, the delay time was reduced by about 70% for the application range of the feedforward compensation. Furthermore, by clarifying the pneumatic motor's applicable condition limits, the design guideline of the path planning for dump truck according to the vehicle speed is introduced.

  78. Experimental and Numerical Evaluation of Open Hole Tensile Properties of 3D Printed Continuous Carbon Fiber Reinforced Thermoplastics Peer-reviewed

    Yamato HOSHIKAWA, Keiichi SHIRASU, Junpei TSUYUKI, Tomonaga OKABE, Ryo HIGUCHI, Kohei YAMAMOTO, Yasuhisa HIRATA

    Materials System　38　49-54　2021

    ISSN： 2435-1520

  79. RoVaLL: Design and Development of a Multi-Terrain Towed Robot With Variable Lug-Length Wheels Peer-reviewed

    Jose Victorio, Salazar Luces, Shin Matsuzaki, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　5　(4)　6017-6024　2020/10

    DOI： 10.1109/LRA.2020.3010495 　

    eISSN： 2377-3766

  80. Wide Area Exploration System Using Passive-Follower Robots Towed by Multiple Winches Peer-reviewed

    Jose Victorio Salazar Luces, Manami Hoshi, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　5　(4)　6459-6466　2020/10

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2020.3013859 　

    eISSN： 2377-3774

  81. Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator Peer-reviewed

    Kazuki Matsubara, Keiji Nagatani, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　5　(4)　6350-6356　2020/10

  82. Human Navigation Using Phantom Tactile Sensation Based Vibrotactile Feedback Peer-reviewed

    Zhenyu Liao, Jose V. Salazar Luces, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　5　(4)　5732-5739　2020/10

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2020.3010447 　

    ISSN： 2377-3766

    eISSN： 2377-3774

  83. HRI for Legal Validation: On Embodiment and Data Protection

    Yueh-Hsuan Weng, Svetlana Gulyaeva, Jana Winter, Andrei Slavescu, Yasuhisa Hirata

    2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)　1387-1394　2020/08

    Publisher: IEEE

    DOI： 10.1109/ro-man47096.2020.9223589 　

  84. Indoor Wayfinding for an Electric Wheelchair Based on Wi-Fi Fingerprinting Localization. Peer-reviewed

    Jose Victorio Salazar Luces, Kengkij Promsutipong, Yasuhisa Hirata

    2020 IEEE/SICE International Symposium on System Integration (SII)　513-518　2020/03

    Publisher: IEEE

    DOI： 10.1109/SII46433.2020.9025862 　

  85. Verbal guidance for sit-to-stand support system Peer-reviewed

    Mizuki Takeda, Yasuhisa Hirata, Yueh-Hsuan Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    ROBOMECH Journal volume　7　(8)　133　2020/02/18

  86. Position Estimation using Environment-installed Laser Range Finders and Traveling Control for Autonomous Surface Compression Work of Vibration Roller

    Kikuchi Kazunori, Nagatani Keiji, Komatsu Tomohiro, Kiribayashi Seiga, Asano Kimitaka, Shibata Yukinori, Ohno Kazunori, Suzuki Takahiro, Hirata Yasuhisa

    Journal of the Robotics Society of Japan　38　(9)　872-881　2020

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.38.872 　

    ISSN： 0289-1824

    eISSN： 1884-7145

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    In the construction industry of Japan, the number of labors, particularly experienced labors, is decreasing by decreasing birthrate and aging population. In addition, the number of death in the construction industry is one-third of the number in all industries. To resolve the above problems, autonomous construction system has been researched by various companies and research institutes. In this research, we aim at the realization of autonomous surface compression work by vibration roller with environment-installed sensors. Our approach is to install plural LiDARs (Light Detection and Ranging) in the work field and estimate the position of vibration roller. In this paper, we propose a position estimation method based on the environment-installed LiDARs, path planning for a vibration roller, and path tracking control of it. Furthermore, we conducted indoor experiments to confirm the proposed system using the original 1/10 vibration roller model and outdoor experiments to confirm the accuracy of position estimation method in real-time using an actual vibration roller.

  87. Stuructual Stabilization for Off-shore Platforms Using a Fin Shaped Damper-Mass with a Rule-Based Control Strategy

    Mina Malek Azari, Jose Victorio, Salazar Luces, Yasuhisa Hirata

    2020 IEEE Int. Conf. Mechatronics Autom. ICMA2020　2020　(ICMA)　905-911　2020

  88. Design, assessment and evaluation of structual stabilization system for weather buoys using a moving foil

    Mina Malek Azari, Jose Victorio, Salazar Luces, Yasuhisa Hirata

    ROBOMECH Journal volume　7　(1)　2020

    ISSN： 2197-4225

  89. Research of Traversability for Tracked Robot on Slope with Unfixed Obstacles — Evaluation of Effect of Grousers on Climbing Performance for Unfixed Cylindrical Obstacles — Peer-reviewed

    Ryosuke Yajima, Keiji Nagatani, Yasuhisa Hirata

    Transactions of the Society of Instrument and Control Engineers　55　(11)　1-9　2019/11

  90. Human Position Guidance Using Vibrotactile Feedback Stimulation Based on Phantom-Sensation Peer-reviewed

    Jose Salazar, Kanako Ishida, Yasuhisa Hirata

    2019 IEEE International Conference on Cyborg and Bionic Systems and HBP Workshop　2019/09

    Publisher: IEEE

    DOI： 10.1109/cbs46900.2019.9114479 　

  91. Learning Effect on Wrist Guidance Using Multiple Vibrotactile Cues

    OKABE Keisuke, SALAZAR Jose, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2019　(0)　2P1-L01　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2019.2P1-L01 　

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    <p>In this paper, we present a paradigm to improve the followability on a path-following task for the wrist by practicing repeatedly using vibrotactile cues. Vibrotactile cues were provided as a direction to modify the wrist's path when the wrist's position deviates from the desired path. The experiment was conducted to test the learning effect of the vibrotactile feedback on a participants' wrist motion during three days. We found that the root mean squared error of the participants wrist's trajectory decreased when provided with vibrotactile feedback. Additionally, most participants could reproduce the desired path in a more accurate way after removing the feedback immediately after training. This effect continued slightly over three days and the performance gradually improved after training.</p>

  92. The Religious Impacts of Taoism on Ethically Aligned Design in HRI. Peer-reviewed

    Yueh-Hsuan Weng, Yasuhisa Hirata, Osamu Sakura, Yusuke Sugahara

    Int. J. Soc. Robotics　11　(5)　829-839　2019

    DOI： 10.1007/s12369-019-00594-z 　

  93. Research on traversability of tracked vehicle on slope with unfixed obstacles: derivation of climbing-over, tipping-over, and sliding-down conditions. Peer-reviewed

    Ryosuke Yajima, Keiji Nagatani, Yasuhisa Hirata

    Advanced Robotics　33　(20)　1060-1071　2019

    DOI： 10.1080/01691864.2019.1668848 　

  94. An IoT-based Failure Prediction Solution Using Machine Sound Data. Peer-reviewed

    Sana Talmoudi, Tetsuya Kanada, Yasuhisa Hirata

    2019 IEEE/SICE International Symposium on System Integration (SII)　227-232　2019

    Publisher: IEEE

    DOI： 10.1109/SII.2019.8700357 　

  95. Accountable system design architecture for embodied AI: a focus on physical human support robots. Peer-reviewed

    Mizuki Takeda, Yasuhisa Hirata, Yueh-Hsuan Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    Advanced Robotics　33　(23)　1248-1263　2019

    DOI： 10.1080/01691864.2019.1689168 　

  96. Ethically Aligned Design for Assistive Robotics Peer-reviewed

    Yueh-Hsuan Weng, Yasuhisa Hirata

    2018 IEEE International Conference on Intelligence and Safety for Robotics　286-290　2018/08

  97. State Estimation Using CoG Candidates for Standing Support System User

    TAKEDA Mizuki, HIRATA Yasuhisa, KATAYAMA Takahiro, MIZUTA Yasuhide, KOUJINA Atsushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2018　2A2-H01　2018

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2018.2a2-h01 　

    eISSN： 2424-3124

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    We propose a state estimation method for standing support system user. Standing support is important especially indoor environment. State estimation make it possible to provide appropriate support depending on users' state. We focus on the CoG (Center of Gravity) position because of its physical significance. However, it needs many sensors to measure the CoG precisely. Then we propose a method to calculate the candidates of CoG using a small number of sensors. In this article, we develop an assistive robot, and propose a state estimation method for the robot user. We validated the proposed method by experiments using a small number of sensors which are set on the robot.

  98. Lumbar Assistive Orthosis with Torsion Spring-based Joint for Lumbar Degenerative Kyphosis Patient. Peer-reviewed

    Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa

    2018 IEEE International Conference on Cyborg and Bionic Systems　161-166　2018

    Publisher: IEEE

    DOI： 10.1109/CBS.2018.8612233 　

  99. State Estimation Using the CoG Candidates for Sit-to-Stand Support System User. Peer-reviewed

    Mizuki Takeda, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    IEEE Robotics Autom. Lett.　3　(4)　3011-3018　2018

    DOI： 10.1109/LRA.2018.2849551 　

  100. Control of Multiple Passive-Follower Type Robots Based on Feasible Braking Control Region Analysis. Peer-reviewed

    Yasuhisa Hirata, Ken Kimura, Shin Matsuzaki, Naoko Ogawa, Takashi Kubota

    2018 IEEE International Conference on Robotics and Automation　1-9　2018

    DOI： 10.1109/ICRA.2018.8460637 　

  101. Path-Following Guidance Using Phantom Sensation Based Vibrotactile CuAround the Wrist. Peer-reviewed

    José Salazar, Keisuke Okabe, Yasuhisa Hirata

    IEEE Robotics Autom. Lett.　3　(3)　2485-2492　2018

    DOI： 10.1109/LRA.2018.2810939 　

  102. A Phantom-Sensation Based Paradigm for Continuous Vibrotactile Wrist Guidance in Two-Dimensional Space. Peer-reviewed

    Jose V. Salazar Luces, Keisuke Okabe, Yoshiki Murao, Yasuhisa Hirata

    IEEE Robotics Autom. Lett.　3　(1)　163-170　2018

    DOI： 10.1109/LRA.2017.2737480 　

  103. Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch. Peer-reviewed

    Yasuhisa Hirata, Yuto Tanaka

    IEEE Robotics Autom. Lett.　3　(1)　148-154　2018

    DOI： 10.1109/LRA.2017.2735489 　

  104. Control of Cycling Wheelchair Using Continuously Variable Transmission and Clutch

    TANAKA Yuto, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2A1-K02　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.2A1-K02 　

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    <p>In recent years, the number of elderly people is increasing due to the aged society with a low birth rate. In addition, the lame person is increasing. Therefore, they often use the general wheelchairs which can move without using their legs. However, there is a problem that the muscle of legs is weakened. Therefore, the cycling wheelchair have been developed, which can improve the ADL of users. The cycling wheelchair is optimized for indoor use. To use this cycling wheelchair outdoors, it is necessary to attach some assistive devices such as brake and freewheel. In addition, it is important to be able to move backward and forward. In this research, these functions could be realized by controlling the combination of clutch and continuously variable transmission (CVT). In addition, we confirmed these functions by experiments.</p>

  105. CoG Candidates Estimation for Standing/Sitting Support System Users

    TAKEDA Mizuki, HIRATA Yasuhisa, KATAYAMA Takahiro, MIZUTA Yasuhide, KOUJINA Atsushi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2A1-H05　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.2A1-H05 　

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    <p>We propose a method to estimate CoG candidates for standing/sitting support system user. In order to provide appropriate support, real-time estimation of user's state have been studied by many researchers. It is also important to acquire data of user's state in various motion for evaluation of user's health. Measuring human state precisely is difficult, so state estimation method using several user's information have been studied. Position of CoG is useful to human state estimation. However, precise calculation of CoG requires large amount of sensors or expensive measurement system. Therefore we consider how to estimate it using a few inexpensive and simple sensors. In this article, we propose a method to calculate the candidates of human CoG. We validate the proposed method by experiment using motion capture system and sensors which are actually placed prototype of assistive robot.</p>

  106. Position and orientation control of passive wire-driven motion support system using servo brakes. Peer-reviewed

    Yasuhisa Hirata, Ryo Shirai, Kazuhiro Kosuge

    2017 IEEE International Conference on Robotics and Automation　3702-3707　2017

    Publisher: IEEE

    DOI： 10.1109/ICRA.2017.7989426 　

  107. Human CoG estimation for assistive robots using a small number of sensors. Peer-reviewed

    Mizuki Takeda, Yasuhisa Hirata, Kazuhiro Kosuge, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

    2017 IEEE International Conference on Robotics and Automation　6052-6057　2017

    Publisher: IEEE

    DOI： 10.1109/ICRA.2017.7989717 　

  108. Visual Human Action Classification for Control of a Passive Walker Peer-reviewed

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2017 7TH INTERNATIONAL CONFERENCE ON MODELING, SIMULATION, AND APPLIED OPTIMIZATION (ICMSAO)　1-5　2017

    DOI： 10.1109/ICMSAO.2017.7934895 　

    ISSN： 2473-4748

  109. Real-time gait event recognition for wearable assistive device using an IMU on thigh. Peer-reviewed

    Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS)　314-318　2017

    Publisher: IEEE

    DOI： 10.1109/CBS.2017.8266123 　

  110. Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). Peer-reviewed

    Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2017 IEEE International Conference on Intelligent Robots and Systems　1937-1942　2017

    Publisher: IEEE

    DOI： 10.1109/IROS.2017.8206012 　

  111. Motion Guidance Using Multiple Vibration Stimulations

    Salazar Jose, MURAO Yoshiki, HIRATA Yasuhisa, KOSUGE Kazuhiro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2016　(0)　2A1-14a4　2016

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2016.2A1-14a4 　

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    <p>We propose a method for motion guidance by creating a motion direction by utilizing a vibration haptic device attached to user wrist. In order to create the motion direction, we come up with a new method called Direction Sensation. This method utilizes two vibrotactile illusions and they generate a feeling similar to putting our arms in the flow of a river. In this article, to make a proper haptic device, we investigated how Direction Sensation in wrist can be recognized. We found that utilizing phantom tactile sensation to make Direction Sensation doesn't allow a clear recognition of direction. However, in our research, the Direction Sensation can be recognized better by considering the vibration recognition ability of the wrist.</p>

  112. Cadence control of cycling wheelchair with Continuously Variable Transmission and servo brake. Peer-reviewed

    Yasuhisa Hirata, Shotaro Ando, Kazuhiro Kosuge

    2016 IEEE International Conference on Robotics and Automation　3062-3068　2016

    Publisher: IEEE

    DOI： 10.1109/ICRA.2016.7487471 　

  113. Motion guidance using Haptic Feedback based on vibrotactile illusions. Peer-reviewed

    José Salazar, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2016 IEEE International Conference on Intelligent Robots and Systems　4685-4691　2016

    Publisher: IEEE

    DOI： 10.1109/IROS.2016.7759689 　

  114. Guiding human motions in physical human-robot interaction through COM motion control of a dance teaching robot. Peer-reviewed

    Diego Felipe Paez Granados, Jun Kinugawa, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2016 IEEE-RAS International Conference on Humanid Robots (Humanoids)　279-285　2016

    Publisher: IEEE

    DOI： 10.1109/HUMANOIDS.2016.7803289 　

  115. Formation control of multiple passive type boats for sea surveillance. Peer-reviewed

    Halil Beglerovic, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the 2016 IEEE/SICE International Symposium on System Integration　869-874　2016

    Publisher: IEEE

    DOI： 10.1109/SII.2016.7844109 　

  116. Pedaling Assistive Control Method of Cycling Wheelchair for Hemiplegia Patients Peer-reviewed

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　6191-6196　2015

    DOI： 10.1109/ICRA.2015.7140068 　

    ISSN： 1050-4729

  117. Anomaly State Assessing of Human using Walker-type Support System Based on Statistical Analysis Peer-reviewed

    Yasuhisa Hirata, Hiroki Yamaya, Kazuhiro Kosuge, Atsushi Koujina, Tomohiro Shirakawa, Takahiro Katayama

    2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)　146-152　2015

    DOI： 10.1109/ROMAN.2015.7333681 　

  118. Underactuated Robot Hand for Dual-Arm Manipulation Peer-reviewed

    Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2937-2942　2015

    DOI： 10.1109/IROS.2015.7353782 　

    ISSN： 2153-0858

  119. Motion control of wearable-type walking support system based on the spring-mass model. Peer-reviewed

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

    Advanced Robotics　29　(20)　1339-1355　2015

    DOI： 10.1080/01691864.2015.1090335 　

  120. Control Architecture of Delivery Robot for Supporting Nursing Staff Peer-reviewed

    Yasuhisa Hirata, Yusuke Sugiyama, Kazuhiro Kosuge

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　345-351　2015

    DOI： 10.1109/SII.2015.7404944 　

  121. A Passive Dance Robot with Active Coordination Capability Peer-reviewed

    Zhao Liu, Ming Zhang, Jing Xu, Yu Zhu, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014)　686-691　2014

  122. Stand-Up Assist System for Elderly Using Coordinated Motion with a Bed Peer-reviewed

    Norihisa Miyake, Kazuhiro Kosuge, Yasuhisa Hirata, Takuro Hatsukari, Hajime Asama, Shiho Matsushita

    2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS)　162-167　2014

  123. Assistance Control Method for One-Leg Pedaling Motion of a Cycling Wheelchair Peer-reviewed

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　5606-5611　2014

    DOI： 10.1109/ICRA.2014.6907683 　

    ISSN： 1050-4729

  124. Generating Human Motion Transition Map in Indoor Environment and Analyzing Human Behavior by Geographical Clustering Peer-reviewed

    Yuji Ogawa, Zhidong Wang, Tetsuya Wada, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3700-3705　2014

    DOI： 10.1109/ICRA.2014.6907395 　

    ISSN： 1050-4729

  125. Power Steering and Force Display Controls for a Cycling Wheelchair using Servo Brakes Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　613-618　2014

    DOI： 10.1109/ICRA.2014.6906918 　

    ISSN： 1050-4729

  126. Walking Support by Wearable System based on the Spring-Mass Model Peer-reviewed

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　285-290　2014

    DOI： 10.1109/AIM.2014.6878093 　

    ISSN： 2159-6255

  127. Pose Estimation of Servo-Brake-Controlled Caster Units Arbitrarily Located on a Mobile Base Peer-reviewed

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　3456-3462　2014

    DOI： 10.1109/IROS.2014.6943044 　

    ISSN： 2153-0858

  128. Motion support during the swing phase using cooperative walking support system Peer-reviewed

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Hiroshi Onodera

    ADVANCED ROBOTICS　27　(17)　1337-1349　2013/12

    DOI： 10.1080/01691864.2013.826412 　

    ISSN： 0169-1864

  129. A Nonholonomic Vehicle Maneuver based on an Estimator of Positional Relationships between the Vehicle and Two Mobile Robots Grasping Drive Wheels Peer-reviewed

    Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    Journal of the Robotics Society of Japan　31　(8)　816-827　2013/08

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.31.816 　

    ISSN： 0289-1824

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    In this article, an extended Kalman filter based estimation method is proposed for positional relationships between a vehicle and robots for a car transportation system using two robots. This system lifts only the two front wheels of a front wheel drive vehicle, which is commonly used and cannot move automatically, and positions it. Therefore, the system can be made more compact than previous car transportation systems using multiple robots. To control the system transporting cars, some parameters related to positional relationships between robots and a car's nonholonomic constraints are required. However, it is difficult to obtain accurate positional relationships using laser range scanners because the car's body is complexly curved and hides one robot from another.<br> This estimation method uses force sensors and encoders on robots instead of laser range scanners. A force based cooperative transportation control enables the system to transport cars with nonholonomic constraints without positional relationships. The positional relationships between the robots and conditions of a car's nonholonomic constraints are derived by the extended Kalman filter and a state space model relating robotic motions and positional relationships.

  130. Transportation of an Object by Multiple Passive Mobile Robots in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    Transactions of the Society of Instrument and Control Engineers　49　(3)　353-361　2013/03

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr.49.353 　

    ISSN： 0453-4654

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    In this paper, we propose a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. The passive mobile robot called "O-PRP(Omni-directional type Passive Robot Porter)" has passive dynamics with respect to an applied force and its motion is controlled based on the servo brakes. In the proposed algorithm, each O-PRP is controlled as if it has an apparent dynamics, and the motion characteristics of the object supported by the multiple O-PRPs is changed for improving the maneuverability. The proposed algorithm is applied to two O-PRPs, and experimental results illustrate its validity.

  131. Regenerative Brake Control of Cycling Wheelchair with Passive Behavior Peer-reviewed

    Yasuhisa Hirata, Kota Kawamata, Kana Sasaki, Aya Kaisumi, Kazuhiro Kosuge, Eric Monacelli

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3873-3879　2013

    DOI： 10.1109/ICRA.2013.6631122 　

    ISSN： 1050-4729

  132. Development of Robot Hand with Suction Mechanism for Robust and Dexterous Grasping Peer-reviewed

    Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　5500-5505　2013

    DOI： 10.1109/IROS.2013.6697153 　

    ISSN： 2153-0858

  133. Steering Assist System for a Cycling Wheelchair based on Braking Control Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　672-678　2013

    DOI： 10.1109/IROS.2013.6696423 　

    ISSN： 2153-0858

  134. Investigation of user load and evaluation of power assistive control on cycling wheelchair Peer-reviewed

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics　25　(6)　959-965　2013

    Publisher: Fuji Technology Press

    DOI： 10.20965/jrm.2013.p0959 　

    ISSN： 1883-8049 0915-3942

  135. Assistive Motion Control of Cycling Wheelchair based on Investigation of Load on User Peer-reviewed

    Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　418-423　2013

  136. A Vehicle Maneuver by Using Two Mobile Robots Grasping Single Wheel Peer-reviewed

    Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Knichi Nakamura, Masaki Nakanishi

    Transactions of the Society of Instrument and Control Engineers　48　(7)　373-382　2012/07

    DOI： 10.9746/sicetr.48.373 　

    ISSN： 0453-4654

  137. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II Peer-reviewed

    Koshi Kashiwazaki, Naoaki Yonezawa, Kazuhiro Kosuge, Yusuke Sugahara, Yasuhisa Hirata, Mitsuru Endo, Takashi Kanbayashi, Hiroyuki Shinozuka, Koki Suzuki, Yuki Ono

    Transactions of the Society of Instrument and Control Engineers　48　(7)　389-398　2012/07

    Publisher:

    DOI： 10.9746/sicetr.48.389 　

    ISSN： 0453-4654

  138. 巻頭言：「システムインテグレーション最前線」について

    橋本 浩一, 妻木 勇一, 李 周浩, 平田 泰久

    計測自動制御学会論文集　48　(1)　1-1　2012

    Publisher: 公益社団法人 計測自動制御学会

    DOI： 10.9746/sicetr.48.1 　

    ISSN： 0453-4654

    eISSN： 1883-8189

  139. Comparative study of visual human state classication; An application for a walker robot Peer-reviewed

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　1843-1849　2012

    DOI： 10.1109/BioRob.2012.6290898 　

    ISSN： 2155-1774

  140. Estimation of human physical characteristics in ambient assistance environment Peer-reviewed

    Mata Khalili, Eric Monacelli, Yasuhisa Hirata

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　1428-1433　2012

    DOI： 10.1109/BioRob.2012.6290929 　

    ISSN： 2155-1774

  141. Incremental Human Motion Map System and Human Walking Behavior Representation in Indoor Environment Peer-reviewed

    Tetsuya Wada, Zhidong Wang, Yuji Ogawa, Yasuhisa Hirata, Kazuhiro Kosuge

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)　747-752　2012

    DOI： 10.1109/ROBIO.2012.6491057 　

  142. Motion Control of Caster-Type Passive Mobile Robot with Servo Brakes Peer-reviewed

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    ADVANCED ROBOTICS　26　(11-12)　1271-1290　2012

    DOI： 10.1080/01691864.2012.689728 　

    ISSN： 0169-1864

  143. A Car Transportation System Grasping Two Drive Wheels Peer-reviewed

    Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　4086-4091　2012

    DOI： 10.1109/ICRA.2012.6225291 　

    ISSN： 1050-4729

  144. Design of Parts Handling and Gear Assembling Device Peer-reviewed

    Kengo Yamaguchi, Yasuhisa Hirata, Aya Kaisumi, Kazuhiro Kosuge

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　2570-2577　2012

    DOI： 10.1109/ICRA.2012.6225157 　

    ISSN： 1050-4729

  145. Estimation of Human Physical Characteristics in Ambient Assistance Environment Peer-reviewed

    Mata Khalili, Eric Monacelli, Yasuhisa Hirata

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　1428-1433　2012

    DOI： 10.1109/BioRob.2012.6290929 　

    ISSN： 2155-1782

  146. Comparative Study of Visual Human State Classication; an Application for a Walker Robot Peer-reviewed

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　1843-1849　2012

    DOI： 10.1109/BioRob.2012.6290898 　

    ISSN： 2155-1782

  147. Wire-type Human Support System Controlled by Servo Brakes Peer-reviewed

    Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　3356-3361　2012

    DOI： 10.1109/IROS.2012.6385648 　

    ISSN： 2153-0858

  148. Cooperative Transportation Control in Consideration of not only Internal Force but also External Force Applied to "MRWheel" Peer-reviewed

    Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)　1867-1873　2012

    DOI： 10.1109/ROBIO.2012.6491240 　

  149. Estimation of Relative Positions and Orientations on a Car Transportation System Grasping two Drive Wheels Peer-reviewed

    Naoaki Yonezawa, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)　1874-1880　2012

    DOI： 10.1109/ROBIO.2012.6491241 　

  150. Method for Selecting Standing-Up Assist Devices Based on Standing-Up Classification with Human Model Peer-reviewed

    Takuro Hatsukari, Norihisa Miyake, Yasuhisa Hirata, Kazuhiro Kosuge

    Transactions of the Japan Society of Mechanical Engineers　77　(774)　429-438　2011/02

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.77.429 　

    ISSN： 0387-5024

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    A person can employ various standing-up strategies depending on his/her physical ability and personal habit. Physically-handicapped persons have abilities as well to stand-up, with the help of caregivers or devices. There is not so much relationship between physical ability of a person and the standing-up strategy being employed, which leads to the fact that the devices or the care method might not be appropriately chosen. A method for choosing among standing-up strategies based on a newly defined ADL(Activity of Daily Living) index for standing-up function has therefore been proposed. Then, these strategies are derived from standing-up strategy classification focused on human joints' degree-of-freedom, and can be classified into 7 categories. In the cases where multiple strategies correspond to the same index, the differences are studied experimentally. In the cases where no existing device is known to the corresponding category, prototype model of the support devices are made experimental use. The result of the experiments shows that an appropriate standing-up strategy can be chosen in accordance with the ADL index.

  151. Levitation control of AEROTRAIN: Development of experimental wing-in-ground effect vehicle and stabilization along Z Axis and about roll and pitch axes Peer-reviewed

    Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, Yasuaki Kohama

    Journal of Robotics and Mechatronics　23　(3)　338-349　2011

    Publisher: Fuji Technology Press

    DOI： 10.20965/jrm.2011.p0338 　

    ISSN： 1883-8049 0915-3942

  152. Levitation Control of Experimental Wing-in-Ground Effect Vehicle along Z Axis and about Roll and Pitch Axes Peer-reviewed

    Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, Yasuaki P. Kohama

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　8-13　2011

    DOI： 10.1109/ICRA.2011.5979974 　

    ISSN： 1050-4729

  153. Improvement in the Performance of Passive Motion Support System with Wires Based on Analysis of Brake Control Peer-reviewed

    Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　4272-4277　2011

    DOI： 10.1109/ICRA.2011.5980471 　

    ISSN： 1050-4729

  154. Design of Handling Device for Caging and Aligning Circular Objects Peer-reviewed

    Yasuhisa Hirata, Aya Kaisumi, Kengo Yamaguchi, Kazuhiro Kosuge

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　4370-4377　2011

    DOI： 10.1109/ICRA.2011.5980502 　

    ISSN： 1050-4729

  155. Walking Support based on Cooperation between Wearable-Type and Cane-Type Walking Support Systems Peer-reviewed

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Hiroshi Onodera

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　122-127　2011

    DOI： 10.1109/AIM.2011.6027116 　

    ISSN： 2159-6255

  156. Development of Passive type Double Wheel Caster Unit based on Analysis of Feasible Braking Force and Moment Set Peer-reviewed

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　311-317　2011

    DOI： 10.1109/IROS.2011.6048373 　

    ISSN： 2153-0858

  157. A Car Transportation System Using Multiple Mobile Robots: iCART II Peer-reviewed

    Koshi Kashiwazaki, Naoaki Yonezawa, Mitsuru Endo, Kazuhiro Kosuge, Yusuke Sugahara, Yasuhisa Hirata, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　4593-4600　2011

    DOI： 10.1109/IROS.2011.6048530 　

    ISSN： 2153-0858

  158. Identification of pedestrian characteristics for assistive systems Peer-reviewed

    Mata Khalili, Eric Monacelli, Yasuhisa Hirata

    2011 IEEE/SICE International Symposium on System Integration, SII 2011　549-554　2011

    DOI： 10.1109/SII.2011.6147508 　

  159. Building human motion map with human states estimation in indoor dynamic environments Peer-reviewed

    Yuji Ogawa, Zhidong Wang, Tetsuya Wada, Ken Tomiyama, Yasuhisa Hirata, Kazuhiro Kosuge

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　1090-1095　2011

    DOI： 10.1109/ROBIO.2011.6181433 　

  160. Control of a passive walker using a depth sensor for user state estimation Peer-reviewed

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　1639-1645　2011

    DOI： 10.1109/ROBIO.2011.6181524 　

  161. Development of wire-type motion support system controlled by servo brakes Peer-reviewed

    Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　2150-2155　2011

    DOI： 10.1109/ROBIO.2011.6181610 　

  162. Development of passive wearable walking helper controlled by servo brake Peer-reviewed

    Y. Hirata, T. Isoda, K. Kosuge

    International Journal of Mechatronics and Manufacturing Systems　3　(3-4)　291-306　2010/05

    DOI： 10.1504/IJMMS.2010.033189 　

    ISSN： 1753-1039 1753-1047

  163. Control algorithm of a passive dance partner robot

    Zhao Liu, Ken Chen, Yasuhisa Hirata, Kazuhiro Kosuge

    Qinghua Daxue Xuebao/Journal of Tsinghua University　50　(2)　254-257　2010/02

    ISSN： 1000-0054

  164. A new control algorithm for a passive type dance partner robot Peer-reviewed

    Zhao Liu, Chenglong Fu, Ken Chen, Yoshinori Koike, Yasuhisa Hirata, Kazuhiro Kosuge

    2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010　486-491　2010

  165. Building human motion map for mobile robot in the indoor dynamic environment Peer-reviewed

    Tetsuya Wada, Zhidong Wang, Tomokazu Matsuo, Yuji Ogawa, Yasuo Hayashibara, Yasuhisa Hirata, Kazuhiro Kosuge

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010　543-548　2010

    Publisher: IEEE

    DOI： 10.1109/ROBIO.2010.5723384 　

  166. A car transportation system using multiple coordinated robots: ICART (2nd report, a distributed coordination control algorithm) Peer-reviewed

    Mitsuru Endo, Kazuhiro Kosuge, Kenji Hirose, Yasuhisa Hirata, Yusuke Sugahara, Koki Suzuki, Takashi Kanbayashi

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　76　(761)　103-109　2010

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.76.103 　

    ISSN： 0387-5024

  167. Distributed Motion Control of Multiple Passive Object Handling Robots Considering Feasible Region of Brake Control Peer-reviewed

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3413-3419　2010

    DOI： 10.1109/ROBOT.2010.5509234 　

    ISSN： 1050-4729

  168. Analysis of the slip-related falls and fall prevention with an intelligent shoe system Peer-reviewed

    Hiroshi Onodera, Takeshi Yamaguchi, Hiroteru Yamanouchi, Kazumasa Nagamori, Masaru Yano, Yasuhisa Hirata, Kazuo Hokkirigawa

    2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS　616-620　2010

    DOI： 10.1109/BIOROB.2010.5628030 　

    ISSN： 2155-1782

  169. Transfer support equipment based on caregivers' technique Peer-reviewed

    Takuro Hatsukari, Norihisa Miyake, Yasuhisa Hirata, Kazuhiro Kosuge

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　76　(769)　2286-2293　2010

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.76.2286 　

    ISSN： 0387-5024

  170. Motion Control of Passive Haptic Device Using Wires with Servo Brakes Peer-reviewed

    Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　3123-3129　2010

    DOI： 10.1109/IROS.2010.5649497 　

    ISSN： 2153-0858

  171. Motion Control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment Peer-reviewed

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　3130-3137　2010

    DOI： 10.1109/IROS.2010.5650940 　

    ISSN： 2153-0858

  172. Vision-based human state estimation to control an intelligent passive walker Peer-reviewed

    Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　146-151　2010

    DOI： 10.1109/SII.2010.5708316 　

  173. Motion Control of Wearable Walking Support System with Accelerometer Based on Human Model Peer-reviewed

    Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge

    Advances in Human-Robot Interaction　205-220　2009/12

  174. Structure design of a passive type dance partner robot

    Zhao Liu, Ken Chen, Yoshinori Koike, Yasuhisa Hirata, Kazuhiro Kosuge

    Jiqiren/Robot　31　(5)　410-415　2009/09

    ISSN： 1002-0446

  175. A Car Transportation System Using Multiple Robots iCART Peer-reviewed

    Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Koki Suzuki, Hiroyuki Shinozuka, Hiroyuki Arai, Kei Akune, Takashi Kanbayashi

    Transactions of the Japan Society of Mechanical Engineers　75　(755)　132-139　2009/07

  176. Parameter Setting Method for Sit-Stand Assist System Based on Human Model Peer-reviewed

    Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics　21　(3)　324-331　2009/06

  177. Estimation of Human States Using Walker Based on Human Model Peer-reviewed

    Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

    Transactions of the Society of Instrument and Control Engineers　45　(5)　276-282　2009/05

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr.45.276 　

    ISSN： 0453-4654

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    In this paper, we propose a human modeling method for estimating the user states using intelligent walker. If intelligent walker can recognize the user states, it can select the several functions such as variable motion characteristics function, fall-prevention function, assist functions for standing up and sitting down, and so on, autonomously, so that the users, who do not have professional skills of the intelligent systems, could utilize the walker dependably and practically in real world environment. In this paper, we especially focus on the human modeling method of the user, in which we generate the human linkage model by using the laser range finders attached to the walker and calculate the center of gravity of the human during the usage of the walker. The proposed method is evaluated based on the human motion captured accurately by using the motion capturing system. In addition, the experiments using the walker with laser rang finders show that it can recognize the user states successfully based on the position of the center of gravity derived by the human model.

  178. Cooperative Motion Generation Method for Human-robot Cooperation to deal with Environmental/Task Constraints Peer-reviewed

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of the Robotics Society of Japan　27　(2)　99-107　2009/03

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.27.221 　

    ISSN： 0289-1824

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    We propose a cooperative motion generation method based on the haptic interaction between robots and human beings for the cooperation of robots with human beings. There are lot of problems in the human-robot haptic interaction, such as self-collisions, collisions with obstacles, and limitation of the range of joint movements. We had proposed the self-collision avoidance motion generation method for robot cooperation with human beings in our previous study. In this study, we focus on the range of joint movements of robots in order to deal with the environmental/task constraints and also to prevent self-collisions. By considering the range of joint movements, the robot could also avoid the limitation of the range of the joint movement, as well as self-collisions. Additionally, by appropriately setting the range of movements of the mobile base of robots, we can generate the cooperative motion in robots, which may assist in dealing with the environmental/task constraints. The proposed method is employed in a human-friendly robot referred to as "MR Helper," and some experiments are carried out for validating the method.

  179. A Car Transportation System Using Multiple Robots iCART : 1st Report, The Design and the Control Algorithm of Robots(Mechanical Systems)

    ENDO Mitsuru, HIROSE Kenji, HIRATA Yasuhisa, KOSUGE Kazuhiro, SUGAHARA Yusuke, SUZUKI Koki, SHINOZUKA Hiroyuki, ARAI Hiroyuki, AKUNE Kei, KANBAYASHI Takashi

    Transactions of the Japan Society of Mechanical Engineers Series C　75　(755)　2028-2035　2009

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.75.2028 　

    ISSN： 0387-5024

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    We propose a novel car transportation system termed as iCART (i__-ntelligent c__-ooperative a__-utonomous r__-obot t__-ransporters). This system transports cars using two robots that move in coordination. This car transportation system can transport cars of any size and offers various functions such as parking, valet parking, towing service, and the transportation of cars inside a factory, onto a ferry, and in complicated parking areas. The robots in this car transportation system comprise three modules: the mobile base module, the lifter module, and the connecting module. This paper describes the details of the operation mechanism and the basic algorithm of each module. A leader-follower-type distributed motion control algorithm is applied to the proposed system and is used in an experiment performed to verify the validity of its function.

  180. Motion Control of Walking Assist Robot System Based on Human Model Peer-reviewed

    Yasuhisa Hirata, Shinji Komatsuda, Takuya Iwano, Kazuhiro Kosuge

    13TH INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING, VOLS 1-3　23　(1-3)　2232-2236　2009

    ISSN： 1680-0737

  181. Development of Omni-directional Mobile Base with Servo Brakes for Passive Dance Partner Robot Peer-reviewed

    Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4　676-681　2009

    DOI： 10.1109/ROBIO.2009.4913082 　

  182. Self-help Standing-up Method Based on Quasi-static Motion Peer-reviewed

    Takuro Hatsukari, Shiho Kuroko, Norihisa Miyake, Ryushiro Kawazoe, Jun'ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4　342-+　2009

    DOI： 10.1109/ROBIO.2009.4913027 　

  183. Transporting an Object by a Passive Mobile Robot with Servo Brakes in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Zhidong Wang, Kenta Fukaya, Kazuhiro Kosuge

    ADVANCED ROBOTICS　23　(4)　387-404　2009

    DOI： 10.1163/156855309X408745 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  184. Coordinated Motion Control of Multiple Passive Object Handling Robots based on Environment Information Peer-reviewed

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　2729-2734　2009

    DOI： 10.1109/ROBOT.2009.5152612 　

    ISSN： 1050-4729

  185. A Coordinated Control Algorithm based on the Caster-like Motion for a Car Transportation System -iCART- Peer-reviewed

    Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　3826-+　2009

    DOI： 10.1109/ROBOT.2009.5152785 　

    ISSN： 1050-4729

  186. Human-Adaptive Step Estimation Method for a Dance Partner Robot Peer-reviewed

    Daishi Nakayama, Kazuhiro Kosuge, Yasuhisa Hirata

    2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3　191-196　2009

    DOI： 10.1109/ICAL.2009.5262935 　

  187. Development of an Automatic Dishwashing Robot System Peer-reviewed

    Kazuhiro Kosuge, Yasuhisa Hirata, Jina Lee, Akira Kawamura, Koichi Hashimoto, Shingo Kagami, Yu Hayashi, Norio Yokoshima, Hiroshi Miyazawa, Ryosuke Teranaka, Yasutoshi Natsuizaka, Kazuhisa Sakai, Mizuo Koizumi, Junji Koyama, Naoki Kanayama, Shunichi Tezuka, Hiroshi Torimitsu

    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS　43-+　2009

    DOI： 10.1109/ICMA.2009.5245127 　

  188. Development of Intelligent Passive Cane Controlled by Servo Brakes Peer-reviewed

    Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

    RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2　1011-1016　2009

    DOI： 10.1109/ROMAN.2009.5326139 　

  189. Trajectory Generation for Multiple Robots of a Car Transportation System Peer-reviewed

    Mitsuru Endo, Kenji Hirose, Yusuke Sugahara, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8　305-+　2009

    DOI： 10.1007/978-3-642-00644-9-27 　

  190. Motion Control of Passive Mobile Robot Consisting of Casters with Servo Brakes Peer-reviewed

    Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　42-48　2009

    DOI： 10.1109/IROS.2009.5354720 　

  191. A Path Planning Method for Dynamic Object Closure by Using Random Caging Formation Testing Peer-reviewed

    ZhiDong Wang, Hidenori Matsumoto, Yasuhisa Hirata, Kazuhiro Kosuge

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　5923-+　2009

    DOI： 10.1109/IROS.2009.5353999 　

  192. Motion Control of Passive Dance Partner Robot by Using Servo Brakes Peer-reviewed

    Yasuhisa Hirata, Yoshinori Koike, Kazuhiro Kosuge

    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4　104-109　2009

    DOI： 10.1109/ROBIO.2009.5420641 　

  193. Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics Peer-reviewed

    Takuro Hatsukari, Norihisa Miyake, Jun'ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics　20　(6)　828-825　2008/12

  194. Human Modeling Method for Estimating User States Using Intelligent Walker Peer-reviewed

    Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

    Proceedings of The 17th CISM-IFToMM Symposium on Robot Design, Dynamics, And Control　365-372　2008/07

  195. Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors Peer-reviewed

    Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge

    Journal of Robotics and Mechatronics　20　(3)　394-402　2008/06

  196. Standing-up Motion Support System Based on Human Physical Characteristics of Elderly People Peer-reviewed

    Takuro Hatsukari, Shiho Kuroko, Norihisa Miyake, Jun'ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

    Transactions of The Japan Society of Mechanical Engineers (C)　74　(740)　186-193　2008/04

    DOI： 10.1299/kikaic.74.938 　

  197. A Robot Waltzing with a Human Partner -Dance Partner Robot- [Trends and Controversies: Dnacing Robots] Peer-reviewed

    Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata

    IEEE Intelligent Systems　23　(2)　2008/03

  198. Partner Ballroom Dance Robot -PBDR- Peer-reviewed

    Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata, Mitsuru Endo, Minoru Nomura, Kazuhisa Sakai, Mizuo Koizumi, Tatsuya Oconogi

    SICE Journal of Control, Measurement, and System Integration　1　(1)　74-80　2008/01/31

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/jcmsi.1.74 　

    ISSN： 1882-4889

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    In this research, we have developed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interaction. The robot could estimate the next dance step intended by a human and dance the step with the human. This paper introduce the robot referred to as PBDR (Partner Ballroom Dance Robot), which has performed graceful dancing with the human in EXPO 2005, Aichi, Japan.

  199. Handling of a single object by multiple mobile robots based on caster-like dynamics Peer-reviewed

    Yasuhisa Hirata, Youhei Kume, Zhi-dong Wang, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　2215-+　2008

    DOI： 10.1109/ROBOT.2008.4543540 　

    ISSN： 1050-4729

  200. Variable motion characteristics control of an object by multiple passive mobile robots in cooperation with a human Peer-reviewed

    Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　1346-1351　2008

    DOI： 10.1109/ROBOT.2008.4543390 　

    ISSN： 1050-4729

  201. Development of A Passive Type Dance Partner Robot Peer-reviewed

    Zhao Liu, Yoshinori Koike, Takahiro Takeda, Yasuhisa Hirata, Ken Chen, Kazuhiro Kosuge

    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3　1070-+　2008

    DOI： 10.1109/AIM.2008.4601810 　

    ISSN： 2159-6255

  202. Development of Passive Wearable Walking Support System Based on Brake Control Peer-reviewed

    Yasuhisa Hirata, Tadashi Isoda, Kazuhiro Kosuge

    2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2　362-367　2008

    DOI： 10.1109/ICMA.2008.4798781 　

  203. Motion Control of Wearable Walking Support System with Accelerometer Considering Swing Phase Support Peer-reviewed

    Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge

    2008 17TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2　322-327　2008

    DOI： 10.1109/ROMAN.2008.4600686 　

  204. Fall Prevention Control of Passive Intelligent Walker Based on Human Model Peer-reviewed

    Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　1222-1228　2008

    DOI： 10.1109/IROS.2008.4651173 　

  205. A Car Transportation System by Multiple Mobile Robots - iCART Peer-reviewed

    Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Kei Akune, Hiroyuki Arai, Hiroyuki Shinoduka, Kouki Suzuki

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2795-+　2008

    DOI： 10.1109/IROS.2008.4651200 　

  206. Control of Wearable Walking Helper on Slope Based on Integration of Acceleration and GRF Information Peer-reviewed

    Yasuhisa Hirata, Takuya Iwano, Kazuhiro Kosuge

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　3731-3736　2008

    DOI： 10.1109/IROS.2008.4651189 　

  207. Sit-to-Stand Assist System by Using Handrail and Electric Bed Moving Up and Down Peer-reviewed

    Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, Kazuhiro Kosuge

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2　187-192　2008

    DOI： 10.1109/BIOROB.2008.4762786 　

    ISSN： 2155-1782

  208. A Novel Grasping Mechanism for Flat-shaped Objects Inspired by Lateral Grasp Peer-reviewed

    Kazuhiro Kosuge, Jina Lee, Junya Ichinose, Yasuhisa Hirata

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2　282-288　2008

    DOI： 10.1109/BIOROB.2008.4762905 　

    ISSN： 2155-1782

  209. Motion control of passive intelligent walker using servo brakes Peer-reviewed

    Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON ROBOTICS　23　(5)　981-990　2007/10

    DOI： 10.1109/TRO.2007.906252 　

    ISSN： 1552-3098

    eISSN： 1941-0468

  210. A control approach based on passive behavior to enhance-user interaction Peer-reviewed

    Oscar Ylaya Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON ROBOTICS　23　(5)　899-908　2007/10

    DOI： 10.1109/TRO.2007.907920 　

    ISSN： 1552-3098

    eISSN： 1941-0468

  211. Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics Peer-reviewed

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    Rehabilitation Robotics, Advanced Robotic Systems　187-202　2007/08

  212. Dance step estimation method based on HMM for dance partner robot Peer-reviewed

    Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS　54　(2)　699-706　2007/04

    DOI： 10.1109/TIE.2007.891642 　

    ISSN： 0278-0046

    eISSN： 1557-9948

  213. Human-Robot Cooperation with Physical Interaction for Ballroom Dance Peer-reviewed

    竹田貴博, 林智大, 平田泰久, 小菅一弘

    日本ロボット学会誌　25　(1)　113-120　2007/01

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.25.113 　

    ISSN： 0289-1824

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    A main purpose of our research is realizing an effective human-robot cooperation with physical interaction. In this paper, an architecture for the cooperation is proposed. As an example of the cooperation, ballroom dancing by a human and a robot is focused. And a dance partner robot referred to as "MS DanceR (Mobile Smart Dance Robot) " is developed. MS DanceR realizes a ballroom dance together with a human based on a control architecture referred to as "CAST (Control Architecture based-on Step Transition) ", which is designed according to features of ballroom dances. Experimental results illustate the validity of MS DanceR and its control architecture CAST.

  214. HMM-based error recovery of dance step selection for dance partner robot Peer-reviewed

    Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　1768-+　2007

    DOI： 10.1109/ROBOT.2007.363578 　

    ISSN： 1050-4729

  215. Control passive mobile robots for object transportation - Braking torque analysis and motion control Peer-reviewed

    ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　2874-+　2007

    DOI： 10.1109/ROBOT.2007.363907 　

    ISSN： 1050-4729

  216. Environment feedback for robotic walking support system control Peer-reviewed

    Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　3633-+　2007

    DOI： 10.1109/ROBOT.2007.364035 　

    ISSN： 1050-4729

  217. Structural design for omni-directional mobile base of passive-type mobile robot Peer-reviewed

    Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS　192-+　2007

    DOI： 10.1109/ICMA.2007.4303539 　

  218. Handling of an object in 3-D space by multiple mobile manipulators based on intentional force/moment applied by human Peer-reviewed

    Yasuhisa Hirata, Yasuhiro Matsuda, Kazuhiro Kosuge

    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3　835-840　2007

    DOI： 10.1109/AIM.2007.4412545 　

    ISSN： 2159-6255

  219. Active type robotic mobility aid control based on passive behavior Peer-reviewed

    Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　165-170　2007

    DOI： 10.1109/IROS.2007.4399408 　

  220. Control of passive object handling robot with free joint for reducing human assistive force Peer-reviewed

    Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　1160-+　2007

    DOI： 10.1109/IROS.2007.4399272 　

  221. Dance partner robot cooperative motion generation with adjustable length of dance step stride based on physical interaction Peer-reviewed

    Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　3264-3269　2007

    DOI： 10.1109/IROS.2007.4399270 　

  222. Collision avoidance based on estimated step of other dance couples for male-type dance partner robot Peer-reviewed

    Yasuo Sakai, Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　3270-3275　2007

    DOI： 10.1109/IROS.2007.4399290 　

  223. Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors Peer-reviewed

    Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　4083-4088　2007

    DOI： 10.1109/IROS.2007.4399070 　

  224. Motion generation method for human-robot cooperation to deal with environmental/task constraints Peer-reviewed

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5　646-651　2007

    DOI： 10.1109/ROBIO.2007.4522238 　

  225. Motion control of passive robot porter with variable motion characteristics for handling a single object Peer-reviewed

    Yasuhisa Hirata, Hamin Song, Kazuhiro Kosuge

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5　1041-1046　2007

    DOI： 10.1109/ROBIO.2007.4522307 　

  226. Decentralized cooperative object transportation by multiple mobile robots with a pushing leader Peer-reviewed

    ZhiDong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6　6　453-+　2007

  227. A new control approach for a robotic walking support system in adapting user characteristics Peer-reviewed

    Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge

    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS　36　(6)　725-733　2006/11

    DOI： 10.1109/TSMCC.2006.879396 　

    ISSN： 1094-6977

    eISSN： 1558-2442

  228. Environment-adaptive Motion Control for Passive-type Intelligent Walker Peer-reviewed

    Yasuhisa Hirata, Asami Hara, Asami Muraki, Kazuhiro Kosuge

    Transactions of The Japan Society of Mechanical Engineers (C)　72　(719)　181-188　2006/07

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.72.2185 　

    ISSN： 0387-5024

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    In this paper, we propose a motion control algorithm of a passive-type intelligent walker based on environment information. The passive-type walker we developed consists of a support frame, two casters, and two wheels with servo brakes. This system has a passive dynamics with respect to the force/moment applied to it, because it does not have any actuators for driving it, so that this system is intrinsically safe for using it based on the physical interaction between the system and the human being. In this research, we control the motion of the passive walker by adjusting the brake torque of each wheel based on the environment information, so that a user could avoid the collision with obstacles, prevent missing his/her step, and compensate the gravity of the system as if the user could use it safely on any roads such as the road with steep sloop. The proposed control algorithms are applied to passive-type walker referred to as RT Walker experimentally, and we show that RT Walker can be utilized successfully in environments with stairs, steps, obstacles, and slops.

  229. Real-Time Self-Collision Avoidance using RoBE for Human-Friendly Robot Peer-reviewed

    Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata

    Transactions of the Japan Society of Mechanical Engineers (C)　72　(718)　1826-1831　2006/06

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.72.1826 　

    ISSN： 0387-5024

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    We have proposed a real-time self-collision avoidance control method for the robot which is used for human robot cooperation. In this method, we represent the body of the robot by using elastic elements referred to as "RoBE (Representation of Body by Elastic elements)". In this paper, especially, we consider task constraints and environmental constraints during the self-collision avoidance motion, and propose two priority functions for robots to realize the several kinds of tasks in an environment based on the force/moment applied by a human. By using this control algorithm, we could apply the proposed control algorithm to any robot systems used for human-robot cooperation. The proposed motion control algorithm is implemented in a human friendly robot, referred to as "MR Helper", and experiments are done for illustrating the validity of the proposed self collision avoidance motion.

  230. Development of Intelligent Walker based on Passive Robotics Concept Peer-reviewed

    Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

    Journal of the Robotics Society of Japan　24　(2)　124-130　2006/03

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.24.270 　

    ISSN： 0289-1824

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    In this paper, we propose a concept of Passive Robotics which is one of the approaches for supporting humans physically. Based on the passive robotics, we develop a new intelligent walker referred to as RT Walker for supporting elderly people, blind people, or handicapped people who have difficulties in walking. RT Walker consists of a support frame, wheels, servo brakes, and controllers. RT Walker has a passive dynamics with respect to a force/moment applied to it and a simple structure, because it does not have some servo motors. However, several functions for RT Walker could be realized by controlling the brake torque of each servo brake appropriately based on Robot Technologies (RT) . In this paper, especially, we propose motion control algorithms of RT Walker for changing its apparent dynamics to adapt to difficulties of the user, and for moving based on the information of an environment. The proposed control algorithms are implemented in RT Walker actually, and the experimental results illustrate the validity of RT Walker and its motion control algorithms.

  231. Human-robot interaction based on passive robotics Peer-reviewed

    Yasuhisa Hirata, Zhi-dong Wang, Kazuhiro Kosuge

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　1076-+　2006

  232. Real-time cooperating motion generation for man-machine systems and its application to medical technology Peer-reviewed

    Funti Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    FUTURE MEDICAL ENGINEERING BASED ON BIONANOTECHNOLOGY, PROCEEDINGS　1085-+　2006

    DOI： 10.1142/9781860948800_0117 　

  233. Automatic fine alignment and pointing of movable telescopes using point and template matching Peer-reviewed

    Y. A. Azzam, Z. Wang, Y. Hirata, K. Kosuge, A. A. Elkousy, A. Bahgat, M. AboElela

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS　462-+　2006

  234. Checking movable configuration space in C-Closure Object for object caging and handling Peer-reviewed

    ZhiDong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS　336-+　2006

  235. Step estimation method for dance partner robot "MS DanceR" using neural network Peer-reviewed

    Yasuhisa Hirata, Tomohiro Hayashi, Takahiro Takeda, Kazuhiro Kosuge, Zhi-dong Wang

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS　523-+　2006

  236. Construction of Human-Robot Cooperating System based on Structure/Motion Model Peer-reviewed

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    INTELLIGENT AUTONOMOUS SYSTEMS 9　973-980　2006

  237. Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state Peer-reviewed

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10　3498-+　2006

    DOI： 10.1109/ROBOT.2006.1642236 　

    ISSN： 1050-4729

  238. Design and control of a passive mobile robot system for object transportation Peer-reviewed

    Kenta Fukaya, Yasuhisa Hirata, ZhiDong Wang, Kazuhiro Kosuge

    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　31-+　2006

    DOI： 10.1109/ICMA.2006.257430 　

  239. Standing up and sitting down support using intelligent walker based on estimation of user states Peer-reviewed

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　13-+　2006

    DOI： 10.1109/ICMA.2006.257427 　

  240. Dynamic object closure by multiple mobile robots and random caging formation testing Peer-reviewed

    ZhiDong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　3675-+　2006

    DOI： 10.1109/IROS.2006.281725 　

  241. HMM-based error detection of dance step selection for dance partner robot -MS DanceR- Peer-reviewed

    Takahiro Takeda, Yasuhisa Hirata, ZhiDong Wang, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　5631-+　2006

    DOI： 10.1109/IROS.2006.282285 　

  242. Approach in assisting a Sit-to-Stand movement using robotic walking support system Peer-reviewed

    Oscar Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　4343-+　2006

    DOI： 10.1109/IROS.2006.282007 　

  243. Motion control of intelligent walker based on renew of estimation parameters for user state Peer-reviewed

    Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　1050-+　2006

    DOI： 10.1109/IROS.2006.281809 　

  244. Motion generation for human-robot cooperation considering range of joint movement Peer-reviewed

    Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　270-+　2006

    DOI： 10.1109/IROS.2006.282057 　

  245. Impedance-based motion control of passive-type robot porter for handling an object Peer-reviewed

    ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3　709-+　2006

    DOI： 10.1109/ROBIO.2006.340293 　

  246. Handling of a single object by multiple mobile manipulators in cooperation with human based on virtual 3-D caster dynamics Peer-reviewed

    Y Hirata, Y Kume, ZD Wang, K Kosuge

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING　48　(4)　613-619　2005/12

    DOI： 10.1299/jsmec.48.613 　

    ISSN： 1344-7653

  247. Model-Based Wearable Antigravity Muscles Support System for Leg Peer-reviewed

    Takahiko Nakamura, Kazuhiro Kosuge, Yasuhisa Hirata

    Transactions of The Japan Society of Mechanical Engineers　71　(702)　618-623　2005/02

    DOI： 10.1299/kikaic.71.618 　

  248. Handling a Single Object by Multiple Mobile Manipulators without Using Geometric Relations among Robots Peer-reviewed

    Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi-dong Wang, Kazuhiro Kosuge

    Journal of the Robotics Society of Japan　23　(1)　139-146　2005/01/15

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.23.139 　

    ISSN： 0289-1824

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    In this paper, we propose a decentralized control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the grasping point of each robot is controlled as if it has a virtual 3-D caster dynamics and the handling of a single object by multiple mobile manipulators is realized based on a leader follower type control algorithm without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

  249. Human-adanptive motion control of active and passive type walking support system Peer-reviewed

    Y Hirata, C Oscar, A Hara, K Kosuge

    2005 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS　139-144　2005

  250. A small reaction manipulator for maneuvering a GPR sensing head Peer-reviewed

    H Yabushita, Y Hirata, K Kosuge

    Systems and Human Science - For Safety, Security and Dependability　245-+　2005

    DOI： 10.1016/B978-044451813-2/50020-8 　

  251. Motion control of passive-type walking support system based on environment information Peer-reviewed

    Y Hirata, A Hara, K Kosuge

    2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4　2921-2926　2005

    DOI： 10.1109/ROBOT.2005.1570557 　

    ISSN： 1050-4729

  252. Online approach in adapting user characteristic for robotic walker control Peer-reviewed

    O Chuy, Y Hirata, K Kosuge

    2005 IEEE 9TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS　139-142　2005

    DOI： 10.1109/ICORR.2005.1501070 　

    ISSN： 1945-7898

  253. Motion control of passive-type intelligent walker based on caster-like dynamics Peer-reviewed

    Y Hirata, A Muraki, K Kosuge

    2005 IEEE 9TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS　477-481　2005

    DOI： 10.1109/ICORR.2005.1501146 　

    ISSN： 1945-7898

  254. Passive omnidirectional walker - Design and control Peer-reviewed

    N Nejatbakhsh, Y Hirata, K Kosuge

    2005 12TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS　518-523　2005

    DOI： 10.1109/ICAR.2005.1507458 　

  255. Deformable caging formation control for cooperative object transporation by multiple mobile robots Peer-reviewed

    ZD Wang, Y Hirata, K Kosuge

    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2　1158-1163　2005

    ISSN： 2159-6255

  256. Motion control algorithms for a new intelligent robotic walker in emulating ambulatory device function Peer-reviewed

    Oscar Chuy, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

    2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings　1509-1514　2005

  257. Virtual elastic wall based motion control for teleoperated demining system Peer-reviewed

    Erdene Damdinsuren, Kazuhiro Kosuge, ZhiDong Wang, Yasuhisa Hirata

    2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings　1666-1671　2005

  258. Self-collision avoidance motion control for human robot cooperation system using RoBE Peer-reviewed

    F Seto, K Kosuge, Y Hirata

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　50-55　2005

    DOI： 10.1109/IROS.2005.1544958 　

  259. HMM-based dance step estimation for dance partner robot - MS DanceR Peer-reviewed

    T Takeda, K Kosuge, Y Hirata

    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　1602-1607　2005

    DOI： 10.1109/IROS.2005.1545207 　

  260. 3D ground adaptive synthetic aperture radar for landmine detection Peer-reviewed

    H Yabushita, M Kanehama, Y Hirata, K Kosuge

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4　1861-1866　2005

    DOI： 10.1109/IROS.2005.1545248 　

  261. An algorithm for testing object caging condition by multiple mobile robots Peer-reviewed

    ZD Wang, Y Hirata, K Kosuge

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4　2664-2669　2005

    DOI： 10.1109/IROS.2005.1545378 　

  262. Augmented variable center of rotation in controlling a robotic walker to adapt user characteristics Peer-reviewed

    O Chuy, Y Hirata, K Kosuge

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4　2806-2811　2005

    DOI： 10.1109/IROS.2005.1545401 　

  263. Telescope Automatic Alignment and Point using Pattern Matching Peer-reviewed

    Yosry A. Azzam, Kazuhiro Kosuge, Zhidong Wang, A.A.Alawy, Yasuhisa Hirata

    Proceedings of the 4th International Conference on Advanced Mechatronics　96-102　2004/10

  264. Real-time Self-collision Avoidance System for Robots using RoBE Peer-reviewed

    Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata

    International Journal of Humanoid Robotics　1　(3)　533-550　2004/09

  265. A Pushing Leader based Decentralized Control Method for Cooperative Object Transportation Peer-reviewed

    Zhi-Dong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems　1035　1035-1040　2004/09

  266. Control of Walking Support System Based on Variable Center of Rotation Peer-reviewed

    Oscar Chuy Jr, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems　2289-2294　2004/09

  267. Passive-type Intelligent Walking Support System “RT Walker” Peer-reviewed

    Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems　3871-3876　2004/09

  268. Handling of a Large Objcet by Multiple Mobile Robots in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Transactions of The Japan Society of Mechanical Engineers　70　(691)　151-157　2004/03

    DOI： 10.1299/kikaic.70.759 　

  269. Load-free control of power-assisted cycle

    Kazuhiro Kosuge, Hidenori Yabushita, Yasuhisa Hirata

    2004 1st IEEE Technical Exhibition Based Conference on Robotics and Automation, Proceedings, TExCRA 2004　111-112　2004

  270. Telescope Automatic Alignment and Pointing using Pattern Matching(Vision and Recognition 1,Session: MA1-D)

    Azzam Y. A., Kosuge K., Wang Z., Alawy A. A., Hirata Y.

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM　2004　24-24　2004

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmeicam.2004.4.24_2 　

    ISSN： 1348-8961

  271. From human to pushing leader robot: Leading a decentralized multirobot system for object handling Peer-reviewed

    ZD Wang, Y Hirata, Y Takano, K Kosuge

    IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics　441-446　2004

    DOI： 10.1109/ROBIO.2004.1521819 　

  272. Human-robot interaction Peer-reviewed

    K Kosuge, Y Hirata

    IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS　8-11　2004

    DOI： 10.1109/ROBIO.2004.1521743 　

  273. Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics Peer-reviewed

    Y Hirata, YH Kume, T Sawada, ZD Wang, K Kosuge

    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS　807-812　2004

    ISSN： 1050-4729

  274. Control a rigid caging formation for cooperative object transportation by multiple mobile robots Peer-reviewed

    ZD Wang, Y Hirata, K Kosuge

    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS　1580-1585　2004

    ISSN： 1050-4729

  275. Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination Peer-reviewed

    Y Hirata, T Sawada, ZD Wang, K Kosuge

    PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION　362-367　2004

  276. Load sharing algorithm for transporting an object by two mobile robots in coordination Peer-reviewed

    H Takeda, ZD Wang, Y Hirata, K Kosuge

    PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION　374-378　2004

  277. Handling of an Object by Multiple Mobile Manipulators with Virtual 3-D Caster Dynamics in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Youhei Kume, Zhi-dong Wang, Kazuhiro Kosuge

    Transactions of the Japan Society of Mechanical Engineers　69　(687)　55-61　2003/11

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.69.2895 　

    ISSN： 0387-5024

    More details Close

    In this paper, we propose a decentralized control algorithm of multiple mobile manipulators for handling a single object in cooperation with a human. In this algorithm, a grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics referred to as virtual 3-D caster, and each mobile manipulator could handle the object based on an intentional force/moment applied by a human. In addition, the coordination among multiple mobile manipulators was realized without using the geometric relations among robots. The proposed control algorithm is experimentally applied to two mobile manipulators and experimental results illustrate the validity of the proposed control algorithm.

  278. Real-time Control of Self-collision Avoidance for Robot using RoBE Peer-reviewed

    Fumi Seto, Kazuhiro Kosuge, Rio Suda, Yasuhisa Hirata

    International Conference on Humanoid Robots, Conference Documentation　1-18　2003/10

  279. Transportation of a Single Object by Multiple Distributed Robot Helpers with Caster-like Dynamics (DR Helpers) in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Journal of the Robotics Society of Japan　21　(7)　80-88　2003/10

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.21.776 　

    ISSN： 0289-1824

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    In this paper, we propose a decentralized motion control algorithm of multiple mobile robots referred to as DR Helper for transporting a single object in cooperation with a human. DR Helper consists of an omni-directional mobile base, a six-axis body force sensor, a folk lift, and an onboard controller. Each robot is controlled by its own controller as if it has a caster-like dynamics and transports a single object together with other robots based on an intentional force/moment applied by a human. The adaptive dual caster action is also proposed to improve the maneuverability of the system. Experiments using multiple DR Helpers will illustrate the validity of the proposed control algorithm.

  280. Control of Power Assisted Cycle with Adjustable Apparent Drag Force Peer-reviewed

    Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge

    Transactions of the Japan Society of Mechanical Engineers　69　(680)　195-200　2003/04

    DOI： 10.1299/kikaic.69.1031 　

  281. CC-Closure Object and Object Closure Margin of object caging by using multiple robots Peer-reviewed

    ZD Wang, Y Hirata, K Kosuge

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2　344-349　2003

    ISSN： 2159-6255

  282. Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster Peer-reviewed

    Y Hirata, Y Kume, ZD Wang, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS　19-24　2003

  283. Cooperative object caging by using multiple mobile-manipulators Peer-reviewed

    ZD Wang, Y Hirata, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS　184-189　2003

  284. Small Reaction Manipulator for GPR Sensing Head Maneuver Peer-reviewed

    Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of the SSR First International Symposium on System and Human Science　339-344　2003

  285. Desentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　69　(677)　204-211　2003

    DOI： 10.1299/kikaic.69.204 　

    ISSN： 0387-5024

  286. Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human Peer-reviewed

    Y Hirata, Y Kume, ZD Wang, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　938-943　2003

    ISSN： 1050-4729

  287. A strategy and a fast testing algorithm for object caging by multiple cooperative robots Peer-reviewed

    ZD Wang, Kumar, V, Y Hirata, K Kosuge

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　2275-2280　2003

    ISSN： 1050-4729

  288. Dance partner robot - Ms DanceR Peer-reviewed

    K Kosuge, T Hayashi, Y Hirata, R Tobiyama

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　3459-3464　2003

  289. Control multiple mobile robots for object caging and manipulation Peer-reviewed

    ZD Wang, Y Hirata, K Kosuge

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　1751-1756　2003

  290. Motion control of omni-directional type walking support system "Walking helper" Peer-reviewed

    Y Hirata, T Baba, K Kosuge

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS　85-90　2003

    DOI： 10.1109/ROMAN.2003.1251806 　

  291. Environment-adaptive control algorithm of power assisted cycle Peer-reviewed

    H Yabushita, Y Hirata, K Kosuge, Z Wang

    IECON&apos;03: THE 29TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1 - 3, PROCEEDINGS　1962-1967　2003

    DOI： 10.1109/IECON.2003.1280361 　

    ISSN： 1553-572X

  292. Collision Avoidance System for Multiple Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept Peer-reviewed

    Hiroki Takeda, Kazuhiro Kosuge, Yasuhisa Hirata

    Transactions of the Japan Society of Mechanical Engineers　68　(669)　111-117　2002/05

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/kikaic.68.1453 　

    ISSN： 0387-5024

    More details Close

    The decentralized motion control architecture for multiple robots in coordination is a natural extension of human behaviors to robots. Decentralized motion control system for multiple mobile robots transporting a single object in coordination has been proposed and extended to nonholonomic tracked mobile robots driven by two actuators. Systems have an architecture of a leader-follower type, with which the resultant pose of the object is not uniquely determined. In this paper, we propose a new multiple robots system of the leader-followers type based on the function-allocation concept. To illustrate the concept, we developed a leader-follower robot system, in which the leader is in charge of the handling motion of the object and the followers avoid collisions to obstacles and handle the object in coordination with the leader. Experimental results will illustrate the validity of the proposed method.

  293. Transportation of an Object by Multiple Distributed Robot Helpers in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Takuro Hatsukari, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Transactions of the Japan Society of Mechanical Engineers　68　(668)　181-188　2002/04

    DOI： 10.1299/kikaic.68.1207 　

  294. Control algorithm of dual arms mobile robot for cooperative works with human Peer-reviewed

    K Kosuge, H Kakuya, Y Hirata

    2001 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5　3223-3228　2002

    ISSN： 1062-922X

  295. Motion control of multiple DR Helpers transporting a single object in cooperation with a human based on map information Peer-reviewed

    Y Hirata, T Takagi, K Kosuge, H Asama, H Kaetsu, K Kawabata

    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　995-1000　2002

  296. Collision avoidance algorithm for two tracked mobile robots transporting a single object in coordination based on function allocation concept Peer-reviewed

    H Takeda, Y Hirata, ZD Wang, K Kosuge

    DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5　155-164　2002

  297. Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors Peer-reviewed

    Youhei Kume, Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　68　(673)　2695-2701　2002

    DOI： 10.1299/kikaic.68.2695 　

    ISSN： 0387-5024

  298. Control of robot in singular configurations for human-robot coordination Peer-reviewed

    K Nakai, K Kosuge, Y Hirata

    IEEE ROMAN 2002, PROCEEDINGS　356-361　2002

    DOI： 10.1109/ROMAN.2002.1045648 　

  299. Decentralized control of multiple mobile manipulators handling a single object in coordination Peer-reviewed

    Y Kume, Y Hirata, Z Wang, K Kosuge

    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS　2758-2763　2002

  300. Control algorithm of dual arms mobile robot for cooperative works with human

    Kazuhiro Kosuge, Hiromu Kakuya, Yasuhisa Hirata

    Proceedings of the IEEE International Conference on Systems, Man and Cybernetics　5　3223-3228　2001

    ISSN： 0884-3627

  301. Motion control of distributed robot helpers transporting a single object in cooperation with a human Peer-reviewed

    Y Hirata, K Kosuge, H Asama, H Kaetsu, K Kawabata

    EXPERIMENTAL ROBOTICS VII　271　313-322　2001

    ISSN： 0170-8643

  302. Handling of a Large Object using Multiple Mobile Robots in Coordination Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　67　(656)　1077-1084　2001

    DOI： 10.1299/kikaic.67.1077 　

    ISSN： 0387-5024

  303. Map-based control of distributed robot helpers for transporting an object in cooperation with a human Peer-reviewed

    Y Hirata, T Takagi, K Kosuge, H Asama, H Kaetsu, K Kawabata

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　3010-3015　2001

    DOI： 10.1109/ROBOT.2001.933079 　

    ISSN： 1050-4729

  304. Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors Peer-reviewed

    Y Kume, Y Hirata, K Kosuge, H Asama, H Kaetsu, K Kawabata

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　3004-3009　2001

    DOI： 10.1109/ROBOT.2001.933078 　

    ISSN： 1050-4729

  305. Manipulation of a large object by multiple DR Helpers in cooperation with a human Peer-reviewed

    Y Hirata, T Takagi, K Kosuge, H Asama, H Kaetsu, K Kawabata

    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　126-131　2001

  306. Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Tomohiro Oosumi, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Journal of Robotics and Mechatronics　12　(3)　242-248　2000/06

  307. Distributed Robot Helpers Handling a Single Object in Cooperation with a Human Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge

    Proceedings of 2000 IEEE International Conference on Robotics and Automations　458-463　2000/04

  308. Coordinated motion control of multiple robots without position information of each robot

    Y. Hirata, K. Kosuge

    Proceedings of the IEEE Conference on Decision and Control　1　346-351　2000

    ISSN： 0191-2216

  309. Coordinated transportation of a single object by multiple mobile robots without position information of each robot Peer-reviewed

    Y Hirata, K Kosuge, H Asama, H Kaetsu, KK Kawabata

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS　2024-2029　2000

  310. Coordinated motion control of multiple robots without position information of each robot Peer-reviewed

    Y Hirata, K Kosuge

    PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5　346-351　2000

    ISSN： 0743-1546

  311. Decentralized Control of Mobile Robots in Coordination Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Proceedings of IEEE International Conference on Control Applications　1129-1134　1999/08

  312. Motion control of multiple autonomous mobile robots handling a large object in coordination Peer-reviewed

    K Kosuge, Y Hirata, H Asama, H Kaetsu, K Kawabata

    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS　2666-2673　1999

  313. Handling of a large object by multiple autonomous mobile robots in coordination Peer-reviewed

    Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

    Advanced Robotics　13　(3)　271-272　1998/01/01

    DOI： 10.1163/156855399X00531 　

    ISSN： 1568-5535 0169-1864

  314. Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor Peer-reviewed

    K Kosuge, T Oosumi, Y Hirata, H Asama, H Kaetsu, K Kawabata

    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3　1419-1424　1998

Show all ︎Show first 5

Misc. 128

  1. Secure Support for Promoting Challenging Behavior

    KATO Kenji, HIRATA Yasuhisa

    Journal of The Society of Instrument and Control Engineers　63　(5)　299-304　2024/05/10

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.11499/sicejl.63.299 　

    ISSN： 0453-4662

    eISSN： 1883-8170

  2. Development of an IoT Data Set Creating System for Use in the Nursing Home

    阿部圭汰, 白鳥雅大, SALAZAR Jose, RAVANKAR Ankit A., 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　24th　2023

  3. Development of the Streetlight Inspection Robot Using Drone Body

    渡部澄葵, RAVANKAR Ankit, SALAZAR Jose, 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　24th　2023

  4. System Proposition for Office Robot with Navigation and Health Sensing Functions

    山本花, 花田紘欣, SALAZAR LUCES Jose Victorio, RAVANKAR Ankit A., 本江正茂, 平田泰久, 太田幸一, 西田稔, 前川真紀代

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　24th　2023

  5. 受動的な支援器具の移動を実現する脱着型搬送ロボットの開発

    董宗昊, ラワンカル アンキット, サラザル ホセ, 廖振宇, 寺山隼矢, 瀬戸文美, 平田泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)　41st　2023

  6. 多彩な接触を実現する寄り添い型歩行支援ロボットの運動制御

    寺山隼矢, マンリケス リカード, 董宗昊, ラワンカル アンキット, サラザル ホセ, 平田泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)　41st　2023

  7. Integrating Semantic Awareness and Probabilistic Priors for Object Search in Indoor Environments

    CHIKHALIKAR Akash, RAVANKAR Ankit A., SALAZAR LUCES Jose Victorio, HIRATA Yasuhisa

    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)　2023　2023

    ISSN： 2424-3124

  8. Office Robot Navigation Using a Emotion Map

    山本花, 花田紘欣, 平田泰久, SALAZAR Jose, RAVANKAR Ankit, 本江正茂, 柳井良文, 太田幸一, 西田稔, 前川真紀代

    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)　2023　2023

    ISSN： 2424-3124

  9. Expectations for inclusive society innovated by AI robots

    Kohei Okabe, Yasuhisa Hirata

    23　(8)　69-73　2021/07/12

  10. Cooperation of Ai-Robot Enablers-CARE-

    SALAZAR Jose, RAVANKAR Ankit, TAFRISHI Seyed Amir, SETO Fumi, HIRATA Yasuhisa

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021

  11. Path Planning Method for 3D Printer Using Continuous Fiber

    山本晃平, SALAZAR Jose, 平田泰久

    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　2020

    ISSN： 2424-3124

  12. Development of Golf Putting Training System Using Vibrotactile Cues and Mixed Reality Technology

    武川智輝, SALAZAR Jose, 平田泰久

    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　2020

    ISSN： 2424-3124

  13. Control of a wearable vibrotactile device for team sport coaching-Part 1: Effective vibration patterns for guiding the desired direction and distance to move-

    石田佳奈子, SALAZAR Jose, 平田泰久

    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　2020

    ISSN： 2424-3124

  14. Principle Verification of the Wide-Area Exploration System Using Multiple Winch Units and Passive Mobile Robots

    SALAZAR Jose, 星愛深, 平田泰久

    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　2020

    ISSN： 2424-3124

  15. Control of a Wearable Vibrotactile Device for Team Sport Coaching-Part 2: Estimation of Appropriate Stimulus Timing to Stop Running Users at the Desired Position-

    石田佳奈子, SALAZAR Jose, 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  16. Steering Assist Control for Cycling Wheelchair Considering the Installation of Shopping Cart for Wheelchair

    山口修平, SALAZAR Jose, 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  17. 運動主体感を考慮した足こぎ車椅子の操舵アシスト制御

    山口 修平, サラザル・ホセ, 平田 泰久, 栗田 雄一

    生活生命支援医療福祉工学系学会連合大会講演要旨集　2019　66-66　2019/09

    Publisher: (一社)ライフサポート学会

  18. Preface to Special Issue on The 18th SICE System Integration Division Annual Conference

    WADA Kazuyoshi, HIRATA Yasuhisa, OHARA Kenichi, OKUYAMA Takeshi, HARADA Kensuke, DATE Hisashi, TAKESUE Naoyuki, TAKASHIMA Kazuto

    Transactions of the Society of Instrument and Control Engineers　55　(1)　1-1　2019

    Publisher: The Society of Instrument and Control Engineers

    DOI： 10.9746/sicetr.55.1 　

    ISSN： 0453-4654

  19. Customizable Vibrotactile Feedback using Network of Independent Vibration Devices in ROS

    SALAZAR Jose, HIRATA Yasuhisa

    日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019

  20. Motion Guidance Using Multidirectional Vibrotactile Feedback on Lower Limbs

    LIAO Zhenyu, SALAZAR Jose, HIRATA Yasuhisa

    日本ロボット学会学術講演会予稿集(CD-ROM)　37th　2019

  21. Tempo Training using Vibrotactile Cues Based on Phantom Sensation

    SALAZAR Jose, OKABE Keisuke, HIRATA Yasuhisa

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　ROMBUNNO.1B3‐10　2018/12/13

  22. 複合現実型視覚情報と振動触覚情報の提示による作業支援

    岡部圭佑, SALAZAR Jose, 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018

  23. Conveying Direction using Multiple Simultaneous Phantom Sensation Vibrotactile Cues

    SALAZAR Jose, OKABE Keisuke, HIRATA Yasuhisa

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　ROMBUNNO.3A5‐14　2017/12/20

  24. 3本指劣駆動ハンドuGRIPPの複数指を用いた握力把持の解析

    小林陽成, 山口賢悟, 衣川潤, 荒井翔悟, 平田泰久, 小菅一弘

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　ROMBUNNO.2A3‐08　2017/12/20

  25. 劣駆動ハンドuGRIPPの握力把持力解析

    小林陽成, 山口賢悟, 衣川潤, 荒井翔悟, 平田泰久, 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)　2017　ROMBUNNO.2P1‐C09-C09　2017/05/09

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.2P1-C09 　

    More details Close

    <p>This study analyzed the power grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand equipped with three underactuated fingers. It can grasp objects in power and precision grips utilizing its underactuated mechanism. In the previous study, we proposed an analytical method to derive the relationship between the precision grip force and the actuation force on the basis of the principle of virtual power. The present study propose a method for analysis of the power grip force based on the finger linkage model. Furthermore, we measured the actual power grip force experimentally, and the results prove the validity of the method.</p>

  26. パッシブロボティクス総論

    平田泰久

    バイオメカニズム学会誌　41　(2)　45-52　2017/05/01

    DOI： 10.3951/sobim.41.2_45 　

  27. 劣駆動ロボットハンドuGRIPPの精密把持力解析

    小林陽成, 山口賢悟, 衣川潤, 荒井翔悟, 平田泰久, 小菅一弘

    ロボティクスシンポジア予稿集　22nd　323‐324　2017/03/15

    ISSN： 1881-7300

  28. ファントムセンセーションに基づく振動刺激を利用した手先の経路追従

    岡部圭佑, SALAZAR Jose, 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　2017

  29. 複数の振動刺激を用いた運動方向呈示による手首の運動誘導

    村尾佳紀, SALAZAR Jose, 平田泰久

    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)　2017　2017

    ISSN： 2424-3124

  30. ファントムセンセーションを用いた定点振動刺激による運動誘導

    岡部圭佑, SALAZAR Jose, 平田泰久

    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)　2017　2017

    ISSN： 2424-3124

  31. 2016 IEEE/SICE International Symposium on System Integration (SII2016)

    KONNO Atsushi, HIRATA Yasuhisa

    J. of SICE　56　(5)　381-382　2017

    Publisher: The Society of Instrument and Control Engineers

    ISSN： 0453-4662

  32. Analysis of power grip force for uGRIPP

    KOBAYASHI Akinari, YAMAGUCHI Kengo, KINUGAWA Jun, ARAI Shogo, HIRATA Yasuhisa, KOSUGE Kazuhiro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2P1-C09　2017

    Publisher: 一般社団法人 日本機械学会

    More details Close

    &lt;p&gt;This study analyzed the power grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand equipped with three underactuated fingers. It can grasp objects in power and precision grips utilizing its underactuated mechanism. In the previous study, we proposed an analytical method to derive the relationship between the precision grip force and the actuation force on the basis of the principle of virtual power. The present study propose a method for analysis of the power grip force based on the finger linkage model. Furthermore, we measured the actual power grip force experimentally, and the results prove the validity of the method.&lt;/p&gt;

  33. Conveying motion direction using phantom sensation

    SALAZAR Jose, MURAO Yoshiki, HIRATA Yasuhisa

    日本ロボット学会学術講演会予稿集(CD-ROM)　34th　ROMBUNNO.2B2‐06　2016/09/07

  34. 無段変速機とサーボブレーキを用いた 足こぎ型モビリティによるアクティブスポーツ支援

    平田泰久

    地域ケアリング　18　(5)　106-108　2016/07

  35. 回生ブレーキ制御により高安全・高機能を実現する福祉ロボットの開発

    平田泰久

    地域ケアリング　10　(11)　56-58　2015/10/12

    Publisher: 北隆館

    ISSN： 1345-0123

  36. サーボブレーキを用いたパッシブ型歩行支援システムの制御

    平田泰久

    バイオメカニズム学会誌　39　(3)　143-149　2015/08/01

    Publisher: バイオメカニズム学会

    DOI： 10.3951/sobim.39.143 　

    ISSN： 0285-0885

  37. 1P2-N05 Development of Underactuated Robot Hand for Power and Precision Grasp

    YAMAGUCHI Kengo, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2015　"1P2-N05(1)"-"1P2-N05(2)"　2015/05/17

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this article, we propose a novel robot hand called uGRIPP (Underactuated Gripper for Power and Precision Grasp) which has underactuated fingers. We designed an underactuated linkage which enables the robot hand to achieve an adaptive grasp, a pinch grasp and a manipulation by a palm of the hand. A prototype of the robot hand was developed. We conducted handling experiments to evaluate the validity of the robot hand.

  38. 2A2-J04 Moving Assist Control of Cycling Wheelchair by Continuously Variable Transmission and Servo Brake

    ANDO Shotaro, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2015　"2A2-J04(1)"-"2A2-J04(3)"　2015/05/17

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    We developed a cycling wheelchair with CVT (Continuously Variable Transmission) and servo brake. The cycling wheelchair is a pedal driven system and support the moving of the patients with impairment of their lower extremities. In this study, we propose a control method of the CVT for keeping the angular velocity of the pedaling of the user called cadence and the control method of the servo brake to prevent the excess of the velocity of the cycling wheelchair. We conducted the experiments with and without the proposed control methods and experimental results illustrate the validity of them.

  39. 2A2-J07 Development of Cycling Wheelchair with Servo Brake for Supporting Both Outdoor Moving and Indoor Training

    HIRATA Yasuhisa, SETO Fumi, KOSUGE Kazuhiro

    2015　"2A2-J07(1)"-"2A2-J07(2)"　2015/05/17

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this article, we propose a cycling wheelchair controlled by the servo brake. The cycling wheelchair is a pedal-driven system and support the moving of many patients with impairment of their lower extremities. This wheelchair has a potential as a mobility assistive device to improve the daily activities. However, there are several barriers to use the cycling wheelchair in an outdoor environment. Especially, on downward slopes, patients cannot properly apply the braking torque to the pedal. This inability to slow the wheelchair presents a dangerous situation. On the other hand, the cycling wheelchair is an effective rehabilitation device, so that many patients to use it as an indoor training device. For rehabilitation, the device should have functions to not only apply the load to the patients but also encourage the patients to train. In this study, we propose a new cycling wheelchair for supporting both outdoor moving and indoor training. The cycling wheelchair has servo brake system and interface to connect the personal computer. By controlling the brake system, the velocity control in the outdoor environment is realized. In addition, the braking force can apply the load to the patients for their rehabilitation in the indoor environment, and they can also enjoy the computer game and virtual environment by using the cycling wheelchair as an interface such as key bode and joystick.

  40. 2A1-U04 Passive Mobile Robot using Double-Wheel Caster Units based on the Servo Brake Control : Pose Estimation of Caster Units Arbitrarily Located on Mobile Base(Cooperation between Human and Machine)

    SAIDA Masao, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2014　"2A1-U04(1)"-"2A1-U04(2)"　2014/05/24

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this paper, we propose a method to estimate the geometrical relationships between servo-brakecontrolled caster units arbitrarily located on a moving base. The pose of the caster units is estimated by the extended Kalman filter based on only the velocity information of each caster unit. Since the system controlled by servo brakes is driven by a user-applied force, the user can arbitrarily select the input signals of velocity information. Therefore, we also suggest a simple pattern that enables users to provide sufficiently rich information for relationship estimates. Finally, we validate the proposed method in an experiment using a mobile robot platform with double-wheel caster units.

  41. 1P1-C03 One-Leg-Pedaling Assistive Control for a Cycling Wheelchair(Welfare Robotics and Mechatronics (2))

    KAISUMI Aya, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2014　"1P1-C03(1)"-"1P1-C03(2)"　2014/05/24

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    Wheelchairs have been typical mobilities for lower-limb disabled patients, however, long-term use of them have caused disuse of lower-limb and over use of upper limb. A cycling wheelchair was introduced as a solution to these problems. As relying on healthy part when hemiplegic patients arc riding the cycling wheelchairs is discovered in the investigation, over use of healthy part in daily use of the cycling wheelchair is another problem. Still more, for patients who are not able to bend one leg because of the other side either is stiffened of the knee joint or physically not exists, the cycling wheelchair is hard to ride with one leg. For the second step, crank torque during one-leg-pedaling is discussed and a pedaling assistive control is proposed.

  42. 2P1-B14 Steering Control of Cycling Wheelchair by Using Servo Brakes(Welfare Robotics and Mechatronics(3))

    HIRATA Yasuhisa, KOSUGE Kazuhiro, MONACELLI Eric

    2013　"2P1-B14(1)"-"2P1-B14(2)"　2013/05/22

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this study, we propose a steering control method for a cycling wheelchair. The commercially available cycling wheelchair is a pedal-driven system like a bicycle and the paraplegia and hemiplegia patients can move the wheelchair based on the pedaling force, if they can move their legs slightly by themselves. The user can also change the motion direction of the cycling wheelchair by using the steering handle. However, the right and left turnings are perceived differently while operating the steering handle and the steering operation is required a large torque because of the hardware problems of the cycling wheelchair. To overcome these problems, we propose a new hardware of the cycling wheelchair and its steering motion control method by using servo brakes. The proposed method is applied to the developed new cycling wheelchair and the experimental results illustrate the validity of the system.

  43. 1P1-R10 Motion Control ofWearable Support System using Human Model(Wearable Robotics)

    MINAGAWA Shinta, SUZUKI Shinji, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2013　"1P1-R10(1)"-"1P1-R10(2)"　2013/05/22

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In recent years, many wearable motion support system have been developed in a variety of applications. We have developed the wearable walking support system to support the part of the joint moment of the human body estimated based on the human model on the sagittal plane. However, when we consider the support of any motion in daily life, it is desirable to estimate the joint moment in three-dimensional space. In this paper, to support system the motion in daily life, we extend the human model on the sagittal plane to the one in three-dimensional space, and explain a method for estimating the joint moment in three-dimensional space.

  44. 1A1-K06 Grasp Analysis of Robot Hand with Adhesion System(Robot Hand Mechanism and Grasping Strategy (1))

    YAMAGUCHI Kengo, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2013　"1A1-K06(1)"-"1A1-K06(2)"　2013/05/22

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    This paper analyzes grasp stability for a robot hand which has a vacuum cup at each fingertip. Combination of a grasp mechanism and an adhesion system allows the robot hand to grasp an object robustly. In order to evaluate the robustness of the grasp, we propose a contact model that considers adhesion forces at the contact point. We call this model as "point contact with friction and adhesion". This contact model can be applied to existing analysis methods. We conduct an experiment to ascertain the validity of the proposed model. Resistible external forces are measured, and then theoretical values of the resistible external force are compared.

  45. 2P1-B12 Travel Resistance Compensation Control on Cycling Wheelchair(Welfare Robotics and Mechatronics(3))

    KAISUMI Aya, KAWAMATA Kota, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2013　"2P1-B12(1)"-"2P1-B12(2)"　2013/05/22

    Publisher: The Japan Society of Mechanical Engineers

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    Though the recently introduced cycling-wheelchair have enabled paraplegia and hemiplegia patients to travel smoothly and quickly, it has problem going through some environments such as slopes and level differences. Power-assisting the cycling-wheelchair would be an solution. Practically used power-assist control multiples force of the user by constant. However, multiplying the force by constant is not enough on steep uphill and the user is not able to get off the cycling-wheelchair to push. In this paper we have utilized travel resistance compensation control into a cycling-wheelchair to evaluate its efficacy.

  46. 機械工学年鑑「欧州における研究開発動向」

    平田泰久

    2013

  47. J241042 Load investigation on user of cycling-wheelchair on environmental change

    KAISUMI Aya, KAWAMATA Kota, HIRATA Yasuhisa, KOSUGE Kazuhiro

    Mechanical Engineering Congress, Japan　2012　"J241042-1"-"J241042-4"　2012/09/09

    Publisher: The Japan Society of Mechanical Engineers

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    In this research we aim at bringing cycling-wheelchair into daily use by utilising power-assist to overcome daily barrier such as slope, rough road, bumps and curves For the first step, we have clarified how large it costs on users when they overcome those barriers by measuring users' tread force Although arm-actuated wheelchairs have been used for transportations for people who have disability on their lower limbs, overload on upper limbs and less use of lower limbs have been claimed as a problem Even when people cannot stand and walk safely, people are often able to pedal Cycling-wheelchairs have introduced lately, that it can be used even among people with disabilities on their lower limbs, which brought cycling-wheelchair into rehabilitation

  48. 1P1-D01 A Vehicle Maneuver by Grasping Two Drive Wheels : 7th Report, Guidance of Multiple Robots by Manual Operation(Car Robotics)

    YONEZAWA Naoaki, KOSUGE Kazuhiro, HIRATA Yasuhisa, SUGAHARA Yusuke, KANBAYASHI Takashi, SUZUKI Koki, MURAKAMI Kazunori, NAKAMURA Kenichi

    2012　"1P1-D01(1)"-"1P1-D01(2)"　2012/05/27

    Publisher: The Japan Society of Mechanical Engineers

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    This paper describes manual operation system for the car transportation system using multiple robots. Manual operation utilizes some senses of the human and is able to make its cost of equipment lower than that of full automatic system. But it is difficult that only one person controls multiple robots. To control multiple robots, a motor schema-based formation control is employed by the car transportation system. In particular, one robot is controlled by a joystick and the other robots follow it by using their laser range scanners and the formation control. Through a preliminary experiment using two robots, it is confirmed that a self-operating robot can follow a hand-operated robot.

  49. 1P1-D02 A Car Transportation System Using Multiple Mobile Robots : iCART II : 6th Report : Computation of Positional and Orientational Relationship between Robots(Car Robotics)

    Kashiwazaki Koshi, Kosuge Kazuhiro, Sugahara Yusuke, Hirata Yasuhisa, Kanbayashi Takashi, Suzuki Koki, Murakami Kazunori, Nakamura Kenichi

    2012　"1P1-D02(1)"-"1P1-D02(2)"　2012/05/27

    Publisher: The Japan Society of Mechanical Engineers

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    This paper proposes a computation method of the positional and orientational relationship between the robots employed in iCART II to enable the robots to transport a car whose size is unknown. First, the design of a 'Laser Range Finder (LRF)' and a target plate that are attached to the robot is considered. Secondly, we describe the measurement method with LRF, the detection method of other robots' target plates with a clustering method, and the computation method of the positional and orientational relationship between the robot and the plates by using the least-squares method. Finally, to confirm the effectiveness of the proposed method, we made the four robots lift a car and conducted the measurement experiment.

  50. 2A2-I11 Building and Updating Human Motion Map in the Indoor Dynamic Envirorlment(Lccalization a Mapping(2))

    WADA Tetsuya, OGAWA Yuji, WANG Zhidong, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2012　"2A2-I11(1)"-"2A2-I11(4)"　2012/05/27

    Publisher: The Japan Society of Mechanical Engineers

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    In recent years, researches and developments of robots working in human living space are increasing with development of robot technologies. Environmental information acquisition and human existence detection and estimation are necessary to control the robots moving in this kind human living space. In this study, we propose human motion map based on a concept of representing extracted human behavior in the human living space as a map, by using human existence estimation function and mapping function of SLAM. For building the human motion map, human walking area interpolating algorithm and map update algorithm are proposed. Finally, we implemented human motion map generating system with above-mentioned two algorithms on a mobile robot. The human motion map could be used as information for both motion planning of robots and further estimation of human motion in dynamic environment. Additionally, human motion map can express the behavior of more human motion by performing further accumulation of human walking motion.

  51. 1A1-E03 Development of Handling Device for Small Parts : 3rd report: Design of Handling Device for Gear Assembly(Robots for Works)

    YAMAGUCHI Kengo, KAISUMI Aya, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2011　"1A1-E03(1)"-"1A1-E03(4)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    In this research, we consider the development of device for handling small parts. We developed the robust and agile pickup device (RAPiD) in first report, and proposed designing method for the tip of RAPiD in second report. In this article, we develop a designing method for the tips of the handling device to perform gear assembly. In addition, we design the several types of tips for handling and assembling gears, and conduct experiments of gear assembly.

  52. 1A1-E04 Development of Handling Device for Small Parts : 4th report: Assembly of Small Parts by using Dual Manipulators(Robots for Works)

    KAISUMI Aya, YAMAGUCHI Kengo, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2011　"1A1-E04(1)"-"1A1-E04(2)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    We have proposed a concept for picking up small circular parts such as ball bearings, washers, and gears. In this concept, the handling device called RAPiD (Robust and Agile Pick-up Device) cages an object without letting the object escape from its tips before closing them completely and then robustly grasps the object at a unique position based on the self-alignment concept. In this article, we attach the RAPiDs to dual manipulators and Each RAPiD grasps the gear and gear unit with axes, respectively. And then, they perform the gear assembly tasks at an appropriate position determined by considering the conflict between the manipulator and gear unit with several axes and the range of movement and the singular configuration of dual manipulators.

  53. 2A1-Q15 A Car Transportation System Using Multiple Mobile Robots : iCART II : 3rd Report: Estimation of the Vehicle Weight(Robotics in the automotive)

    Kashiwazaki Koshi, Kosuge Kazuhiro, Sugahara Yusuke, Hirata Yasuhisa, Kanbayashi Takashi, Suzuki Koki, Murakami Kazunori, Nakamura Kenichi

    2011　"2A1-Q15(1)"-"2A1-Q15(3)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    We proposed a car transportation system using multiple mobile robots, iCART II (intelligent Cooperative Autonomous Robot Transporters type II), based on "a-robot-for-a-wheel" concept. In this system, multiple robots, MRWheel (a Mobile Robot for a Wheel), lift up all wheels of a car and transport it in coordination by using interaction forces. However inertial and friction forces applied to modules for lifting up wheels prevent MRWheels from transporting a car. Therefore, this paper proposes an estimation algorithm of the vehicle weight based on adaptive control. If MRWheels can estimate a transported vehicle weight, MRWheels will estimate and compensate the inertial and friction forces. At first we model lifting up a wheel by a MRWheel and derive adaptive control low. And the proposed algorithm is applied to a MRWheel and the experimental results confirm its validity.

  54. 2A1-Q14 A Vehicle Maneuver by Grasping Two Drive Wheels : 3rd Report, Decentralized Cooperation Control based on the Caster-like Motion(Robotics in the automotive)

    YONEZAWA Naoaki, KOSUGE Kazuhiro, HIRATA Yasuhisa, SUGAHARA Yusuke, KANBAYASHI Takashi, SUZUKI Koki, MURAKAMI Kazunori, NAKAMURA Kenichi

    2011　"2A1-Q14(1)"-"2A1-Q14(4)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    A vehicle transportation system by grasping vehicle's drive wheels, which consists of two omni-directional mobile robots, has been proposed. In this article, a novel decentralized cooperation control algorithm for the system maneuvering a vehicle with nonholonomic constraints is proposed, because several conventional decentralized cooperation control theories with force control are developed for maneuvering holonomic objects. First, the system configuration and a mobile robot for a wheel are illustrated. Next, the decentralized cooperation control algorithm based on the impedance control and on the caster-like motion algorithm is described. Finally, the effectiveness of the algorithm is examined through preliminary experiments by using a front-wheel-drive vehicle.

  55. 2A1-C01 Motion Control of Passive Mobile Robot consisting of Double Wheel Casters with Servo Brakes(Cooperation between Human and Machine)

    SAIDA Masao, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2011　"2A1-C01(1)"-"2A1-C01(4)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    We introduced passive mobile robots consisting of various wheels, omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots employ passive dynamics with respect to the force applied by a human. In this article, we derive and analyze a feasible braking force/moment of each robot that can be applied to the robot on the basis of the characteristics of the servo brakes. We reveal the characteristics, advantages and disadvantages to control, of each robot about the feasible braking force/moment. In addition, we introduce a passive type double wheel caster unit, called PWC, on the basis of the analysis. Finally, we handle a long object by two PWC-P1s actually, and realize the path tracking function as example to confirm its validity.

  56. 2A1-C02 Development of Motion Support System Controlled by Using Wires with Servo Brakes in Space(Cooperation between Human and Machine)

    TOZAKI Yuki, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2011　"2A1-C02(1)"-"2A1-C02(4)"　2011/05/26

    Publisher: The Japan Society of Mechanical Engineers

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    To assist human motion in the fields of rehabilitation and sports training and so on, haptic devices have been developed by many researchers. They are a form of a physical human-robot interaction system that can transmit a force to the user. Most of the haptic devices studied so far are driven by servo motors. Although haptic devices with servo motors are useful for realizing several functions, they have serious potential to injure the user when servo motors are not controlled appropriately. On the other hand, in terms of safety, passive robotics concepts have been proposed. We propose a passive motion support system consisting of wire with servo brakes and a control method to guide the human hand.

  57. 巻頭言 「科学技術の相互理解」小特集号発刊に際して

    平田泰久

    日本機械学会誌　114　(1107)　85-85　2011/02

    Publisher: 日本機械学会

    ISSN： 0021-4728

  58. 協調型歩行支援システムの開発

    平田 泰久, 小菅 一弘

    ナノ医工学年報　5　(1)　181-190　2011

    Publisher: 東北大学グローバルCOEプログラム「新世紀世界の成長焦点に築くナノ医工学拠点」

    ISSN： 1882-4692

  59. 2A1-D05 Analysis of Control Characteristics for Motion Support System Using Wires with Servo Brakes

    Suzuki K., Hirata Y., Kosuge K.

    2010　"2A1-D05(1)"-"2A1-D05(4)"　2010

    Publisher: The Japan Society of Mechanical Engineers

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    For supporting human motions, we proposed a motion support system consisting of multiple brake units with wires, and designed a path following function which let human's hands follow to a path by displaying a force. However, the system sometimes cannot generate enough forces to let human's hands follow to the path, because the servo brakes cannot generate driving forces and the system does not have enough brake units to generate desired forces. In this paper, we consider a feasible braking force of the system with multiple brake units theoretically and discuss the numbers of brake units for generating the desired force. We also develop a system based on the proposed theory and conduct the path following experiments. The experimental results illustrate the validity of the proposed theory and system.

  60. 1A2-D05 Levitation Stabilization Control of Aero-Train : 1st Report: Development of Experimental Ground Effect Vehicle and Stabilization along Z Axis and about Roll and Pitch Axes

    SUGAHARA Yusuke, IKEUCHI Yusuke, SUZUKI Ryo, HIRATA Yasuhisa, KOSUGE Kazuhiro, NOGUCHI Yukio, KIKUCHI Satoshi, KOHAMA Yasuaki P.

    2010　"1A2-D05(1)"-"1A2-D05(4)"　2010

    Publisher: The Japan Society of Mechanical Engineers

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    The final goal of this study is the development of the levitation stabilization control method of "Aero-Train" which is a high-speed high-efficiency train system levitated by wing-in-ground effect on the U-shaped guide way. Toward this goal, development of a small experimental prototype and stabilization control method along Z axis and about roll and pitch axes are described in this paper. The effectiveness of developed control method is confirmed through experimental results.

  61. ワイヤ型パッシブハプティックデバイスの開発

    平田 泰久, 小菅 一弘

    ナノ医工学年報　4　(1)　171-179　2010

    Publisher: 東北大学グローバルCOEプログラム「新世紀世界の成長焦点に築くナノ医工学拠点」

    ISSN： 1882-4692

  62. 1A1-B08 Path Planning Algorithm for Dynamic Caging with Multiple Mobile Robots

    Matsumoto Hidenori, Wang Zhidong, Hirata Yasuhisa, Kosuge Kazuhiro

    2009　"1A1-B08(1)"-"1A1-B08(4)"　2009/05/25

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A path planning algorithm by using Random Caging Formation Testing algorithm (RCFT) is proposed for realizing Dynamic Object Closure. Some simulation results are presented for illustrating the validity of the proposed algorithm.

  63. 1A2-C17 A Coordinated System of Multiple Robots for Transportation of a Car: iCART: 3rd Report : Coordinated Motion Control Algorithm for a Stable Transportation of a Car

    Endo Mitsuru, Hirose Kenji, Hirata Yasuhisa, Kosuge Kazuhiro, Suzuki Koki, Shinoduka Hiroyuki, Murakami Kazunori, Nakamura Kenichi, Nakanishi Masaki, Kanbayashi Takashi

    2009　"1A2-C17(1)"-"1A2-C17(4)"　2009/05/25

    Publisher: The Japan Society of Mechanical Engineers

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    This study proposed the car trasnportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). This system composes of two omni-directional robots, which have end-effecter for supporting the car, so that the system transports and handles cars at the narrow space such as parking into the mechanical parking system. This system also realizes various functions such as parking, valet parking, twoing, and the transportation of cars to a factory, ferry, parking areas, etc. The motion control algorithm, which controls two robots in coordination, was proposed. This algorithm is the leader-follower type distributed motion control algorithm, and realized the coordinated transportation of the car. However, the system occasionally undergoes oscillations; as a result, the trajectory estimation by the follower is affected, and coordinated transportation becomes difficult because of the noise and vibration signals recieved from the force sensor. Normally, these signals are very small and they can be neglected. However, the sensor noise is amplified in this algorithm because the distance between the control center and the sensor is large; the control center is defined as the representative point of the car and the force sensors are attached to the robots. It is necessary to transform the force information from the position of the force sensor to the control center. This transformation amplifies the noise recieved form the force sensor. In this paper, a leader-follower-type motion control algorithm that reduces the amplification of the noise and vibrating singnals is described. In particular, the control center of a robot is defined as its representative point. The distance between the control center and the foce sensor is small in this algorithm. Therefore, the amplification of the noise received from the force sensor is reduced.

  64. 1A2-C18 A Coordinated System of Multiple Robots for Transportation of a Car: iCART : 4th Report: Integrated Control System

    Hirose Kenji, Endo Mitsuru, Hirata Yasuhisa, Kosuge Kazuhiro, Suzuki Koki, Shinoduka Hiroyuki, Murakami Kazunori, Nakamura Kenichi, Nakanishi Masaki, Kanbayashi Takashi

    2009　"1A2-C18(1)"-"1A2-C18(4)"　2009/05/25

    Publisher: The Japan Society of Mechanical Engineers

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    For transporting a car at narrow place, we propose a car transportation system termed as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. To realize the transportation of the car, the system needs to handle many things such as the control of robots, the trajectory generation, the environmental recognition and so on. In this paper, these tasks are aranged to five modules and a control architecture and an integrated control system, which control each module in coordination based on a model described using the petri net, are proposed. Proposed systems are integrated to iCART and experimental results illustrate the validity of the proposed method.

  65. 1P1-D10 Path Following Control of Multiple Passive Object Handling Robots Based on Feasible Region of Control Inputs

    Ojima Y., Hirata Y., Kosuge K.

    2009　"1P1-D10(1)"-"1P1-D10(4)"　2009/05/25

    Publisher: The Japan Society of Mechanical Engineers

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    In our previous works, we proposed a motion control algorithm of multiple passive mobile robots for handling a large object in cooperation with a human. In this algorithm, especially, a virtual force is applied to the object supported by multiple passive robots for realizing a path following function or collision avoidance function. However, we did not consider the feasible region of brake control, which is determined based on the servo brake condition of the passive mobile robot, for generating the virtual force. Therefore, when the virtual force is out of the feasible region of the brake control, the performances of the path following function and collision avoidance function are decreased. In this paper, we propose a distributed motion control algorithm of the multiple passive mobile robots by considering the feasible region of brake control of each robot, and the proposed algorithm applied to two PRPs experimentally for illustrating its validity.

  66. 1P1-J14 Assist Control for Daily Performance with Wearable Lower Extremity Support System

    Iwano T., Hirata Y., Kosuge K.

    2009　"1P1-J14(1)"-"1P1-J14(4)"　2009/05/25

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we introduce a wearable assistive robot "Wearable Lower Extremity Assist System" that was developed for the purpose of assisting people to conduct various kinds of daily activities. To control this system, we don't use biological signals such as EMG signals because it is difficult to measure them exactly. Instead, we control this system with a model based control algorithm. In the algorithm, assistive torque for the user's knee or hip joint is calcurated based on a human body model. In this paper, we intend to support the user's daily activities such as walking, standing up and sitting down motions, going up or down stairs and so on. We first describe the Wearable Lower Extremity Assist System that was developed for supporting the user's motions of the knee and the hip joints. In addition, we validate the effectiveness of the system by conducting experiments with several subjects.

  67. 人間の状態推定に基づく歩行支援機の制御

    平田 泰久, 小菅 一弘

    ナノ医工学年報　3　(1)　169-178　2009

    Publisher: 東北大学グローバルCOEプログラム「新世紀世界の成長焦点に築くナノ医工学拠点」

    ISSN： 1882-4692

  68. 1A2-D18 Coordinated Motion Control of Passive Dance Partner Robot with Servo Brakes

    Koike Y., Hirata Y., Kosuge K.

    "1A2-D18(1)"-"1A2-D18(2)"　2009

    Publisher: The Japan Society of Mechanical Engineers

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    In this research, we develop a Passive Dance partner Robot (PDR) for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. In this paper, we propose a motion control algorithm of the PDR for realizing the ballroom dance with a male dancer based on the estimation of the next dance step intended by him.

  69. パッシブロボティクスに基づく人間支援ロボット

    平田泰久

    ロボコンマガジン　(58)　108-111　2008/06/13

    Publisher: オーム社

  70. 1A1-G10 A Coordinated System of Multiple Robots for Transportation of a Car -iCART- : 1st Report: Multiple Robot Systems Specialized for Transportation of a Car

    Endo Mitsuru, Hirose Kenji, Hirata Yasuhisa, Kosuge Kazuhiro, Kanbayashi Takashi, Oomoto Mitsukazu, Akune Kei, Arai Hiroyuki, Shinoduka Hiroyuki, Suzuki Koki

    2008　"1A1-G10(1)"-"1A1-G10(2)"　2008/06/06

    Publisher: The Japan Society of Mechanical Engineers

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    We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems specialized for the car transportation. Robot systems are controlled by using a decentralized control algorithm for transporting the car in coordination. This car trasnportation system can transport any size of car, and is available for any kind of car transportations: parking, ballet parking, tow away service, and the transportation of cars at a factory, ferry, parking area, etc. The robot system of the car transportation system is composed with three modules: Mobile Base module, Lifter module and Connecting module. This paper describes details of mechanism of each module to transport the car. Experimental results illustrate the validity of the car transportation system.

  71. 1A1-G11 A Coordinated System of Multiple Robots for Transportation of a Car -iCART- : 2nd Report: Trajectory Generation for Approaching a Car

    Hirose Kenji, Endo Mitsuru, Hirata Yasuhisa, Kosuge Kazuhiro, Kanbayashi Takashi, Oomoto Mitsukazu, Akune Kei, Arai Hiroyuki, Shinoduka Hiroyuki, Suzuki Koki

    2008　"1A1-G11(1)"-"1A1-G11(2)"　2008/06/06

    Publisher: The Japan Society of Mechanical Engineers

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    We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems. These two robots lift up a car from left side and right side respectively to transport it in coordination with an endeffector specilized for the transportaion of the car. To lift up the car, these two robots approach the side of the car, one is left side and another is right side. When robots approach the car, they need moving along a path generated from a current position to a desired position without collisions with each other or obstacles. In this paper, we explain the way of the trajectory generation for approaching the car. Experimental results also illustrate the validity of the way of trajectory generation we proposed in this system.

  72. 2P1-E22 Motion Control of Passive Intelligent Walker Based on Human Model

    Komatsuda Shinji, Hirata Yasuhisa, Kosuge Kazuhiro

    2008　"2P1-E22(1)"-"2P1-E22(4)"　2008/06/06

    Publisher: The Japan Society of Mechanical Engineers

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    As aging progresses, the fall accident of the user of the walker is an acute problem. It is necessary to know the situation of the user's fall to prevent it. In this paper, we propose a method for estimating the user's fall by modeling the user in real time as a solid body and paying attention to the center of gravity of the model. We also propose a method for controlling a passive intelligent walker to prevent the user's fall according to the support polygon and the walking characteristic of the user. The proposed control method is applied to the passive intelligent walker called RT Walker experimentally and experimental results illustrate the validity of it.

  73. 2P1-E23 User Adapted Support for Sit-to-Stand Movement by Using Handrail and Electric Bed Moving up and Down

    Higuchi Jun'ichi, Hirata Yasuhisa, Hatsukari Takuro, Kosuge Kazuhiro

    2008　"2P1-E23(1)"-"2P1-E23(4)"　2008/06/06

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we propose a user adapted support system for a sit-to-stand movement from a bed. The support system consists of a handrail and an electric bed which moves up and down. To develop it, evaluation indexes of a sit-to-stand movement based on a human model are introduced. By using these indexes, conditions of stabilizing the user's posture and constraining burdens of the user's muscles are set. A method of setting the handrail position, the final position of the bed and the foot position based on the conditions is proposed. Finally, experimental results for illustrating the validity of the method are explained.

  74. Cheek to chip: Dancing robots and al's future

    Jean-Julien Aucouturier, Katsushi Ikeuchi, Takaaki Shiratori, Shunsuke Kudoh, Hirohisa Hirukawa, Shinichiro Nakaoka, Fumio Kanehiro, Tetsuya Ogata, Hideki Kozima, Hiroshi G. Okuno, Marek P. Michalowski, Yuta Ogai, Takashi Ikegami, Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata

    IEEE INTELLIGENT SYSTEMS　23　(2)　74-84　2008/03

    DOI： 10.1109/MIS.2008.22 　

    ISSN： 1541-1672

    eISSN： 1941-1294

  75. Dancing with a Robot : The Human Leads

    Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata

    IEEE Intelligent Systems　23　(2)　82-84　2008/03

    Publisher: IEEE Computer Society

    DOI： 10.1109/MIS.2008.22 　

  76. 人間モデルに基づく歩行支援機使用者の状態推定 (第28回バイオメカニズム学術講演会 SOBIM2007 予稿集)

    小松田 慎二, 平田 泰久, 小菅 一弘

    バイオメカニズム学術講演会予稿集　28　237-240　2007/11/10

    Publisher: バイオメカニズム学会

  77. 安定した立ち上がり動作支援のための使用者に適した手すり位置の検討 (第28回バイオメカニズム学術講演会 SOBIM2007 予稿集)

    樋口 淳一, 平田 泰久, 小菅 一弘

    バイオメカニズム学術講演会予稿集　28　241-244　2007/11/10

    Publisher: バイオメカニズム学会

  78. MF111 Standing-up Motion Support System by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics

    HATSUKARI Takuro, MIYAKE Norihisa, HIGUCHI Jun'ichi, HIRATA Yasuhisa, KOSUGE Kazuhiro

    The JSME Symposium on Welfare Engineering　2007　37-40　2007/09/30

    Publisher: The Japan Society of Mechanical Engineers

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    In this article, we propose a standing-up motion support system with elbow support face for elderly people and physically-handicapped persons, which enables the comfortable and stable human posture change based on physical and motion characteristic. Effectiveness of the standing-up motion support system is evaluated by using Organoleptic Evaluation, EMG and PHM. We demonstrate the effectiveness of the system by using these evaluating measure.

  79. 1A1-D05 Handling of an Object by Multiple Mobile Manipulators in Coordination without Using Force/Torque Sensors

    KUME Yohei, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2007　"1A1-D05(1)"-"1A1-D05(2)"　2007/05/11

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we propose a decentralized control system of multiple mobile manipulators handling a single object in coordination without using force/torque sensors. In this system, the grasping point of each robot is controlled as if it has an impedance dynamics without using a force/torque sensor, by using the identified parameters of each robot. These robots handle a single object in coordination using a leader-follower type control algorithm. We also consider the effect of parameter identification errors and propose a method to reduce the effect of them. The proposed control system is experimentally applied to two mobile manipulators, and the experimental results illustrate the validity of the proposed control system.

  80. 2P1-I03 Control Passive Mobile Robots for Handling an Object

    WANG ZhiDong, FUKAYA Kenta, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2007　"2P1-I03(1)"-"2P1-I03(4)"　2007/05/11

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we propose a concept on realizing impedance-based motion control of a passive type robot for transporting a single object in coordination with a human operator. In this research, we control the brake torque of each wheel based on the brake force/moment constraint so that impedance characteristics is realized on RT Porter with human's pushing. This allows RT Porter to track a 2D path, which includes motion perpendicular to human's pushing direction without using servo motors and multi RT Porters to work cooperatively on handling a single object.

  81. 2P1-I04 Motion Control of Passive-type Mobile Robot for Transporting an Object Considering Reduction of Human Handling Force

    SONG Hamin, HIRATA Yasuhisa, WANG Zhidong, KOSUGE Kazuhiro

    2007　"2P1-I04(1)"-"2P1-I04(4)"　2007/05/11

    Publisher: The Japan Society of Mechanical Engineers

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    In this paper, we introduce a passive type mobile robot referred to as "PRP" to realize a transportation of an object in cooperation with a human based on a concept of passive robotics. PRP consists of support frame, three onmi-directional wheels with servo brakes (MR Brakes) and a controller. It can manipulate an object by controlling the external force/moment applied by human based on the control of the servo brakes. In this case, when the required external force/moment becomes large, tue transportation can be out of control. To overcome this problem, we propose a system in which the PRP grabs an object by using a Free .Joint so that compared to the previous version of PRP, t;he human operator can transport the object without considering the orientation of the robot, and the required intentional force for transporting the object could be reduced, Addlitionally, in this paper, we propose motion control algorithm for this system and we illustrate the decrease of handling force which is needed for transportation by using this algorithm.

  82. パッシブロボティクスとその応用に基づく知的歩行支援機の開発

    平田泰久, 小菅一弘

    精密工学会誌　73　(3)　301-304　2007/03/05

    DOI： 10.2493/jjspe.73.301 　

  83. 2E1-01 Standing-up Motion Support System to Adapt to Human Physical and Motion Characteristics

    HATSUKARI Takuro, KUROKO Shiho, MIYAKE Norihisa, HIGUCHI Jun'ichi, HIRATA Yasuhisa, KOSUGE Kazuhiro

    The JSME Symposium on Welfare Engineering　2006　166-167　2006/09/10

    Publisher: The Japan Society of Mechanical Engineers

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    In this article, we propose a standing-up motion support system for elderly people and physically-handicapped persons, which enables the comfortable and stable human posture change based on physical and motion characteristic. Effectiveness of the standing-up motion support system is evaluated by using joint torques. We demonstrate the effectiveness of the system by using these evaluating measure.

  84. Dance Partner Robot "PBDR"

    HIRATA Yasuhisa

    Journal of the Japan Society of Mechanical Engineers　109　(1051)　446-447　2006/06/05

    Publisher: The Japan Society of Mechanical Engineers

    ISSN： 0021-4728

  85. メカライフ ダンスパートナロボット"PBDR"

    平田泰久

    日本機械学会誌　109　(1051)　18-19　2006/06

  86. ロボット研究最前線 -生活支援を目指したロボットパートナの開発-

    平田泰久

    特殊鋼　55　(3)　15-18　2006/05

    Publisher: 特殊鋼倶楽部

    ISSN： 0495-7644

  87. ダンスパートナロボット「PBDR」

    平田泰久, 小菅一弘

    日本ロボット学会誌　24　(2)　49-49　2006/03

  88. ダンスパートナロボット「PBDR」

    平田泰久, 小菅一弘

    日本ロボット学会誌　24　(2)　49-49　2006/02

  89. 2P1-D04 Object Handling System for Expanding Work Space by Multiple Mobile Manipulators in Cooperation with Human

    Matsuda Y., Hirata Y., Kosuge K.

    2006　"2P1-D04(1)"-"2P1-D04(2)"　2006

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this paper, we propose a motion control algorithm for handling a single object by multiple mobile manipulators in coordination with a human. In this algorithm, the representative point of each robot is controlled as if it was a caster-like dynamics in 3D space so that robots could manipulate an object without using the information of the object size and the geometric relation between robots. In addition, singular points of the manipulator are decreased in this control algorithm so that we could handle the object extensively in 3D space.

  90. 2P1-D08 Dance Partner Robot -MS DanceR- : Error Detection of Dance Step Selection using Hidden Markov Models

    Takeda Takahiro, Hirata Yasuhisa, Wang ZhiDong, Kosuge Kazuhiro

    2006　"2P1-D08(1)"-"2P1-D08(4)"　2006

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    We have proposed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interactions. In the previous research, an estimation system for dance steps has been improved, which estimates the next dance step intended by a human. Although estimating the intended step is important for realizing the human-robot coordination, the cases that the estimation is failed and that the robot selects an incorrect step are not considered. Such cases have to be discussed carefully for realizing the effective human-robot coordination. This paper focuses on error detections of dance step selections. Experimental results illustrate the validity of a error detection method.

  91. 2P1-D09 Motion Control of Passive Type Mobile Robot for Transporting a Single Object in Cooperation with Human

    Fukaya K., Wang Z., Hirata Y., Kosuge K.

    2006　"2P1-D09(1)"-"2P1-D09(4)"　2006

    Publisher: The Japan Society of Mechanical Engineers

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    The goal of this research is to develop transportation system in cooperation with human by using passive-type mobile robot based on Passive Robotics. The concept of Passive Robotics is not only to achieve sophisticated functions using various RT (Robot Technology) but also to be very useful in cooperation with human and have safety in society. In this paper, we develop a prototype passive-type transportation mobile robot referred to as "PRP" and describe its special control characteristics. In addition, we propose a basic motion control algorithm for passive-type mobile robot by weighing the differences between active type mobile robot characteristics and passive ones. The proposed algorithm is experimentally applied to PRP and illustrated by the experimental results.

  92. 1P1-A07 Renew of Estimation Parameters of User State using Walker based on Changes of Physical and Environmental characteristics

    HIRATA Yasuhisa, MURAKI Asami, KOSUGE Kazuhiro

    2006　"1P1-A07(1)"-"1P1-A07(3)"　2006

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this article, we pay attention to method for estimating the human state during the use of intelligent walker and renew of estimation parameters of user state using walker based on changes of physical and environmental characteristics. The proposed control algorithm is experimentally applied to inteligent passive-type walker referred to as RT Walker, and the validity of the proposed control algorithm is illustrated by the experimental results.

  93. 1A1-B17 Dynamic Object Closure by Multiple Mobile Robots

    WANG ZhiDong, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2006　"1A1-B17(1)"-"1A1-B17(4)"　2006

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this paper, we discuss the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. A Random Caging Formation Testing algorithm (RCFT) is proposed for checking Dynamic Object Closure condition. Some simulation results are presented for illustrating the validity of the proposed algorithm.

  94. 2A1-C02 Mine Detection System Based on Ground Hook Manipulation of Sensor Head

    Kanehama M., Hirata Y., Wang Z., Kosuge K.

    2006　"2A1-C02(1)"-"2A1-C02(2)"　2006

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    In this article, we propose a Ground Hook Manipulation method by which the mine detection robot is able to measure the mine field clearly even in the shaking state. If the strong wind blows, it is likely that the mine detection robot developed in our JST project shakes because of flexible structure. When the mine detection robot is shaking, accuracy of robot's hand/GPR sensor head position decreases and GPR could not detect the buried object precisely. To overcome this problem, Ground Hook method, which compensates the shaking motion of the system using stereo camera system, is proposed, and the experiments are done for illustrating the validity of the proposed method.

  95. 2P1-D10 Real-time Control of Self-collision Avoidance for Mobile Manipulator using RoBE : Expansion of Cooperating Motion to deal with Environmental/Task Constraints

    Seto Fumi, Hirata Yasuhisa, Kosuge Kazuhiro

    2006　"2P1-D10(1)"-"2P1-D10(4)"　2006

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    We have proposed a real-time self-collision avoidance motion generation method for the manipulator of the robot which is used for human-robot cooperation. In this method, we represent the robots&#039; body by using elastic elements referred to as &quot;RoBE (Representation of Body by Elastic elements)&quot;. The self-collision avoidance motion could be realized based on a reaction force generated by the contacts between the elastic elements before the actual self-collision of the robot. In this paper, we expand this method to control not only robots&#039; manipulator, but also its mobile base. Furthermore, we focus on the range of joint movement of the robot, and propose the self-collision avoidance motion generation method considering it. Because of these expansion and consideration, the self-collision motions which could deal with task/environmental constraints could be generated on the mobile manipulator cooperating with a human. The proposed motion generation method is implemented in the planar 4-DOF mobile manipulator, and computer simulations are done for illustrating the validity of the proposed method.

  96. 2005 IEEE International Conference on Robotics and Automation (ICRA 2005)

    HIRATA Yasuhisa

    44　(11)　812-812　2005/11/10

    ISSN： 0453-4662

  97. 18・2 人間機械協調(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)

    平田 泰久, 小菅 一弘

    日本機械学會誌　108　(1041)　663-663　2005/08/05

    Publisher: 一般社団法人日本機械学会

    ISSN： 0021-4728

  98. &quot;Mechanical engineering yearly book&quot;. 18. Robotics and mechatronics.

    大築康生, 平田泰久, 小菅一弘, 松野文俊, 鎮西清行, 本間敬子, 新井健生, 横井浩史, 千葉龍介, 原田研介, 安藤吉伸

    日本機械学会誌　108　(1041)　663-666　2005/08/05

    ISSN： 0021-4728

  99. 機械工学年鑑

    平田泰久, 小菅一弘

    日本機械学会誌　108　(1041)　67-67　2005/08

    Publisher: 日本機械学会

    ISSN： 0021-4728

  100. 2A1-N-057 Motion Control Methods of Dance Partner Robot for Leading a Human Based on Music and Environment Information(Cooperation between Human and Machine 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Oishi Yasuhiro, Kosuge Kazuhiro, Hirata Yasuhisa

    2005　146-146　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  101. 1P1-N-025 Ground Adaptive Manipulation of Sensor Head for Mine Detection System(Mobile Manipulation Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Kanehama Mitsuhiko, Yabusita Hidenori, Hirata Yasuhisa, Kosuge Kazuhiro

    2005　52-52　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  102. 1P1-N-057 Dance Partner Robot -MS DanceR- : Dance Step Estimation by using Hidden Markov Models and Experiments for Multiple Users(Cooperation between Human and Machine 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Takeda Takahiro, Kosuge Kazuhiro, Hirata Yasuhisa

    2005　59-59　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  103. 1P1-N-125 Motion control of Passive-type Walker based on Caster-like Dynamics for improving its maneuverability(Medical and Welfare Robotics and Mechatronics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Muraki Asami, Hirata Yasuhisa, Kosuge Kazuhiro

    2005　73-73　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  104. 1P2-S-030 Designing An Algorithm for Testing Object Caging Condition by Multiple Mobile Robots(Cooperation Control of Multi Robot,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Wang ZhiDong, Hirata Yasuhisa, Kosuge Kazuhiro

    2005　124-124　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  105. 1A1-N-084 3D Ground Adaptive Synthetic Aperture Radar(Three Dimension Measurement/Sensor Fusion 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Yabushita Hidenori, Kanehama Mitsuhiko, Hirata Yasuhisa, Kosuge Kazuhiro

    2005　24-24　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  106. 1P1-N-059 Real-time Self-collision Avoidance for Mobile Manipulator using RoBE : Implementation of the General Self-collision Avoidance Motion to Real Robot(Cooperation between Human and Machine 1,Mega-Integration in Robotics and Mechatronics to Assist Ou

    SETO Fumi, KOSUGE Kazuhiro, HIRATA Yasuhisa

    2005　59-59　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  107. (13)仮想3-Dキャスタ特性を有した複数の移動マニピュレータと人間との協調による物体のハンドリング(論文,日本機械学会賞〔2004年度(平成16年度)審査経過報告〕)

    平田 泰久, 久米 洋平, 王 志東, 小菅 一弘

    日本機械学會誌　108　(1038)　349-350　2005/05/05

    Publisher: 一般社団法人日本機械学会

    ISSN： 0021-4728

  108. 2A1-N-033 Linear Actuator Unit for Human Assist Systems(SMRJ Project-Development of Robot Components,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Miyake Norihisa, Kosuge Kazuhiro, Hirata Yasuhisa, Tsuya Kazuo, Yamada Akio, Kaetsu Hayato, Kawabata Kuniaki, Matsuhira Nobuto, Hashimoto Hideaki, Hatsukari Takuro, Asama Hajime

    Robomech　2005　(0)　141-141　2005

    Publisher: The Japan Society of Mechanical Engineers

  109. Formation Control for Object Transportation by Multiple Robot Caging

    Wang Z, Hirata Y, Kosuge K

    2004　154-154　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  110. Cooperative Control Algorithm for Object Transportation by Multiple Robot System with a Pushing Leader

    Wang Z, Takano Y, Hirata Y, Kosuge K

    2004　154-154　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  111. Development of a Holonomic Walker based on Passive Robotics

    Nejatbakhsh N, Hara A, Hirata Y, Kosuge K

    2004　43-43　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  112. Dance Partner Robot System-MS DanceR- : 3rd Report: an Estimatoin of Dance Step by using Neural Network

    Hirata Y, Hayashi T, Takeda T, Kosuge K

    2004　183-183　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  113. Life Assistant Robot-MARY- : 4th Report: Task Execution with Telenavigation

    Aizawa S, Hirata y, Kosuge K

    2004　207-207　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  114. Real-tiem Control of Self-collision Avoidance for Mobile Manipulator using RoBE : Self-collision Avoidance considering Interaction with Human

    Seto F, Kosuge K, Hirata Y

    2004　137-137　2004/06/18

    Publisher: The Japan Society of Mechanical Engineers

  115. Environment-adaptive Motion Control for Passive type Intelligent Walking Support System "RT Walker"

    Hara A, Hirata Y, Kosuge K

    42-43　2004

    Publisher: The Japan Society of Mechanical Engineers

  116. Transportation of Object by Mobile Robots with Caging

    WAKITA Junichi, WANG Zhi Dong, HIRATA Yasuhisa, KOSUGE Kazuhiro

    2003　(38)　66-67　2003/03/15

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    This paper addresses the problem of multi-robots caging and transporte single object by using the concept of Object Closure. The formation based control strategy and system design for cooperative object caging by multiple mobile robots are described. The proposed system is implemented in a robot system including three mobile-manipulators.

  117. Control of Power Assisted Cycle Based Rider's Conditions

    Yabushita H., Hirata Y., Kosuge K.

    2003　129-129　2003

    Publisher: The Japan Society of Mechanical Engineers

  118. Control of Cooperative Object Caging by Multiple Mobile-Manipulators

    Wang Z., Wakita J., Hirata Y., Kosuge K.

    2003　121-121　2003

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    This paper addresses the problem of multi-robots object cagingand transportation by using the concept of Object Closure. The concept CC-Closure Object which is used for efficient testing of Object Closure and the control strategy of cooperative objectcaging by multiple mobile-manipulators is described.

  119. Leader-follower Type Handling System by Multiple Mobile Robots with Dual Manipulators in Coordination

    Hirata Y., Sawada T., Wang Z., Kosuge K.

    2003　120-120　2003

    Publisher: The Japan Society of Mechanical Engineers

  120. Walking Support System with Omni-Directional Mobile Base : Walking Helper

    Hirata Y., Baba T., Kosuge K.

    101-101　2003

    Publisher: The Japan Society of Mechanical Engineers

  121. Control of Manipulator in its Singular Configurations for Human-Robot Coordination

    Nakai K., Kosuge K., Hirata Y.

    2003　68-69　2003

    Publisher: The Japan Society of Mechanical Engineers

  122. Real-Time Control of Self-collision Avoidance for Mobile Manipulator using RoBE : Self-collision avoidance motion using redundancy

    Seto F, Kosuge K, Suda R, Hirata Y

    2003　55-55　2003

    Publisher: The Japan Society of Mechanical Engineers

  123. Human Support Robot System -Robot Helper-

    Yasuhisa Hirata

    病院設備　45　(1)　57-64　2003/01

  124. Coordinated Transportation of an Object by Multiple Mobile Manipulators with omni-directional mobile base

    Kume Y., Hirata Y., Wang Z., Kosuge K.

    2002　119-119　2002

    Publisher: The Japan Society of Mechanical Engineers

  125. Control System for Adaptive Power Assisted Bicycle

    Hirata Y., Yabushita H., Kosuge K.

    2002　100-100　2002

    Publisher: The Japan Society of Mechanical Engineers

  126. Map-based Motion Control of Multiple Mobile Robots for Transporting an Object in Cooperation with a Human

    Takagi T, Hirata Y, Kosuge K, Asama H, Kaetsu H, Kawabata K

    Robomech　2002　(0)　78-78　2002

    Publisher: The Japan Society of Mechanical Engineers

    More details Close

    一般に大型物体や長尺物を操るとき, 物体の姿勢を変化させるために, オペレータは物体に大きなモーメントを加えなければならない。また, 目的地まで物体を搬送するためには, 障害物に衝突しないように正確な力・モーメントを物体に加えることが要求される。このため, これまで大型物体や長尺物の搬送は, オペレータにとって負担の大きい作業であった。そこで本研究では, 大型物体や長尺物の搬送におけるオペレータの負担を軽減する方法として, 地図情報を利用した複数移動ロボットと人との協調搬送システムを提案する。

  127. 2A1-H4 Handling of a Single Object by Human-Robots Cooperation System-DR Helpers-

    Hirata Y, Kosuge K, Asama H, Kaetsu H, Kawabata K

    Robomech　2001　(0)　47-47　2001

    Publisher: The Japan Society of Mechanical Engineers

  128. 2P2-76-100 人間と協調する分散型ロボットヘルパーの制御

    平田 泰久, 小菅 一弘, 淺間 一, 嘉悦 早人, 川端 邦明

    ロボティクス・メカトロニクス講演会講演概要集　2000　(0)　106-106　2000

    Publisher: 一般社団法人 日本機械学会

    More details Close

    今後, 様々な分野でロボットが用いられ, 人間とロボットが協調して作業を実現することが有効であると考えられる。そこで, 本研究では, 分散制御された複数の移動ロボットと人間が協調することにより作業を実現するロボットシステム, Distributed Robot Helpersを提案する。今回は, 様々な協調作業の中で単一物体のハンドリング問題を取り上げ, 人間を助け, その負担を軽減するロボットヘルパーの制御系を考える。

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Books and Other Publications 11

  1. Asia-Pacific region: Japan

    Yashuisa Hirata, Tohoku Univ, Tomoyuki Noda (ATR, Ichiro Miyai, Morinomiya Hospi

    Rehabilitation Robots for Neurorehabilitation in High-, Low-, and Middle-Income Countries　2023/10/27

  2. AI ロボットによる在宅ケア：テクノロジーが変える介護の未来

    平田 泰久, 渡部 達也

    日本在宅ケア学会誌 VOL. 27　2023/09

  3. 機械工学年鑑2022

    平田 泰久

    日本機械学会　2022/07

  4. 2021 IEEE RAS Seasonal School on Rehabilitation and Assistive Robotics Based on Soft Robotics

    F. Taffoni, Y.Hirata, MJ. Johnson, S. Mazzoleni, L. Zollo

    IEEE Robotics & Automation Magazine Volume: 28, Issue: 3 Page(s): 187 - 190　2021/09

  5. Additive Manufacturing Using Continuous Carbon Fiber

    Yasuhisa Hirata, Kohei Yamamoto

    2021/05

  6. Top Researchers

    平田泰久

    2020/02

  7. パワーアシスト・ロボットに関する材料，電子機器，制御と実用化，その最新技術

    平田泰久

    技術情報協会　2015/04

  8. 絵でわかるロボットのしくみ

    瀬戸文美, 平田泰久

    講談社　2014/01

  9. 機械工学便覧 メカトロニクス・ロボティクス

    瀬戸文美, 平田泰久, 小菅一弘他

    日本機械学会　2008/11/28

  10. 新版ロボット工学ハンドブック

    平田泰久, 王志東, 小菅一弘他

    コロナ社　2005/06/23

  11. Coordinated Motion Control of Multiple Manipulators

    Kazuhiro Kosuge, Yasuhisa Hirata

    Robotics and Automation Handbook　2005

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Presentations 80

  1. AIロボットを活用したスマーター・インクルーシブ・ダンス

    平田 泰久

    多様性から生まれる表現を追求するDEIダンス・ファシリテーション講座「のはらカレッジ」　2024/12/22

  2. 特別企画「テックとの戯れ」

    ムーンショット目標3 研究開発プロジェクト「活力ある社会を創る適応自在AIロボット群」

    共創学会第８回年次大会　2024/12/15

  3. Robotic Nimbus for Empowering Human Abilities Invited

    Yasuhisa Hirata

    The 2024 IEEE International Conference on Cyborg and Bionic Systems (CBS 2024)　2024/11/21

  4. Empowering the Human Mind through Robotic Physical Assistance

    Yasuhisa Hirata

    IAS-FRIS Symposium on Social Robots and Ethical Design　2024/11/14

  5. Assistive Robots for Human Healthcare and Well-being Invited

    Yasuhisa Hirata

    The 2024 International Virtual Conference on Technovation and Technoentrepreneurship and AI for Economic Diversification　2024/11/12

  6. Empowering Human: Assistive AI Robots and Human-Centric Support Systems in Society 5.0 Invited

    Yasuhisa Hirata

    I-RIM(the Institute of Robotics and Intelligent Machines) 3D 2024　2024/10/25

  7. スマートプロダクションの時代へ-工場自動化と働く人々を支えるロボットの進化- Invited

    平田 泰久

    2024年最先端動向セミナー　2024/10/01

  8. 共創する未来：福祉ロボットと地域看護のシナジー Invited

    平田 泰久

    日本地域看護学会第27回学術集会　2024/06/29

  9. 共創する未来：未来の介護・生活支援ロボット -ムーンショットプロジェクトの挑戦- Invited

    平田 泰久

    第66回日本老年医学会学術集会　2024/06/13

  10. Adaptable AI-enabled Robots to Create a Vibrant Society – Moonshot R&D Projects in Japan – Invited

    Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Automation (ICRA2024) Keynote Talks　2024/05/14

  11. Adaptable AI-enabled Robots for Nursing Care

    Yasuhisa Hirata

    ICRA-2024 - Workshop on Nursing Robotics　2024/05/17

  12. Adaptable AI-enabled Robots to Create a Vibrant Society

    2024/01/25

  13. Synergizing Multi-Robot Assistive Care: An IoT-Driven Framework for Elderly Support in a Simulated Smart Living Lab

    AROB-ISBC-SWARM 2024　2024/01/25

  14. Semantic Scene Understanding and Region Classification for Navigation of Service Robots in Care Scenarios

    Ankit A. Ravankar

    AROB-ISBC-SWARM 2024　2024/01/25

  15. 介護現場での使用を想定したIoT データセット構築システムの開発

    阿部 圭汰

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)　2023/12/14

  16. ナビゲーションとヘルスセンシングの機能を有するオフィスロボットのためのシステム提案

    山本花

    第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)　2023/12/14

  17. 活力ある社会を創る適応自在AIロボット Invited

    平田 泰久

    第28回日本在宅ケア学会学術集会　2022/11/11

  18. すべての人が積極的に社会参画できる活力ある社会をめざしたロボット開発 Invited

    平田 泰久

    第28回日本在宅ケア学会学術集会 公開ワークショップ 社会生活を彩るロボットの可能性　2023/11/11

  19. 総合知で創るＡＩロボット共生社会

    平田 泰久

    東北大学知識行動オープン・プラットフォーム「SOKAP」キックオフシンポジウム　2023/11/06

  20. VR・ロボット統合型リハビリテーション・生活訓練システム ～人の挑戦を後押しする支援方法の創出を目指して～

    平田 泰久

    2023年度 福島県作業療法士会 医療保険部 研修会　2023/11/02

  21. ムーンショット研究が拓くロボット・VRを用いた福祉・介護支援

    平田 泰久

    日本機械学会 2023年度 年次大会 市民フォーラム　2023/09/03

  22. 「ムーンショットプロジェクトと共創研究による自立支援の革新」 ―テクノロジー活用とICT人材育成の視点から―

    平田 泰久

    2023年度 第31回日本介護福祉学会大会　2023/09/03

  23. 適応自在なロボットが拓く未来の作業療法の可能性 Invited

    平田 泰久

    第33回東北作業療法学会　2023/06/25

  24. Japanese Moonshot project

    Yasuhisa Hirata, Jose Salazar, Ankit Ravankar

    Workshop on Ageing and SCI Rehabilitation Outcome metrics: towards automated measuring systems　2023/03/29

  25. みんなで一緒に！インクルーシブなロボット車いす開発

    平田 泰久

    「見える」が変わると「世界」が変わる『カラダとココロのおもしろ体験イベント2Days!』　2023/03/11

  26. AIロボットが活躍する未来の介護施設の実現を目指して！～次世代AIロボット開発に向けたニーズ・シーズ共創研究～

    平田 泰久

    第6回医療と介護のロボット展　2023/03/11

  27. 未来で活躍する介護ロボットの開発 -ムーンショット型プロジェクトの取り組み-

    平田 泰久

    仙台大学健康福祉フォーラム ICT/介護ロボットと歩む未来　2023/03/05

  28. Adaptable AI-enabled Robots to Create a Vibrant Society - Moonshot R&D Program in Japan –

    Yasuhisa Hirata

    Inno Wing TechTalks　2023/02/23

  29. 活力ある社会を創る適応自在AIロボット群：ムーンショットプロジェクトの目指す2050年の社会とは

    平田 泰久

    東北大学グリーンゴールズパートナー 第13回研究会（非公開）　2023/02/16

  30. 障害物回避機能を搭載したアバターロボットによる没入型バーチャルウォーキング

    阪田 葵, ラワンカル アンキット, サラザル ホセ, タフリシ セイエド アミル, 平田 泰久

    第23回計測自動制御学会システムインテグレーション部門講演会（SI2022）　2022/12/14

  31. 2040年の日本のカタチ～ＡＩやロボットの活用で生活はどう変わる？

    平田 泰久

    第11回 日本支援工理学療法学会学術大会　2022/12/04

  32. ムーンショットプロジェクトにおけるバイオメカニズムの活用 Invited

    平田 泰久

    第43回バイオメカニズム学術講演会　2022/11/26

  33. オーガナイズドセッション「ムーンショット研究が描く2050年の福祉・介護のカタチ」

    平田 泰久

    LIFE2022(第21回日本生活支援工学会大会，日本機械学会 福祉工学シンポジウム2022，第37回ライフサポート学会大会)　2022/08/21

  34. Towards Smarter Inclusive Society by Moonshot and Living Lab Project in Japan

    Yasuhisa Hirata

    World Robot Conference 2022　2022/08/18

  35. Adaptable AI-enabled Robots to Create a Vibrant Society

    Yasuhisa Hirata

    International Conference on Slips, Trips, and Falls Sendai 2022 (STF Sendai 2022)　2022/07/22

  36. 活力ある社会を創る適応自在AIロボット群：ムーンショットプロジェクトの目指す2050年の社会とは

    平田 泰久

    「人の幸せを大切にするIoT社会のデザイン」クロージング・シンポジウム　2022/06/04

  37. ムーンショットプロジェクトが拓く2050年のAIロボット共生社会

    平田 泰久

    日本ロボット工業会・ロボット産業ビジョンWG講義（非公開）　2022/05/24

  38. 介護ロボットプラットフォーム事業における相談対応事例

    平田泰久

    第1回東北Kaigo-Tech実践研究会　2022/02/21

  39. ムーンショットプロジェクトによるAIロボット研究と次世代3Dプリンタへの期待

    平田 泰久

    マルチマテリアル研究拠点・第4回シンポジウム　2022/01/24

  40. 青森県協議会における入浴支援のニーズおよび機器アイディアの紹介

    平田 泰久

    ひょうごKOBE介護・医療ロボット開発・導入支援窓口 介護現場におけるお困りごと発表会　2022/01/20

  41. The 2022 IEEE/SICE International Symposium on System Integration (SII 2022)

    Yasuhisa Hirata

    Adaptable AI-enabled Robots to Create a Vibrant Society　2022/01/10

  42. Modality Influence on the Motor Learning of Ballroom Dance with a Mixed-Reality Human-Machine Interface

    Sebastian Fernando Chinchilla Gutierrez, Jose Victorio, Salazar Luces, Yasuhisa Hirata

    2022 IEEE/SICE International Symposium on System Integrations　2022/01/10

  43. Tempo Synchronization of Physical Activities with a Mixed-Reality Human-Machine-Interface

    Sebastian Chinchilla, Jose Salazar, Yasuhisa Hirata

    IEEE ROBIO 20/21　2021/12/28

  44. Evaluation of an Avatar Robot with a Physically Immersive Telepresence

    Koen Hertenberg, Jose Victorio Salazar Luces, Seyed Amir Tagrishi, Ankit A. Ravankar, Yasuhisa Hirata

    IEEE ROBIO 20/21　2021/12/28

  45. A Geometric Assistive Controller for the Users of Wheeled Mobile Robots without Desired States

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces and Yasuhisa Hirata

    IEEE ROBIO 20/21　2021/12/27

  46. Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback,

    Zhenyu Liao, Jose Salazar, and Yasuhisa Hirata

    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2021/09/30

  47. Towards a Life Innovation Robots for Improving Human Self-Efficacy Invited

    Yasuhisa Hirata

    China-Japan Intelligent Healthcare Forum in Beijing, China during World Robot Conference 2021　2021/09/12

  48. 自己効力感の向上を実現する次世代介護ロボットの実現を目指して Invited

    Yasuhisa Hirata

    2021/09/02

  49. Mobility Assistive Robots and Future Soft Robots

    Yasuhisa Hirata

    The Seasonal School on “Rehabilitation and Assistive Technologies based on Soft Robotics” (SofTech-Rehab)　2021/06/16

  50. Robotic Cycling Wheelchair for Outdoor Mobility Assistance and Indoor Training Invited

    Yasuhisa Hirata

    10th International IEEE EMBS Conference on Neural Engineering Mini symposium "Robotics for Restoration of Movements in SCI and Stroke Patients: Evidence-Based Findings and Challenges for the Next Decade"　2021/05/05

  51. 活力ある社会を創る適応自在AIロボット群 Invited

    平田 泰久

    ムーンショット目標１&目標３ キックオフシンポジウム　2021/03/28

  52. Adaptable AI-enabled Robots to Create a Vibrant Society Invited

    HIRATA Yasuhisa

    Moonshot International Symposium for Goal 1 and Goal 3　2021/03/28

  53. 『デジタルツインが拓く次世代モノづくり革新』 Invited

    平田 泰久

    2021年度 公益社団法人砥粒加工学会 先進テクノフェア(ATF2021) 講演会「こんな今だから考える ～加工工場の省人化技術と無人化への道～」　2021/03/03

  54. Assistive Robots for Enhancing and Encouraging Physical Activities International-presentation Invited

    平田 泰久

    Workshop on “Robotics and Artificial Intelligence”　2019/09/11

  55. Safe Assistive Robots for Encouraging Human Physical Activities Invited

    平田 泰久

    台湾国立大学機械工程学系研究所セミナー　2019/08/23

  56. ロボット・ハプティックデバイスを用い た作業支援システム Invited

    平田 泰久

    東北大学 電気通信研究所 共同プロジェクト研究会 「未来オフィス空間とインタラクション」　2019/02/26

  57. Assistive Robots for Enhancing and Encouraging Physical Activities International-presentation Invited

    平田 泰久

    Korea-Japan Joint Workshop on Next Generation Robotics　2018/12/22

  58. Human Assistive Devices Developed based on Passive Robotics Concept International-presentation Invited

    平田 泰久

    When AI Meets Human Science: The 2nd Tohoku-NTU International Symposium on Interdisciplinary AI and Human Studies　2018/11/24

  59. 自ら動くことがない新しロボットのかたち － 福祉の現場から月面探査まで幅広い応用を目指して－ Invited

    平田 泰久

    東京大学先端知能機械情報学セミナー　2018/05/29

  60. 昨年度開始した産学共同ロボット研究のその後の展開報告

    青葉工業会 講演・交流会「ロボット化・AI応用」　2016/11/17

  61. モーターがないロボット！？安全な人間支援ロボットと今後の展開

    第107回寺子屋せんだい　2016/10/18

  62. Human Assistive Robots based on Passive Robotics International-presentation Invited

    International Workshop on Cyborg and Bionic Systems　2016/04/25

  63. 東北大学機械系におけるロボット研究

    青葉工業会関東地区支部・東京支部 平成27年度 「講演・交流会」　2015/11/26

  64. Mobility Assistance Robots Controlled by Servo Brakes

    IEEE/RSJ IROS Workshop on Cognitive Mobility Assistance Robots: Scientific Advances and Perspectives　2015/09/28

  65. Motion Control of Human Assistive Robots with Servo Brakes International-presentation

    France, German and Japan Joint Seminar on Human-Centric Robotics　2015/07/09

  66. 日欧のロボット技術最前線

    青葉技術会ビジネス交流会　2013/03/13

  67. 足こぎ車いすのための最新アシスト制御技術

    第3回足こぎ車いす研究会年次学術集会　2013/02

  68. Human Assistive Technology based on Physical Interaction –From the point of view of Passive Robotics International-presentation

    Let’s Talk about the Future of Robotics　2012/11

  69. 回生ブレーキ制御による足こぎ車椅子の高機能化

    第2回足こぎ車いす研究会年次学術集会　2012/02

  70. 人間とロボットの力学的相互作用に基づく作業・運動支援の実現

    ヒューマンインタフェースシンポジウム2011　2011/09/13

  71. Human Assistive Robot Systems Controlled by Servo Brakes International-presentation

    IEEE/RSJ IROS Workshop on New and Emerging Technologies in Assistive Robotics　2011/09

  72. パッシブロボティクスに基づく安全な人間支援型ロボットの開発

    異業種ジョイント技術動向研究会開催　2009/02/26

  73. パッシブロボティクスに基づく安全な人間支援システムの開発

    第40回寺子屋せんだい　2008/11/20

  74. Development of Intelligent Walking Assist Robot Based on Passive Robotics International-presentation

    First France-Japan Research Workshop on Human-Robot Interaction　2008/10/28

  75. 人間支援型ロボットパートナシステム

    SuperHオープンフォーラム　2007/08/24

  76. パッシブロボティクスに基づく安全かつ安心な知的歩行支援システム

    応用物理学会スクール　2007/03/28

  77. 安全性・操作性を考慮したパワーアシスト型移動台車システム

    JST新技術説明会　2006/11/30

  78. 力学的相互作用に基づく人間支援システム

    SICE中部支部講演会　2005/12/27

  79. 人とロボットの相互作用に基づく人間・ロボット協調システム -ロボットパートナの開発 -

    SI2003講演会　2003/12/19

  80. Robot Technologies for Human-Robot Cooperation Systems in Ubiquitous Age International-presentation

    2003 International Symposium on Microelectronics　2003/11/18

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Industrial Property Rights 12

  1. 車両移動装置

    Property Type: Patent

  2. 物体移動装置

    Property Type: Patent

  3. 車両移動方法

    Property Type: Patent

  4. 物体移動装置

    Property Type: Patent

  5. 身体状態判定システム及び運動状態判定システム並びにこれらシステムを備える移動台車

    平田泰久, 小菅一弘

    特許第4665173

    Property Type: Patent

  6. パッシブ型移動台車

    小菅一弘, 平田泰久

    4411415

    Property Type: Patent

  7. Translatory Actuator Unit

    Hajime Asama, Kuniaki Kawabata, Hayato Kaetsu, Kazuhiro Kosuge, Yasuhisa Hirata

    US 7,081,731 B2

    Property Type: Patent

  8. 車両移動装置

    特許第4749442

    Property Type: Patent

  9. 物体移動装置

    特許第4667439

    Property Type: Patent

  10. パワーアシスト型移動台車

    平田泰久, 小菅一弘

    4523244

    Property Type: Patent

  11. Method for Mobile Robot Motion Control

    Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata, Kazuhiro Kosuge, Yasuhisa Hirata

    6453212

    Property Type: Patent

  12. 移動ロボットの移動制御方法

    淺間一, 嘉悦早人, 川端邦明, 小菅一弘, 平田泰久

    3719585

    Property Type: Patent

Show all Show first 5

Research Projects 25

  1. Study on Intelligent Walking Support System Competitive

    System: JST Basic Research Programs (Precursory Research for Embryonic Science and Technology :PRESTO)

    2001/04 - Present

  2. Study on Power Assist System Competitive

    System: The Other Research Programs

    2000/04 - Present

  3. Study on Motion Control of Sytem in cooperation with a Human Competitive

    System: The Other Research Programs

    1999/04 - Present

  4. Study on Motion Control of Multiple Robots in Coordination Competitive

    System: The Other Research Programs

    1998/04 - Present

  5. Cooperation of AI-Robot Enablers

    2020/09 - 2026/03

  6. 精神状態推定及び改善技術の研究

    Offer Organization: AWL株式会社

    Category: 共同研究

    2022/08 - 2025/07

  7. 路面標示用施工機の自動化に関する研究

    Offer Organization: アトミクス株式会社

    Category: 共同研究

    2020/07 - 2025/06

  8. 香港政府国際プロジェクト

    Offer Organization: 香港大学

    Category: 共同研究

    2021/04 - 2025/04

  9. 介護ロボットの開発・実証・普及のプラットフォーム事業（リビングラボ業務）

    Offer Organization: 株式会社NTTデータ経営研究所

    System: その他の研究制度

    Category: 受託事業

    Institution: 東北大学

    2024/04 - 2025/03

  10. 「みえる」からはじまる、人のつながりと自己実現を支えるエンパワーメント社会共創拠点

    Offer Organization: 国立研究開発法人科学技術振興機構（JST）

    System: COI-NEXT

    Category: 受託研究

    2022/10 - 2025/03

  11. 装置エンジニアリングにおける遠隔支援技術開発

    Offer Organization: セイコーエプソン株式会社

    Category: 共同研究

    2022/10 - 2025/03

  12. 柔軟なものづくりのための複数ロボット協調制御基盤技術構築

    Offer Organization: トヨタ自動車東日本株式会社

    Category: 共同研究

    2022/03 - 2025/03

  13. ロボティクス開発業務の課題に対する学術指導

    Offer Organization: トヨタ自動車東日本株式会社

    Category: 学術研究

    2021/07 - 2025/03

  14. 2030年・未来の介護施設の在り方に対する技術的助言

    Offer Organization: SOMPOケア

    Category: 学術研究

    2024/01 - 2024/12

  15. Wearable device that uses multiple vibration stimuli to induce human motor modification

    Hirata Yasuhisa

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

    Category: Grant-in-Aid for Scientific Research (B)

    Institution: Tohoku University

    2017/04 - 2022/03

    More details Close

    In this study, we developed a new vibration-stimulated wearable device that presents the difference between the ideal trajectory (ideal form) and the current trajectory (actual form) by applying multiple vibration stimuli to the part of the body where the human being exercises. The device also provides an intuitive target direction of movement by applying vibration stimuli to multiple points on the body, and guides the user to the ideal form. We also proposed a real-time dynamic motion instruction method that induces feedback-type motion modification based on the difference between the actual and ideal human form, and verified an efficient method for acquiring the ideal form through long-term training. Furthermore, we proposed a method of motion modification based on dynamically changing environmental information.

  16. Motion Control for Safe and Low-Power Consumption Assistive Systems (Fostering Joint International Research)

    Hirata Yasuhisa

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Fund for the Promotion of Joint International Research (Fostering Joint International Research)

    Category: Fund for the Promotion of Joint International Research (Fostering Joint International Research)

    Institution: Tohoku University

    2016 - 2019

    More details Close

    In this project, we investigated the functions necessary for more effective integration of assistive systems such as wheelchairs and walkers into society in international joint research between Japan and France and conducted research and development of a system that encourages the active participation of the elderly and disabled. In addition, we have developed a system that supports not only walking but also arts and sports, such as supporting dancers with disabilities and supporting golfers with disabilities.

  17. Development of Hybrid-type Motion Control Method for Intelligent Human Assistive System with Safe Function and Low Power Consumption

    Hirata Yasuhisa

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)

    Category: Grant-in-Aid for Young Scientists (A)

    Institution: Tohoku University

    2012/04/01 - 2016/03/31

    More details Close

    In this research, we developed assistive systems such as the wheelchair, walker, and haptic device, with multiple functions. For controlling the assistive systems, we mainly used the DC servo motors as the regenerative brake. Based on the braking control, we could realize several assistive functions. This system can also charge the battery during the braking control, and we switches the control mode from braking one to active one in some situations such as climbing upslope. By changing the passive and active control methods appropriately, we realized the intelligent human assistive system with safe function and low power consumption.

  18. Development of motion support system for supporting sports training with a large operating range, high speed, and high safety

    HIRATA Yasuhisa

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research

    Category: Grant-in-Aid for Challenging Exploratory Research

    Institution: Tohoku University

    2012/04/01 - 2015/03/31

    More details Close

    In this research, we developed a passive motion support system consisting of multiple wires with servo brakes to assist human motion in the field of sports training. The wire-type motion support system has a large operating range and can be operated at high speed because of its low inertia. In addition, it is controlled by servo brakes, so that the system is very safe. We theoretically considered the feasible braking control region of the passive system and designed a novel control method for guiding the human motion. We illustrated the validity of the system through the experiments with developed system.

  19. Walking Support by Different Kinds of Walking Support System in Cooperation

    HIRATA Yasuhisa, ONODERA Hiroshi

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research

    Category: Grant-in-Aid for Challenging Exploratory Research

    Institution: Tohoku University

    2009 - 2011

    More details Close

    In this research, we proposed a new concept of walking support system based on cooperation between wearable-type and wheel-type walking support systems. This system kept the balance of the user and transmitted his/her intention to the wearable walking support system by operating the wheel-type one, so that the system realized the walking support of the elderly and handicapped persons appropriately.

  20. System Integration of Information Acquisition of Dynamic Environments and Caging based Cooperative Object Handling for Multiple Robot System

    WANG Zhidong, KOSUGE Kazuhiro, HIRATA Yasuhisa, TOMIYAMA Ken

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

    Category: Grant-in-Aid for Scientific Research (B)

    Institution: Chiba Institute of Technology

    2008 - 2011

    More details Close

    In this research, we proposed an information acquisition system for performing caging based cooperative task, such as object transportation and handling in dynamic environments with human activates. For representing the human existence, posture and motion histories, we proposed a concept called Human Motion Map which is a hybrid multiple states probabilistic map system. A Human Motion Map generation and high accuracy map data fusion algorithm is developed for recording and integrating human motion data obtained via multiple experiments. Experiment results illustrate the validity and scalability of the proposed system.

  21. Passive Mobile Robotics RealizingHuman Support with Safety and High Performance

    HIRATA Yasuhisa

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)

    Category: Grant-in-Aid for Young Scientists (A)

    Institution: Tohoku University

    2007 - 2009

    More details Close

    In this research, we proposed a new concept called Passive Mobile Robotics and designed mobile robots and their motion control algorithms for supporting humans effectively with keeping the safety. In this concept, the mobile robots move based on the external force/moment applied by a human, and brake systems attached to the wheels control their motions appropriately. Based on this brake control, we realized several functions for supporting humans.

  22. パッシブロボティクスに基づく装着型自立支援システムの新展開

    平田 泰久

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業 萌芽研究

    Category: 萌芽研究

    Institution: 東北大学

    2006 - 2008

    More details Close

    近年の高齢化社会に対応して, 高齢者の介護を行うことは必要であるが, それ以上に高齢者が自立して生活を送ることが最も重要であると言われている. しかし, 高齢者になるとその体力や筋力の衰えから, 自らの脚を使っての離床や歩行が困難になる場合がある. そこで, 本研究では特にシステムを高齢者に直接装着し, 一般的な生活環境下で健常者と同等の生活を送ることを目的とした, 装着型の自立支援システムの研究開発を行った. 本年度は, サーボモータや表面筋電位情報を用いることなく, 安全に利用者の運動を支援することが可能なパッシブ機構を利用した装着型自立支援システムおよび人間動的モデルに基づく運動制御系の研究開発を行った. 特に, 各関節に加わるトルクをサーボブレーキを用いてそれぞれ制御することにより, 結果的に装着型支援システムのコンフィギュレーションを制御する手法を検討した. また, 研究開発してきた運動制御手法を, 人間の運動状態に応じて適切に切り替えることができれば, 様々な状況において利用者がシステムに対して何らかの操作を行い制御アルゴリズムを変更することなく, 容易に装着型支援システムを利用することが可能となる. そこで, 時々刻々変化する人間の情報を時系列解析し, その運動状態を推定する手法を検討した. また, それらの情報を基に, 人間が次に行うであろう運動を常に予測し, 人間の状態に適応して自然に制御アルゴリズムを切り替える手法の検討を行った.

  23. Human-Robot Coordination in Ballroom Dance and Its Generalization

    KOSUGE Kazuhiro, HIRATA Yasuhisa, CHUY Oscar Jr.Ylaya

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

    Category: Grant-in-Aid for Scientific Research (A)

    Institution: Tohoku University

    2003 - 2006

    More details Close

    With the coming of aging societies, several serious problems are considered in our society. Robots are expected to be one of solutions for the problems relating to our daily activities, such as in medical and welfare fields, at home and office, in construction sites, and so on. However, it is currently difficult for the robots to execute tasks without help from human in such environments because recognizing the current situation and deciding appropriate behavior completely are not easy for the robots. Against the background, several researchers have developed human-robot collaboration system, e.g. human power assist system, in which robots execute tasks in coordination with human. In most human-robot collaboration system, robots behave passively against intentional forces applied by human. If robots could operate not only passively but also actively based on human intentions, information on the environments, knowledge of tasks etc., effective human-robot coordination could be realized. This research focused on ballroom dancing as an example of the effective human-robot coordination with the physical interaction. In the ballroom dance, a dancer needs to have a physical interaction with a partner. In addition, each dancer has to estimate the intention of the partner, and move based on its intention, information on environments, knowledge of dances, etc. in order to dance gracefully. Therefore the ballroom dance is a good example for human-robot coordination including the physical interaction between the human and the robot. In this project, we have developed a dance partner robot system as a platform for investigation of the effective human-robot coordination. We have also proposed control architecture for moving the robot based on the human intention, information on the environments, and knowledge of dances. The product of developing the dance partner robot system could be useful for developments of other human-assist systems, in which the robots are expected to behave appropriately based on human intention, information on the environments, knowledge of tasks etc. As examples of the human-assist systems, we have applied the research product to another human-robot cooperation system and a walking support system. Finally, we have discussed effective human-robot cooperation system, and have made a report on this project.

  24. 分散型ロボットヘルパーの知能化に関する研究

    平田 泰久

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業 若手研究(B)

    Category: 若手研究(B)

    Institution: 東北大学

    2001 - 2002

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    今年度は,視覚センサなどの外界センサを利用した軌道生成手法を提案し,その軌道と前年度に提案した協調ハンドリング技術を組み合わせることにより,人とロボットがお互いに機能を補完し合いながら協調ハンドリングを実現する技術を確立した.具体的には以下のような制御系を提案した. 1.軌道生成手法の開発 障害物が存在する環境下において,目的地まで障害物に衝突することなく物体をハンドリングするため,ロボットに軌道を持たせることを考え,複数の移動ロボットによる物体のハンドリングのための軌道生成手法を開発した.具体的には,拡散方程式とスプライン関数を用い,与えれた環境から低い計算コストで容易に移動ロボットのための経路を作成する手法を提案した. 2.環境情報を有した複数移動ロボットと人との協調技術 視覚センサなどの外界センサによって生成された軌道と力覚に基づく人とロボットのコミュニケーション技術を組み合わせ,互いの機能を補完し合うことにより,複数のロボットとそれらが把持する物体が障害物に衝突せず,さらに人の負担を軽減し,より効率的に単一物体のハンドリングを実現するシステムを開発した.具体的には,1.で開発した起動生成手法と仮想外力による移動ロボットの起動追従・障害物回避手法を組み合わせ,人間が環境情報に基づいて効果的に物体のハンドリグを実現する手法を提案した.開発した制御系は前年度に開発した分散型ロボットヘルパーのプロトタイプシステムに適用し実験を行い,その有効性を確認した. 3.報告書の作成 環境情報を有した分散型ロボットヘルパーと人との協調による単一物体のハンドリング技術の考察を行い,報告書を作成した.

  25. Intelligent Coordinated Control System based on Complement of Functions for Multiple environment-adaptive Mobile Robots

    KOSUGE Kazuhiro, HIRATA Yasuhisa, WANG Zhi-dong

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)

    Category: Grant-in-Aid for Scientific Research (A)

    Institution: Tohoku University

    2000 - 2002

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    With the coming of aging societies, several serious problems are considered in our society. Robots are expected to be one of solutions for problems relating to our daily activities, such as in medical and welfare fields, at home and office, in construction sites, and so on. To use the robots in an ordinary environment with humans, mobility is an important function to cover a working space, and multiple small robots are more appropriate than a large and heavy robot from a safety point of view. Because each small robot has less kinetic energy than the large and heavy one, when they are moving with the same speed, and less harmful to a human when it collides with a human/humans. In this project, we developed multiple mobile manipulators for assisting humans. Each robot consists of am omni-directional mobile base and a 7-DOF manipulator. The six-axis force/torque sensor is installed to the wrist of each manipulator to handle an object in coordination. The body force sensor, which is the parallel-like type force/torque sensor, is attached to the body for detecting the force/moment applied to the body of the robot from the safety point of view. We also proposed several intelligent control algorithms of multiple mobile manipulators for handling a single object in coordination. In these control algorithms, multiple mobile robots could handle a single object in coordination based on the human intention and the information of an environment. The proposed control algorithms were applied to the developed mobile manipulator experimentally and illustrated the validities of the proposed control algorithms.

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Social Activities 77

  1. 「生体システム特論」における講義および身体感覚の自然な脱着

    2024/11/26 - 2024/11/26

  2. 2050年の未来を創る：適応自在AIロボット群が拓くスマーター・インクルーシブ・ソサエティ

    第12回研究交流フォーラム

    2024/07/12 - 2024/07/12

  3. 大ロボット博

    2007/10/26 - 2008/01/15

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    ダンスパートナロボットPBDR展示・デモ

  4. 東北大学100周年記念イベント

    2007/08/25 - 2007/08/26

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    ダンスパートナロボット展示・デモ

  5. グッドデザイン賞2次審査

    2007/08/23 - 2007/08/26

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    ダンスパートナロボットPBDR展示

  6. 産業フェアin善光寺

    2006/11/02 - 2006/11/03

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    ダンスパートナロボットPBDR展示・デモ

  7. 諏訪工業メッセ2006

    2006/10/19 - 2006/10/21

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    ウオーキングパートナロボット展示・デモ

  8. Wired NEXTFEST2006

    2006/09/29 - 2006/10/01

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    ダンスパートナロボットの展示・デモンストレーション

  9. 産学官連携推進会議

    2006/06/10 - 2006/06/11

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    歩行支援システムの展示

  10. 電源システム展

    2006/04/19 - 2006/04/21

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    歩行支援機の展示

  11. 2005国際ロボット展

    2005/11/30 - 2005/12/03

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    ダンスパートナロボットPBDR展示・デモ

  12. 諏訪工業メッセ2005

    2005/10/13 - 2005/10/15

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    ダンスパートナロボットPBDR展示・デモ

  13. 愛・地球博ロボットステーション常設展示

    2005/07/12 - 2005/07/24

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    ダンスパートナロボットPBDR展示・デモ

  14. ROBOTREX2005

    2005/07/13 - 2005/07/17

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    パッシブ型歩行支援機の展示・デモ

  15. 愛・地球博プロトタイプロボット展

    2005/06/09 - 2005/06/19

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    ダンスパートナロボットPBDR展示・デモ

  16. TEｘCRA 2004

    2004/11/18 - 2004/11/19

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    パワーアシスト三輪車紹介

  17. 産業交流展

    2004/10/22 - 2004/10/23

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    歩行支援機紹介

  18. 仙台市科学館特別展 『知・技・夢のロボット展２００４』

    2004/07/18 - 2004/08/25

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    ダンスパートナロボット，MR Helper紹介

  19. 東北大学 機械系フォーラム 2004

    2004/06/10 - 2004/06/11

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    歩行支援機紹介

  20. 東北大 機械系フォーラム 2003

    2003/05/16 - 2003/05/17

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    パワーアシスト三輪車紹介

  21. HOSPEX JAPAN 2001

    2001/11/07 - 2001/11/08

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    人間協調型全方向移動ロボット紹介

  22. 介護現場に革新を起こす介護ロボット群協調運用AIの実現を目指して！

    第7回 医療と介護のロボット展

    2024/08/31 -

  23. 千葉工業大学講義

    2024/06/21 -

  24. 未来の介護・生活支援ロボット -ムーンショットプロジェクトの挑戦-

    シンポジウム11「介護ロボットと生活支援ロボット」

    2024/06/13 -

  25. 『ロボットとの共生』セミナー 講演

    『ロボットとの共生』展

    2024/03/19 -

  26. 「社会生活を彩るロボットの可能性－すべての人が積極的に社会参画できる活力ある社会をめざしたロボット開発」活力ある社会を創る適応自在AIロボット」

    第28回日本在宅ケア学会学術集会

    2023/11/11 -

  27. 福島県作業療法士会医療保険部研修会 講演

    2023年度 福島県作業療法士会 医療保険部 研修会

    2023/11/02 -

  28. AIロボットが活躍する未来の介護施設の実現を目指して！

    第6回 医療と介護のロボット展

    2023/03/11 -

  29. 「仙台大学 健康福祉フォーラム」における講演

    仙台大学 健康福祉フォーラム

    2023/03/05 -

  30. 活力ある社会を創る適応自在AIロボット群：ムーンショットプロジェクトの目指す2050年の社会とは

    東北大学グリーン・ゴールズ・パートナー

    2023/02/16 -

  31. 宮城県仙台第二高等学校講義

    2022/12/08 -

  32. インド情報技術大学ジャバルプル校 オンライン集中講義

    2022/01/21 -

  33. 千葉工業大学講義

    2021/06/25 -

  34. 宮城県仙台第二高等学校講義

    2020/12/10 -

  35. 千葉工業大学講義

    2020/07/24 -

  36. 生活文化学園大学講義

    2019/12/23 -

  37. 千葉工業大学特別講義

    2019/06/14 -

  38. 東北文化学園大学特別講義

    2018/12/03 -

  39. 千葉工業大学特別講義

    2018/05/18 -

  40. 東北文化学園大学特別講義

    2017/11/20 -

  41. 千葉工業大学特別講義

    2017/05/26 -

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    千葉工業大学未来ロボティクス学科での講演

  42. 宮城県仙台第二高等学校出前講義

    2016/12/08 -

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    宮城県仙台第二高等学校出前講義

  43. 東北高等学校文理コース出前講義

    2016/11/09 -

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    さまざまな生き方を考える講演会

  44. 東北文化学園大学特別講義

    2016/10/03 -

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    東北文化学園大学での講演

  45. 千葉工業大学特別講義

    2016/05/27 -

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    千葉工業大学未来ロボティクス学科での講演

  46. 東北文化学園大学特別講義

    2015/09/14 -

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    東北文化学園大学での講演

  47. 千葉工業大学特別講義２

    2015/06 -

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    千葉工業大学未来ロボティクス専攻での講演

  48. 千葉工業大学特別講義１

    2015/06 -

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    千葉工業大学未来ロボティクス学科での講演

  49. 東北文化学園大学特別講義

    2014/09/29 -

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    東北文化学園大学での講演

  50. 千葉工業大学特別講義２

    2014/06/27 -

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    千葉工業大学未来ロボティクス専攻での講演

  51. 千葉工業大学特別講義１

    2014/06/27 -

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    千葉工業大学未来ロボティクス学科での講演

  52. 国際ロボット展

    2013/11 -

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    産業用ロボットおよび歩行支援ロボットの共同研究成果展示

  53. 東北文化学園大学特別講義

    2013/10/07 -

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    東北文化学園大学での講演

  54. 千葉工業大学特別講義２

    2013/06/28 -

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    千葉工業大学未来ロボティクス専攻での講演

  55. 千葉工業大学特別講義１

    2013/06/28 -

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    千葉工業大学未来ロボティクス学科での講演

  56. 古川学園高等学校特別講義

    2013/06/27 -

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    古川学園高等学校特別講義

  57. ベルサイユ大学特別講義

    2012/09 -

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    ベルサイユ大学特別講義

  58. 千葉工業大学オープンレクチャー

    2011/11 -

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    千葉工業大学未来ロボティクス学科での講演

  59. 青森県立弘前中央高校特別講義

    2011/10 -

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    青森県立弘前中央高校特別講義

  60. 千葉工業大学特別講義

    2011/06/17 -

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    千葉工業大学未来ロボティクス専攻での講演

  61. 千葉工業大学オープンレクチャー

    2010/11/19 -

    More details Close

    千葉工業大学未来ロボティクス学科での講演

  62. 平成２２年度高大連携に係わる地域公開講座

    2010/07/08 -

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    宮城県白石高等学校での講演

  63. 千葉工業大学特別講義

    2010/06/04 -

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    千葉工業大学未来ロボティクス専攻での講演

  64. IEEEプレスセミナー

    2010/05/13 -

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    パッシブ型歩行支援機の紹介

  65. 鳥取環境大学特別講義

    2007/12/04 -

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    鳥取環境大学での講演

  66. 思考展開フォーラム 「最先端のロボット技術～体感！ロボットに見る未来～」

    2007/11/21 -

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    ダンスパートナロボット，歩行支援機の紹介

  67. 市民のためのサイエンス講座

    2007/11/18 -

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    ダンスパートナロボット，歩行支援機の紹介

  68. 大ロボット博 プレミアムナイト 世界初！夢のロボット舞踏会 produced by 押井守

    2007/11/06 -

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    ダンスパートナロボットPBDR展示・デモ

  69. SuperHオープンフォーラム

    2007/08/24 -

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    パッシブ型歩行支援機展示・デモ

  70. 東北大学 イノベーションフェア

    2007/02/01 -

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    ダンスパートナロボット，歩行支援機等紹介

  71. 東北大学 イノベーションフェア

    2006/10/18 -

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    歩行支援機紹介

  72. 香川大学特別講義

    2006/10/06 -

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    香川大学での講演

  73. さきがけライブ2005

    2005/12/22 -

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    パッシブ型歩行支援機展示・デモ

  74. ロボットフェスタ2005 in 愛・地球博 〜ロボット大集合〜

    2005/08/16 -

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    ダンスパートナロボットPBDRデモ

  75. 東北電力「でんき屋台村」

    2005/03/06 -

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    歩行支援機，ダンスパートナロボット紹介

  76. 東北大学 先端技術交流会

    2005/02/01 -

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    歩行支援機紹介

  77. さきがけライブ

    2005/01/28 -

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    歩行支援機紹介

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Media Coverage 55

  1. 50年後にお世話になるかも…驚愕！ 未来の老人ホーム

    幻冬舎ゴールドオンライン　iX+（イクタス）

    2024/11/14

    Type: Internet

  2. 白線塗布ロボ 最大誤差７mm 東北大、アトミクスと共同開発

    日刊工業新聞

    2024/06/13

    Type: Newspaper, magazine

  3. 情熱ラボ～＃51 パリで舞踏会を！ロボット研究者の挑戦～

    ミヤギテレビ　OH!バンデス4部　情熱Labo

    2024/05/30

    Type: TV or radio program

  4. 私のダンス 心のままに 障害あってもAI車いすが支援

    河北新報

    2024/02/27

    Type: Newspaper, magazine

  5. ミライFile01.「できる」を応援してくれるAIロボット

    株式会社誠文堂新光社　雑誌『子供の科学』2023年10月号

    2023/09/10

    Type: Newspaper, magazine

  6. 次世代ロボットや介護技術公開 東北大青葉山キャンパスでシンポ

    河北新報社　河北新報

    2023/08/03

    Type: Newspaper, magazine

  7. 人手不足に期待 介護ロボット 最新技術を紹介

    東日本放送　チャージ！第1部

    2023/07/17

    Type: TV or radio program

  8. AIロボ、相棒になれるか

    日本経済新聞

    2023/06/18

    Type: Newspaper, magazine

  9. 介護ロボ研究者が講演 柴田「人に寄り添うAI目指す」

    読売新聞

    2023/03/18

    Type: Newspaper, magazine

  10. 慣性計測で安全評価 東北大がモデル開発 高齢者介護など提案

    日刊工業新聞

    2022/11/22

    Type: Newspaper, magazine

  11. 北大初のアウル、資金調達 東北大VPから数億円

    日刊工業新聞

    2022/11/15

    Type: Newspaper, magazine

  12. 次世代境に向けたロボット 東北大と三井不動産が共同研究を開始

    科学新聞、日本経済新聞

    2022/11/04

    Type: Newspaper, magazine

  13. 2050年までに、AIとロボットの共進化により、自ら学習・行動し人と共生するロボットを実現

    高齢者住宅新聞　10号 24-25面 「相談窓口，リビングラボ活用へ」

    2022/08/03

    Type: Newspaper, magazine

  14. 介護職員の不足解消へ 介護ロボット開発最前線

    仙台放送　仙台Live News イット!

    2022/05/25

    Type: TV or radio program

  15. 番組審議会 仙台放送

    産経新聞(地方）

    2022/04/28

  16. 「自分でできる」増やす介護ロボ

    朝日新聞

    2022/04/20

    Type: Newspaper, magazine

  17. 人手不足 解消の切り札 特集 東北大 介護ロボット研究拠点

    東日本放送　チャージ！第1部、第2部

    2022/03/29

    Type: TV or radio program

  18. 介護現場の人手不足解消の切り札に 東北大学に介護ロボットの研究拠点

    東日本放送　チャージ！第１部、第2部（東日本放送）

    2022/03/29

  19. 東北大、仙台に介護ロボの研究拠点

    日経産業新聞

    2022/03/02

    Type: Newspaper, magazine

  20. 30年後の未来を大予想★最先端 東北大学のAI研究

    仙台放送　仙台放送 開局60周年記念番組「トンデモ未来予想！？ ～令和30年 人工知能は人間を超える？～」(仙台放送)

    2022/02/27

    Type: TV or radio program

  21. ”介護現場”と”メーカー”橋渡し 東北大に介護ロボ開発拠点

    東北放送　Nスタみやぎ

    2022/02/23

    Type: TV or radio program

  22. 東北大で介護ロボ研究 現場再現 実証実験 開発や実用化へ

    読売新聞

    2022/02/22

    Type: Newspaper, magazine

  23. ”介護現場”と”メーカー”橋渡し 東北大に介護ロボ開発拠点

    東日本放送　チャージ！第１部、第2部

    2022/02/21

    Type: TV or radio program

  24. レーザー 自己効力高める (人に寄り添うサポートロボ）

    日刊工業新聞

    2022/02/18

    Type: Newspaper, magazine

  25. 介護ロボの研究拠点開設 東北大、仙台に生活環境再現

    日本経済新聞、日刊工業新聞

    2022/02/17

    Type: Newspaper, magazine

  26. パッシブロボティクスの研究で、バリアフリー社会を実現する

    Top Researchers　https://top-researchers.com/?p=3501

    2020/02/21

    Type: Internet

  27. 【複数協調×ロボット】 自ら動くことがない新しいロボットで世界を変革

    Web　ROBOT CREATORS MAGAZINE　https://robocre.com/2017/12/05/yasuhira_hirata/

    2017/12/05

    Type: Internet

  28. Levitating Plane-Train Fives Mass Transit a Lift

    2011/05

    Type: Newspaper, magazine

  29. 環境問題も考えた新しい交通システムを作り上げたい

    TBS　夢の扉

    2010/10

    Type: TV or radio program

  30. 手の動き的確に誘導

    ワイヤ型ハプティックデバイスの開発

    2010/07/23

    Type: Newspaper, magazine

  31. 食器洗浄収納パートナロボット

    ミヤギテレビ，ロボットウオッチ，ロボコンマガジンなど

    2009/03/25

    Type: TV or radio program

  32. 立体駐車場用搬送ロボット

    日刊工業新聞

    2008/06/04

    Type: Newspaper, magazine

  33. 大ロボット博：ダンスパートナロボットPBDR

    日本テレビ，TBS

    2007/11

    Type: TV or radio program

  34. 東北大学100周年まつり：ダンスパートナロボットPBDR（NHKてれまさむね，仙台放送）

    2007/08

    Type: TV or radio program

  35. ロボットは危険なのか？

    パソコン整備士協会 ADJUSTER

    2007/06/01

    Type: Newspaper, magazine

  36. ウオーキングパートナロボットの開発

    日本経済新聞，読売新聞，信濃毎日新聞，中日新聞，長野日報，茅野市民新聞他

    2006/10/18

    Type: Newspaper, magazine

  37. ダンスパートナロボット・歩行支援機

    NHK仙台放送局

    2006/06/26

    Type: TV or radio program

  38. Can we really create a dancing Robot?

    2006/02

    Type: Newspaper, magazine

  39. 進む福祉“ロボット”研究

    東北放送 イブニングニュース

    2005/11

    Type: TV or radio program

  40. ダンスパートナロボットPBDR（TIME誌，IEEE SPECTRUM, MONICAはじめ多数）

    2005/06

    Type: Newspaper, magazine

  41. ダンスパートナロボットPBDR（国内外各紙多数）

    2005/06

    Type: Newspaper, magazine

  42. ダンスパートナロボットPBDR（国内外多数メディア）

    2005/06

    Type: TV or radio program

  43. 対人地雷探知の野外試験

    日本経済新聞

    2005/03/18

    Type: Newspaper, magazine

  44. 安全性の観点からのダンスパートナロボットに関する研究

    NHK クローズアップ現代

    2005/03/10

    Type: TV or radio program

  45. パッシブ型歩行支援システム

    日経産業新聞

    2005/02/21

    Type: Newspaper, magazine

  46. 愛知万博用ダンスパートナロボット

    NHK名古屋

    2005/01/24

    Type: TV or radio program

  47. ダンスパートナロボットに関する研究

    仙台放送

    2005/01/11

    Type: TV or radio program

  48. ダンスパートナロボット

    河北新報

    2004/11

    Type: Newspaper, magazine

  49. パッシブ型歩行支援システムに関する研究

    ミヤギテレビ

    2004/10/01

    Type: TV or radio program

  50. 歩行支援システムに関する研究

    サイエンスチャンネル

    2004/01

    Type: TV or radio program

  51. ダンスパートナロボットの紹介

    大阪ホンワカテレビ

    2003/09

    Type: TV or radio program

  52. ダンスパートナロボット

    共同通信

    2003/07

    Type: TV or radio program

  53. 仙台のアトムたち

    河北ウイーク

    2003/04/03

    Type: Newspaper, magazine

  54. 荷物運ぶ「お手伝いロボ」

    日本経済新聞　DR Helper

    1999/12/25

    Type: Newspaper, magazine

  55. 検証！カイゴのゴカイ学

    NPO法人Ubdobe（ウブドベ）　Youtube動画（令和6年度 大阪府介護職・介護業務の魅力発信事業）

    Type: Internet

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  1. 複数の非駆動型探査機のフォーメーション制御による高効率・低コスト広域探査技術

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    複数移動ロボットを用いた探査技術の研究

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  3. パッシブロボティクスが拓く下肢障がい者アクティブ運動支援機開発

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    下肢障がい者アクティブ運動支援機開発

  4. アシスト・制動制御付き足こぎ車いす開発研究

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  5. 高効率高速輸送システムの研究開発

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  6. 立ち上がりを支援する人間アシスト型移動ロボット

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  7. スポーツ動作における関節負担の導出および装着型支援デバイスによる運動支援の検討

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  8. 食器洗浄・収納パートナロボットの研究開発

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    片付け作業用マニピュレーションRTシステム（サービスロボット分野）（食器洗浄・収納パートナロボットの研究開発）

  9. 人間の操作性を考慮した運動特性可変型パッシブ移動台車システムに関する研究

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  10. ダンスパートナロボットの研究開発

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    ダンスパートナロボッ トの研究開発

  11. アシスト用直動アクチュエータユニットに関する研究開発

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  12. 人間意図推定型ダンスパートナロボットシステムの研究開発

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  13. 人間・環境適応型知的歩行支援システム

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